FANUC Power Mate *-MODEL D

FANUC Power Mate *-MODEL H

CONNECTION MANUAL (FUNCTION)

B-63173EN-1/02
Ȧ No part of this manual may be reproduced in any form.
Ȧ All specifications and designs are subject to change without notice.

In this manual we have tried as much as possible to describe all the

various matters.
However, we cannot describe all the matters which must not be done,
or which cannot be done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in
this manual should be regarded as ”impossible”.
B–63173EN–1/02 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.

s–1
B–63173EN–1/02 PREFACE

PREFACE

This manual describes all the NC functions required to enable machine

tool builders to design their CNC machine tools. The following items are
explained for each function.
1. General
Describes feature of the function. Refer to Operator’s manual as
requied.
2. Signals
Describes names, functions, output conditions and addresses of the
signals required to realize a function.
3. Parameters
Describes parameters related with a function.
4. Alarms and messages
Lists the alarms and messages related with a function in a table.
5. Reference item
List the related items of the related manuals in a table.
A list of addresses of all signals and a list of signals are described in the
appendix of this manual. Refer to it as required.

Applicable models The models covered by this manual, and their abbreviations are :
Model name Abbreviation

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

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

NOTE
Some functions described in this manual may not be applied
to some products.
For details, refer to the DESCRIPTIONS manual
(B–63172EN).

p–1
PREFACE B–63173EN–1/02

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

[For Power Mate i–D (one–path control) and Power Mate i–H]

G000– X000–

CNC PMC Machine

F000– Y000– tool

[For Power Mate i–D (two–path control)]

CNC G000– X000–

Path 1
F000– Y000–
PMC Machine
G1000– tool

Path 2
F1000–

NOTE
1 In Power Mate i–D (two–path control), the signals of the
same functions are prepared for both of path 1 and path 2.
These signals have suffix #1 and #2 to their signal names
on path 1 and path 2, respectively.
When a signal is common to both paths, the signal is
prepared only to path 1 and the suffix #1 and #2 are not
attached.
2 For the signals, a single data number is assigned to 8 bits.
Each bit has a different meaning.

p–2
B–63173EN–1/02 PREFACE

D Expression of signals
Address Symbol (#0 to #7 indicates bit position)

#7 #6 #5 #4 #3 #2 #1 #0
F000 OP SA STL SPL RWD

Parameter description Parameters are classified by data type as follows :

Dta type Valid data range Remarks

Bit
0 or 1
Bit axis

Byte
0 – "127 In some parameters, signs are ig-
Byte axis 0 – 255 nored.

Word
0 – "32767 In some parameters, signs are ig-
Word axis 0 –65535 nored.

2–word
0 – "99999999
2–word axis

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

p–3
PREFACE B–63173EN–1/02

D Notation of bit type and

bit axis type parameters

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

#7 #6 #5 #4 #3 #2 #1 #0
0000 SEQ INI ISO TVC

D Notation of parameters
other than bit type and
bit axis type
Data No. Data

1023 Servo axis number of a specific axis

NOTE
In an item where both Power Mate i–D and Power Mate i–H
are described, parameters having different meanings
between the Power Mate i–D and Power Mate i–H and
parameters that are valid only for the Power Mate i–D or
Power Mate i–H are indicated in two levels as shown below.
Parameters left blank are unavaliable.

[Example 1]
IPR and ISC are parameters common to the Power Matei–D and Power
Matei–H series, but ISA is parameter valid only for the Power
Matei–H.

#7 #6 #1 #0
IPR ISC Power Matei–D
1004
ISC ISA Power Matei–H

[Example 2]
The following parameter is provided only for the Power Matei–D.

Max. spindle speed Power Matei–D

3772
Power Matei–H

p–4
B–63173EN–1/02 PREFACE

Related Manuals The table below lists manuals related to MODEL D and MODEL H of
Power Mate i.
In the table, this manual is marked with an asterisk(*).
Table 1 Related manuals
Specification
Manual name
Number
DESCRIPTIONS B–63172EN
CONNECTION MANUAL (HARDWARE) B–63173EN

CONNECTION MANUAL (FUNCTION) B–63173EN–1 *

OPERATOR’S MANUAL B–63174EN
MAINTENANCE MANUAL B–63175EN
PARAMETER MANUAL B–63180EN

Related manuals of The following table lists the manuals related to SERVO MOTOR αi/βi
SERVO MOTOR αi/βi series
series Table 2.1 Related manuals of SERVO MOTOR αi/βi series
Specification
Manual name
Number
FANUC AC SERVO MOTOR αis series
FANUC AC SERVO MOTOR αi series B–65262EN
DESCRIPTIONS
FANUC AC SPINDLE MOTOR αi series
B–65272EN
DESCRIPTIONS
FANUC AC SERVO MOTOR βis series
B–65302EN
DESCRIPTIONS
FANUC AC SPINDLE MOTOR βi series
B–65312EN
DESCRIPTIONS
FANUC SERVO AMPLIFIER αi series
B–65282EN
DESCRIPTIONS
FANUC SERVO AMPLIFIER βi series
B–65322EN
DESCRIPTIONS
FANUC SERVO MOTOR αis series
FANUC SERVO MOTOR αi series
FANUC AC SPINDLE MOTOR αi series B–65285EN
FANUC SERVO AMPLIFIER αi series
MAINTENANCE MANUAL
FANUC SERVO MOTOR βis series
FANUC AC SPINDLE MOTOR βi series
B–65325EN
FANUC SERVO AMPLIFIER βi series
MAINTENANCE MANUAL
FANUC AC SERVO MOTOR αi series
FANUC AC SERVO MOTOR βi series B–65270EN
PARAMETER MANUAL
FANUC AC SPINDLE MOTOR αi series
FANUC AC SPINDLE MOTOR βi series B–65280EN
PARAMETER MANUAL

The CNCs explained in this manual can connect only to the servos and
spindles (for the Power Mate i–D only) mentioned above.

p–5
PREFACE B–63173EN–1/02

Related manuals of
SERVO MOTOR β series Table 2.1 Related manuals of SERVO MOTOR β series
Specification
Manual name
Number
FANUC AC SERVO MOTOR β series DESCRIPTIONS B–65232EN
FANUC AC SERVO MOTOR β series
B–65235EN
MAINTENANCE MANUAL
FANUC AC SERVO MOTOR β series (I/O Link Option)
B–65245EN
MAINTENANCE MANUAL

p–6
B–63173EN–1/02 Table of Contents
DEFINITION OF WARNING, CAUTION, AND NOTE . . . . . . . . . . . . . . . . . . . . . . . . . . s–1

PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . p–1

1. AXIS CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 CONTROLLED AXES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 SETTING EACH AXIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.1 Name of Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.2 Increment System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.3 Specifying the Rotation Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.4 Controlled Axes Detach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2.5 Outputting the Movement State of an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.2.6 Mirror Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.2.7 Follow–up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.2.8 Servo Off (Mechanical Handle) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.2.9 Position Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.2.10 High–speed Position Switch (Including “Judging a Passing Direction Type”) . . . . . . . . . . . . . . . . . . . 27
1.3 ERROR COMPENSATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
1.3.1 Stored Pitch Error Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
1.3.2 Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
1.3.3 Straightness Compensation B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
1.4 SETTINGS RELATED TO SERVO–CONTROLLED AXES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
1.4.1 Parameters Related to Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
1.4.2 Absolute Position Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
1.4.3 FSSB Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
1.4.4 FSSB Serial Feedback Dummy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
1.5 SETTINGS RELATED WITH COORDINATE SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
1.5.1 Machine Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
1.5.2 Workpiece Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
1.5.3 Rotary Axis Roll Over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
1.6 SIMPLE SYNCHRONOUS CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
1.7 TANDEM CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
1.8 HIGH RESPONSE FUNCTION (Power Mate i–H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
1.8.1 Available G Code in High Response Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
1.8.1.1 G00 (Positioning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
1.8.1.2 G01 (Linear interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
1.8.1.3 G04 (Dwell) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
1.8.1.4 G28 (Reference position return) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
1.8.1.5 G31 (Skip function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
1.8.1.6 G90, G91 (Absolute and incremental programming) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
1.8.1.7 G92 (Setting a workpiece coordinate system) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
1.8.1.8 G135.1 (Continuous feed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
1.8.1.9 Rate–feed function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
1.8.1.10 G135.3 (Motion command with acceleration/deceleration time constant) . . . . . . . . . . . . . . . 171
1.8.2 Auxiliary function in high response mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
1.8.2.1 M99 in high response function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
1.8.2.2 Direct signal output function in high response function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
1.8.3 Custom Macro in the High Response Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
1.8.3.1 Macro statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
1.8.3.2 Referring to variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

c–1
 Table of Contents B–63173EN–1/02

1.8.3.3 Local variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

1.8.3.4 Common variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
1.8.3.5 System variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
1.8.3.6 Number of blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
1.8.4 Bit–Specified Access to System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
1.8.5 Sub–Program Call for High–Speed Response Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
1.8.5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
1.8.5.2 How to give a command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
1.8.6 Distance/Angle–Yet–to–Move Read Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
1.8.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
1.8.6.2 Distance/angle–yet–to–move of various motion commands . . . . . . . . . . . . . . . . . . . . . . . . . 215
1.8.6.3 PMC window data read function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
1.8.7 Simple Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
1.8.8 Acceleration/Deceleration Control in High Response Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
1.8.8.1 Rapid traverse linear acceleration/deceleration, rapid traverse bell–shaped
acceleration/deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
1.8.8.2 Linear acceleration/ deceleration after cutting feed interpolation, bell–shaped
acceleration/ deceleration after cutting feed interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
1.9 ELECTRONIC CAM FUNCTION (Power Mate i–H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
1.9.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
1.9.2 Electronic Cam Function (B–Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
1.9.3 Enhancement of Electronic CAM Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
1.9.4 Combined Use of the Electronic CAM Mode and Simple Synchronous Control
in the Electronic CAM Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
1.10 MULTIAXIS SYNCHRONOUS CONTROL (Power Mate i–H) . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
1.10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
1.10.2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
1.10.3 Setting a Synchronization Relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
1.10.3.1 Example of a simple synchronization relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
1.10.3.2 Example of a complicated synchronization relationship (when all axes are servo axes) . . . . 282
1.10.3.3 Example of a synchronization relationship where a separate absolute position
detector is used as the parent axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
1.10.3.4 Example of a synchronization relationship where a master device
in another unit is used as the parent axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
1.10.3.5 Example of a synchronization relationship where a pacemaker is used
as the parent axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
1.10.4 Command Types and Specification Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
1.10.4.1 Command types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
1.10.4.2 Specification methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
1.10.5 Commands Using a G Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
1.10.5.1 General information about NC axis synchronization commands . . . . . . . . . . . . . . . . . . . . . . 287
1.10.5.2 Mechanical synchronization command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
1.10.5.3 Start point synchronization command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
1.10.6 Commands using PMC Axis Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
1.10.6.1 General information about PMC axis synchronization commands . . . . . . . . . . . . . . . . . . . . 289
1.10.6.2 PMC axis synchronization command (direct specification) . . . . . . . . . . . . . . . . . . . . . . . . . . 290
1.10.6.3 PMC axis synchronization command (indirect specification) . . . . . . . . . . . . . . . . . . . . . . . . 292
1.10.7 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
1.10.8 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
1.10.9 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
1.10.10 Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
1.10.11 Inter–Unit Data Sharing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

c–2
B–63173EN–1/02 Table of Contents

1.10.11.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

1.10.11.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
1.10.11.3 Types of shared data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
1.10.11.4 Setting example for inter–unit synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
1.10.11.5 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
1.10.11.6 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
1.10.11.7 Use with the multi axes synchronous function and the electronic cam function . . . . . . . . . . 304
1.10.11.8 Example for electronic cam operation is performed for both the master unit
and slave unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
1.10.11.9 Example of electronic cam (master unit) and multiaxis synchronization (slave unit) . . . . . . . 306
1.10.11.10 Operation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
1.10.11.11 Parameters related to the electronic cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
1.10.11.12 Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
1.10.11.13 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
1.10.12 Notes and Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
1.10.12.1 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
1.10.12.2 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
1.10.13 Pacemaker Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
1.10.13.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
1.10.13.2 About the pacemaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
1.10.13.3 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
1.10.13.4 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
1.10.13.5 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
1.10.13.6 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
1.10.14 Device Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
1.10.14.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
1.10.14.2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
1.10.14.3 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
1.10.14.4 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
1.10.15 Hypothetical Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
1.10.15.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
1.10.15.2 Use example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
1.10.15.3 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
1.10.15.4 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
1.10.15.5 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
1.10.16 Acceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
1.10.17 Troubleshooting in Multiaxis Synchronous control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
1.11 RATE CHANGE FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
1.12 TORQUE LIMIT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
1.12.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
1.13 EXTERNAL PULSE INPUT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

2. PREPARATIONS FOR OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

2.1 EMERGENCY STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
2.2 CNC READY SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
2.3 OVERTRAVEL CHECK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
2.3.1 Overtravel Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
2.3.2 Stored Stroke Check 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

c–3
 Table of Contents B–63173EN–1/02

2.4 ALARM SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

2.5 INTERLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
2.6 MODE SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
2.7 PATH SELECTION/DISPLAY OF OPTIONAL PATH NAMES
(Power Mate i–D (TWO–PATH CONTROL)) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
2.8 STATUS OUTPUT SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
2.9 VRDY OFF ALARM IGNORE SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
2.10 ABNORMAL LOAD DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
2.11 ALARM CLASSIFICATION SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
2.12 APC ALARM CLASSIFICATION SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
2.13 DISPLAY OF ALARMS FROM PMC (INPUT) PAL0 TO PAL6, PALM <G225> . . . . . . . . . . . . . 396
2.14 SERVO POSITION DEVIATION MONITOR SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
2.15 TEMPORARY INTERRUPT DETECTION SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
2.16 V–READY WATING SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
2.17 TROUBLE PREDICTION SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

3. MANUAL OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402

3.1 JOG FEED/STEP FEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
3.2 MANUAL HANDLE FEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
3.3 MANUAL HANDLE INTERRUPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
3.4 RETURN SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418

4. REFERENCE POSITION RETURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

4.1 MANUAL REFERENCE POSITION RETURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437
4.3 REFERENCE POSITION RETURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
4.4 2ND OR 3RD REFERENCE POSITION RETURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
4.5 REFERENCE POSITION SETTING WITH MECHANICAL STOPPER . . . . . . . . . . . . . . . . . . . . 448
4.6 LINEAR SCALE WITH ABSOLUTE ADDRESSING REFERENCE MARKS . . . . . . . . . . . . . . . 455
4.7 REFERENCE POSITION EXTERNAL SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

5. AUTOMATIC OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463

5.1 CYCLE START/FEED HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
5.2 RESET AND REWIND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
5.3 TESTING A PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
5.3.1 Machine Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
5.3.2 Dry Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476
5.3.3 Single Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
5.4 MANUAL ABSOLUTE ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
5.5 OPTIONAL BLOCK SKIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483
5.6 EXACT STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
5.7 DNC OPERATION (Power Mate i–D (1–PATH CONTROL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

6. INTERPOLATION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489

6.1 POSITIONING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

c–4
B–63173EN–1/02 Table of Contents

6.2 LINEAR INTERPOLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

6.3 CIRCULAR INTERPOLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
6.4 POLAR COORDINATE INTERPOLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
6.5 HELICAL INTERPOLATION (Power Mate i–H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

7. FEEDRATE CONTROL/ACCELERATION AND DECELERATION

CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
7.1 FEEDRATE CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
7.1.1 Rapid Traverse Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
7.1.2 Cutting Feedrate Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
7.1.3 Feed Per Minute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
7.1.4 Feed Per Revolution/Manual Feed Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
7.1.5 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
7.1.5.1 Rapid traverse override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
7.1.5.2 Feedrate override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
7.1.5.3 Override cancel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
7.1.6 Feed Stop Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
7.1.7 Advanced Preview Feed–Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
7.1.8 Positioning by Optimal Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
7.2 ACCELERATION/DECELERATION CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533
7.2.1 AutomaticAcceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533
7.2.2 Rapid Traverse Bell–shaped Acceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
7.2.3 Linear Acceleration/Deceleration after Cutting Feed Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
7.2.4 Bell–shaped Acceleration/Deceleration after Cutting Feed Interpolation . . . . . . . . . . . . . . . . . . . . . . . 545
7.2.5 Linear Acceleration/Deceleration before Cutting Feed Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
7.2.6 Corner Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
7.2.6.1 In–position check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
7.2.6.2 In–position check independently of feed/rapid traverse . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
7.2.7 Axis Status Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558
7.2.8 Feed Forward in Rapid Traverse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564
7.2.9 Expansion of time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565

8. AUXILIARY FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566

8.1 AUXILIARY FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567
8.2 AUXILIARY FUNCTION LOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
8.3 MULTIPLE M COMMANDS IN A SINGLE BLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
8.4 HIGH–SPEED M/S/T INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
8.5 WAITING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
8.6 M Code in Multipath Mode (Power Mate i–H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

9. SPINDLE SPEED FUNCTION (Power Mate i–D) . . . . . . . . . . . . . . . . . . . . . . . . . . 594

9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
9.3 SPINDLE SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
9.4 CONSTANT SURFACE SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
9.5 RIGID TAPPING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
9.5.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
9.5.2 Connection Among Spindle, Spindle Motor, and Position Coder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636
9.5.3 Rigid Tapping Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

c–5
 Table of Contents B–63173EN–1/02

9.5.4 Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

9.5.4.1 Signals for the rigid tapping function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642
9.5.4.2 Signals related to S code output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
9.5.4.3 Signals related to gear switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
9.5.4.4 Signal addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
9.5.4.5 Notes on interface with the PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
9.5.5 Timing Charts for Rigid Tapping Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648
9.5.5.1 When M29 is specified before G84 (G74) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
9.5.5.2 M29 and G84 (G74) are specified in the same block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653
9.5.5.3 Specifying G84 (G74) for rigid tapping by parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657
9.5.5.4 Timing to cancel rigid tapping mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
9.5.6 Retraction for Rigid Tapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662
9.5.7 Retraction for Tapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668
9.5.8 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672
9.5.9 Alarm and Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
9.5.10 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688
9.5.11 Reference Item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 691
9.6 RIGID THREADING FOR CHASER TOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692
9.7 SPINDLE ORIENTATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694
9.8 SPINDLE OUTPUT SWITCHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696

10.TOOL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 698

10.1 TOOL FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 699
10.2 TOOL COMPENSATION VALUE/TOOL COMPENSATION NUMBER/TOOL
COMPENSATION MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 700

11.PROGRAM COMMAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 702

11.1 DECIMAL POINT PROGRAMMING/POCKET CALCULATOR
TYPE DECIMAL POINT PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
11.2 PROGRAM CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
11.3 CUSTOM MACRO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707
11.3.1 Custom Macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707
11.3.2 Interruption Type Custom Macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 717
11.4 CANNED CYCLE (Power Mate i–D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 720
11.5 MACRO COMPILER/MACRO EXECUTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727
11.6 C EXECUTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728
11.6.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728
11.6.2 The function of assigning C executor’s screens to the <CUSTOM/GRAPH> key . . . . . . . . . . . . . . . . 729
11.6.3 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729
11.6.4 Reference item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 733

12.DISPLAY/SET/EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734
12.1 DISPLAY/SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735
12.1.1 Clock Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735
12.1.2 Displaying Operation History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
12.1.3 Help Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738
12.1.4 Displaying Alarm History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738
12.1.5 Servo Tuning Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739
12.1.6 Spindle Setting and Tuning Screen (Power Mate i–D only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739
12.1.7 Self–diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 740

c–6
B–63173EN–1/02 Table of Contents

12.1.8 Display of Hardware and Software Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741

12.1.9 Run Hour and Parts Count Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742
12.1.10 Software Operator’s Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 747
12.1.11 Multi–language Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 762
12.1.12 Periodic Maintenance Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 763
12.1.13 Key Codes for T Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770
12.1.14 Display of Parameter Set Supporting Screen Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 771
12.2 EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772
12.2.1 Part Program Storage Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772
12.2.2 No. of Registered Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772
12.2.3 Memory Protection Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 773
12.2.4 Background Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 775
12.2.5 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776
12.2.6 Function of Teach–in for Four Axes (Power Mate i–H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777

13.INPUT/OUTPUT OF DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 781

13.1 READER/PUNCHER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 782
13.2 EXTERNAL I/O DEVICE CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789
13.3 DATA INPUT/OUTPUT FUNCTIONS BASED ON THE I/O LINK (MASTER) . . . . . . . . . . . . . . 818
13.4 DATA INPUT/OUTPUT FUNCTIONS BASED ON THE I/O LINK (SLAVE) . . . . . . . . . . . . . . . . 855

14.MEASUREMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 857
14.1 TOOL LENGTH MEASUREMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 858
14.2 SKIP FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 859
14.2.1 Skip Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 859
14.2.2 Multi–step Skip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 862
14.2.3 High–Speed Skip Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865
14.2.4 High–Speed Skip Function (with Traveling Distance from Skip Signal) . . . . . . . . . . . . . . . . . . . . . . . 872
14.3 Measuring function by using high–speed skip signal (Power Mate i–H) . . . . . . . . . . . . . . . . . . . . . 881

15.PMC CONTROL FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 893

15.1 PMC AXIS CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 894
15.1.1 PMC Axis Indirect Specification Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 944
15.1.2 High–Speed Skip Function (with Traveling Distance from Skip Signal) in PMC Axis Control . . . . . . 950
15.1.3 PMC Axis Control Acceleration/Deceleration Specification Feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 959
15.2 EXTERNAL DATA INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 971
15.3 EXTERNAL WORKPIECE NUMBER SEARCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 975
15.4 Spindle Output Control by the PMC (Power Mate i–D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 978
15.5 EXTERNAL KEY INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 983

16.HANDY OPERATOR’S PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 989

17.ANALOG INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 999

17.1 ANALOG INPUT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1000

18.FANUC I/O LINK FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003

19.TWO–PATH CONTROL (Power Mate i–D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1008

19.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1009

c–7
 Table of Contents B–63173EN–1/02

19.2 SPECIFYING 2 PATH CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1011

19.3 TWO–PATH DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013
19.3.1 Path Display Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013
19.3.1.1 Switching by input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013
19.3.1.2 Switching between the paths by key input on the display unit . . . . . . . . . . . . . . . . . . . . . . . 1013
19.3.2 Path Select Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014
19.3.3 Subscript of Axis Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014
19.3.4 Path Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1015
19.3.5 Path Number When the DPL/MDI Operation Package is Used as the Display Unit . . . . . . . . . . . . . . . 1015
19.4 KEY OPERATIONS AT POWER–ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1016
19.5 DETAIL SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018
19.5.1 Servo Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018
19.5.1.1 FSSB setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018
19.5.2 Spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018
19.5.2.1 Serial spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018
19.5.2.2 Analog spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1019
19.5.3 Manual Handle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1019
19.6 DI/DO SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1021
19.6.1 Direct DI Signals (MT to CNC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1021
19.6.2 Interface Signals between the CNC and PMC (PMC → CNC, CNC → PMC) . . . . . . . . . . . . . . . . . . . 1022
19.6.3 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022
19.7 OTHERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1023
19.8 NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1023
19.9 LIMITATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1023

20.SCREEN STATE SIGNALS (OUTPUT) DPL0, DPL1, DPL2<F254#0–#2> . . . . 1024

21.PMC KEY DATA REFERENCE FUNCTION (OUTPUT) . . . . . . . . . . . . . . . . . . . . 1025

22.POLE POSITION DETECTION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1026

23.ACTUAL POSITION READING FUNCTION WITH

ABSOLUTE–POSITION DETECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1032

24.SETTING MANUAL PULSE GENERATORS ON HANDY

MACHINE OPERATOR’S PANELS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1036

25.PULSE SIGNAL OUTPUT FUNCTION (Power Mate i–H) . . . . . . . . . . . . . . . . . . 1042

25.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1043
25.2 USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044
25.2.1 Setting the Pulse Signal Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044
25.2.2 Changing Pulse Signal Output Intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1045
25.2.3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1045
25.3 PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1046
25.3.1 Alarm and Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1047

26.CNC SCREEN DISPLAY FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1048

26.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1049
26.2 ONE–SCREEN DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1049

c–8
B–63173EN–1/02 Table of Contents

26.2.1 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1049

26.3 DUAL–SCREEN DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050
26.3.1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050
26.3.2 Selecting Key Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050
26.3.3 End Request with DI Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050
26.3.4 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050
26.3.5 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1051
26.3.6 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1052

27.THIRD–PARTY TOUCH PANEL CONNECTION FUNCTION . . . . . . . . . . . . . . . . 1055

27.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1056
27.2 DETAILS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1057
27.2.1 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1057
27.2.2 Power–on Priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1057
27.2.3 Available Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1057
27.2.4 Notes on Making Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1058
27.3 PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1058

APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1059
A. INTERFACE BETWEEN CNC AND PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1061
A.1 LIST OF ADDRESSES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1062
A.1.1 Power Mate i–MODEL D/H List of Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1062
A.2 SIGNAL SUMMARY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1100
A.2.1 Signal Summary (In Order of Functions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1100
A.2.2 List of Signals (In Order of Symbols) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1125
A.2.3 List of Signals (In Order of Addresses) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1147

c–9
B–63173EN–1/02 1. AXIS CONTROL

1 AXIS CONTROL

1
1. AXIS CONTROL B–63173EN–1/02

1.1
CONTROLLED AXES

General

Power Mate i–D Item Specification

No. of basic controlled axes 1–path 1 axis

2–path 1 axis per path
Controlled axes expansion 1–path Max. 2 axes
(total)
2–path
Basic simultaneously 1–path 1 axis (2 axes when No. of controlled
controlled axes axis is two)
2–path 1 axes per path

Power Mate i–H Item Specification

No. of basic controlled axes 8 axes

Basic simultaneously controlled axes 4 axes (JOG feed is usable on 3 axes
simultaneously)

Parameter
1010 Number of CNC–controlled axes

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Byte

[Valid data range] 1, 2, 3, ..., the number of controlled axes
Set the maximum number of axes that can be controlled by the CNC.
[Example] Suppose that the first axis is the X axis, and the second and subsequent
axes are the Y, Z, A, B, and C axes in that order, and that they are
controlled as follows:
X, Y, Z, and A axes: Controlled by the CNC and PMC
B and C axes: Controlled by the PMC
Then set this parameter to 4 (total 4: X, Y, Z, and A)

2
B–63173EN–1/02 1. AXIS CONTROL

1011 Number of controlled axes

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

[Data type] Byte

[Valid data range] 1 or 2 (Power Mate i–D)
1 to 8 (Power Mate i–H)
This parameter specifies the maximum number of controlled axes. If 0 or
a value exceeding the specifiable range of valid data is specified, alarm
5150 is issued.

Alarm and message

Number Message Description

015 TOO MANY AXES COM- The number of the commanded axes
MANDED exceeded that of simultaneously con-
trolled axes. Correct the program.
5150 PARAM (No. 1011) A value specified as the maximum
SETTING ERROR number of controlled axes (parameter
No. 1011) is invalid. Correct the param-
eter setting.

Note
NOTE
The overall position display screen and the position display
screen for manual handle interrupt can display up to eight
axes.

Reference item
OPERATOR’S MANUAL II.2.1 Controlled Axes
(B–63174EN)

3
1. AXIS CONTROL B–63173EN–1/02

1.2
SETTING EACH AXIS

1.2.1
Name of Axes

General Each axis that is controlled by the CNC (including those controlled by the
PMC) must be named. Select and set names from among X, Y, Z, A, B,
C, U, V, and W (with parameter No. 1020).
The same name cannot be assigned to more than one axis.
For two–path control, the same axis name can be used with the other path.

Parameter
1020 Name of the axis used for programming for each axis

[Data type] Byte axis

Set the name of the program axis for each control axis, with one of the
values listed in the following table:
Axis Set value Axis name Set value Axis name Set value
name
X 88 U 85 A 65

Y 89 V 86 B 66

Z 90 W 87 C 67

NOTE
1 The same axis name cannot be assigned to more than one
axis.
2 With 2–path control, when information (such as the current
position) about each axis is displayed on the CRT screen,
an axis name may be followed by a subscript to indicate a
path number (e.g.,X1 and X2). This is an axis name to help
the user to easily understand which path an axis belongs to.
When writing a program, the user must specify X, Y, Z, U,
V, W, A, B, and C without attaching a subscript.

Reference item
OPERATOR’S MANUAL II.2.2 NAMES OF AXES
(B–63174EN)

4
B–63173EN–1/02 1. AXIS CONTROL

1.2.2
Increment System

General The increment system consists of the least input increment (for input ) and
least command increment (for output). The least input increment is the
least increment for programming the travel distance. The least command
increment is the least increment for moving the tool on the machine. Both
increments are represented in mm, inches, or degrees.
The increment system is classified into IS–A, IS–B, and IS–C (Tables
1.2.2(a), 1.2.2 (b), and 1.2.2(c)). Select IS–B or IS–C using bit 0(ISA)
of parameter No. 1004 or bit 1 (ISC) of parameter No. 1004. When
selecting IS–C, the option of increment system 1/10 is necessary.

NOTE
The IS–A cannot be used in the Power Mate i–D.

Table 1.2.2 (a) Increment system IS–A (Power Mate i–H only)
Least input increment Least command increment
Metric mm 0.01mm 0.01mm
system input
0.01deg 0.01deg
machine
inch 0.001inch 0.01mm
input
0.01deg 0.01deg
Inch mm 0.01mm 0.001inch
system input
0.01deg 0.01deg
machine
inch 0.001inch 0.001inch
input
0.01deg 0.01deg

Table 1.2.2 (b) Increment system IS–B

Least input increment Least command increment
Metric mm 0.001mm 0.001mm
system input
0.001deg 0.001deg
machine
inch 0.0001inch 0.001mm
input
0.001deg 0.001deg
Inch mm 0.001mm 0.0001inch
system input
0.001deg 0.001deg
machine
inch 0.0001inch 0.0001inch
input
0.001deg 0.001deg

5
1. AXIS CONTROL B–63173EN–1/02

Table 1.2.2 (c) Increment system IS–C

Least input increment Least command increment
Metric mm 0.0001mm 0.0001mm
system input
0.0001deg 0.0001deg
machine
inch 0.00001inch 0.0001mm
input
0.0001deg 0.0001deg
Inch mm 0.0001mm 0.00001inch
system input
0.0001deg 0.0001deg
machine
inch 0.00001inch 0.00001inch
input
0.0001deg 0.0001deg

NOTE
Parameter IPR (No. 1004#7) can make the least input
increment of IS–B and IS–C ten times the least command
increment on each axis.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0000 INI

Setting entry is acceptable.

[Data type] Bit
INI Unit of input
0 : In mm
1 : In inches

#7 #6 #5 #4 #3 #2 #1 #0
1001 INM

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

[Data type] Bit

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

6
B–63173EN–1/02 1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
1004 IPR ISC
IPR ISC ISA

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

[Data type] Bit

ISA, ISC The least input increment and least command increment are set.
ISC ISA Least input increment and Symbol
least command increment
0 0 0.001mm, 0.001deg, or 0.0001inch IS-B
0 1 0.01mm, 0.01deg, or 0.001inch IS-A
1 0 0.0001mm, 0.0001deg, or 0.00001inch IS-C

NOTE
The IS–A cannot be used in the Power Mate i–D.

IPR Whether the least input increment for each axis is set to a value 10 times as
large as the least command increment is specified, in increment systems
of IS–B and IS–C, mm input.
0 : The least input increment is not set to a value 10 times as large as the
least command increment.
1 : The least input increment is set to a value 10 times as large as the least
command increment.
If IPR is set to 1, the least input increment is set as follows:
Input increment Least input increment
IS-B 0.01 mm, 0.01 deg, or 0.0001 inch
IS-C 0.001 mm, 0.001 deg, or 0.00001 inch

NOTE
For IS–A, the least input increment cannot be set to a value
10 times as large as the least command increment.
When inch of input is specified, the least input increment
does not become 10 times as large as the least command
increment.

Reference item
OPERATOR’S MANUAL II.2.3 Increment System
(B–63174EN)

7
1. AXIS CONTROL B–63173EN–1/02

1.2.3
Specifying the
Rotation Axis
General Bit 0 (ROTx) of parameter No. 1006 can be used to set each axis to a linear
axis or rotation axis.
When the roll over function is used, the values displayed for absolute
coordinates are rounded by the shift amount per rotation, as set in
parameter No. 1260. This can prevent coordinates for the rotation axis
from overflowing. Displayed values for relative coordinates are also
rounded by the angle corresponding to one rotation when bit 2 (RRLx) of
parameter No. 1008 is set to 1. The roll–over function is enabled by
setting bit 0 (ROAx) of parameter No. 1008 to 1.
For an absolute command, the coordinates after the tool has moved are
values rounded by the angle corresponding to one rotation set in
parameter No. 1260. The tool moves in the direction in which the final
coordinates are closest when bit 1 of parameter No. 1008 is set to 0. For
an incremental command, the tool moves the angle specified in the
command.

8
B–63173EN–1/02 1. AXIS CONTROL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROSx ROTx

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Bit axis

ROTx, ROSx Setting linear or rotation axis.
ROSx ROTx Meaning

0 0 Linear axis
(1) Inch/metric conversion is done.
(2) All coordinate values are linear axis type.
(Not rounded in 0 to 360°)
(3) Stored pitch error compensation is linear axis type
(Refer to parameter No. 3624)

0 1 Rotation axis (A type)

(1) Inch/metric conversion is not done.
(2) Machine coordinate values are rounded in 0 to 360_. Ab-
solute coordinate values and relative coordinate values
are rounded or not rounded by parameter No. 1008#0
and #2.
(3) Stored pitch error compensation is the rotation type. (Re-
fer to parameter No. 3624)
(4) Automatic reference position return (G28, G30) is done in
the reference position return direction and the move
amount does not exceed one rotation.

1 0 Setting is invalid (unused)

1 1 Rotation axis (B type)

(1) Inch/metric conversion is not done.
(2) Machine coordinate values, absolute coordinate values
and relative coordinate values are linear axis type. (Is not
rounded in 0 to 360_)
(3) Stored pitch error compensation is linear axis type (Refer
to parameter No. 3624)
(4) The rotation axis roll over function cannot be used.

#7 #6 #5 #4 #3 #2 #1 #0
1008 RRLx RABx ROAx

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Bit axis

ROAx The roll–over function of a rotation axis is
0 : Invalid
1 : Valid

9
1. AXIS CONTROL B–63173EN–1/02

NOTE
ROAx specifies the function only for a rotation axis (for
which ROTx, #0 of parameter No. 1006, is set to 1)

RABx In the absolute commands, the axis rotates in the direction

0 : In which the distance to the target is shorter.
1 : Specified by the sign of command value.

NOTE
RABx is valid only when ROAx is 1.

RRLx Relative coordinates are

0 : Not rounded by the amount of the shift per one rotation
1 : Rounded by the amount of the shift per one rotation

NOTE
1 RRLx is valid only when ROAx is 1.
2 Assign the amount of the shift per one rotation in parameter
No. 1260.

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

NOTE
1 After setting the parameter, turn off the power once and turn
it on again to operate the machine.
2 This parameter is valid only when ROAx = 1.

[Data type] Two–word axis

[Unit of data] Increment system Unit of data Standard value
IS–A 0.01 deg 36000
IS–B 0.001 deg 360000
IS–C 0.0001 deg 3600000

[Valid data range] 1000 to 9999999

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

Reference item
OPERATOR’S MANUAL II.16.1 Rotary Axis Roll–over
(B–63174EN)

10
B–63173EN–1/02 1. AXIS CONTROL

1.2.4
Controlled Axes
Detach

General These signals release the specified control axes from control.
When attachments are used (such as a detachable rotary table), these
signals are selected according to whether the attachments are mounted.

When multiple rotary tables are used in turn, the tables must use motors
of the same model. Pulsecoder with absolute detector cannot be used.

Signal

Controlled axis detach

signals
DTCH1 – DTCH8 <G124>
[Classification] Input signal
[Function] These signals detach the control axes from control.
These signals are provided for each control axis; the affixed number of the
signal name shows the control axis number.
DTCH 1
1 ..... The 1st axis is detached.
2 ..... The 2nd axis is detached.
: :
: :
8 ..... The 8th axis is detached.

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

11
1. AXIS CONTROL B–63173EN–1/02

Controlled axis detach

status signals
MDTCH1 – MDTCH8
<F110>
[Classification] Output signal
[Function] These signals notify the PMC that the corresponding axes have been
released from control.
These signals are provided for each control axis; the affixed number of the
signal name shows the control axis number.
MDTCH 1
1 ..... The 1st axis is detached.
2 ..... The 2nd axis is detached.
: :
: :
8 ..... The 8th axis is detached.

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

– When the corresponding axes are released from control
These signals are 0 in the following case:
– When the corresponding axes are under control

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G124 DTCH8 DTCH7 DTCH6 DTCH5 DTCH4 DTCH3 DTCH2 DTCH1

#7 #6 #5 #4 #3 #2 #1 #0
F110 MDTCH8 MDTCH7 MDTCH6 MDTCH5 MDTCH4 MDTCH3 MDTCH2 MDTCH1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0012 RMVx

At least one of these parameters can also be set on the ”Setting screen”.
[Data type] Bit axis
RMVx Releasing the assignment of the control axis for each axis
0 : Not released
1 : Released

NOTE
RMVx is valid when RMBx (bit 7 of parameter No. 1005) is
1.

12
B–63173EN–1/02 1. AXIS CONTROL

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

[Data type] Bit axis

RMBx Releasing the assignment of the control axis for each axis (signal input
and setting input)
0 : Invalid
1 : Valid

NOTE
If the servo motor for an axis is connected to a 2–axis or
other multiaxis amplifier, releasing the axis from control
causes servo alarm 401 (V ready off) to be output. This
alarm can be disabled by this parameter. When the servo
motor is disconnected from the CNC, however, servo alarm
401 is output, regardless of the value of the parameter, due
to the nature of multiaxis amplifier.

Caution

CAUTION
When a 2–axis or 3–axis amplifier is used, releasing only
one axis from control results in the output of servo alarm 401
(V ready off). Use 1–axis amplifiers for those axes to be
released from control, e.g., by replacing the rotary table.

Note
NOTE
1 Controlled axis detach signals DTCH1 <G124#0>, DTCH2
<G124#1>, DTCH3 <G124#2>, … can be changed from 1
to 0 or from 0 to 1 when the power is first turned on or when
no movement is being executed along the corresponding
axis. If these signals are changed from 0 to 1 when the tool
is moving along the corresponding axis, the axis is released
from control upon completion of the movement.
2 For these signals to be attached, parameter No. 1005#7
must be set, indicating the axes are detachable.
3 Setting parameter No. 0012#7 from the MDI panel detaches
the axes in the same way as these signals.
4 Those axes that are released from control lose their
reference positions. Reference position return must,
therefore, be performed for the axes prior to executing move
commands for the axes. Specifying a move command
before reference position return has been performed
causes alarm 224 to be output. (If it is unnecessary to
specify a reference position, using the parameter ZRNx (bit
0 of parameter No. 1005) can prevent a P/S alarm (No.
224)).

13
1. AXIS CONTROL B–63173EN–1/02

1.2.5
Outputting the
Movement State of an
Axis

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

Signal

Axis moving signals

MV1 – MV8 <F102>
[Classification] Output signal
[Function] These signals indicate that a control axis is moving.
The signals are provided for each control axis, and the number in the
signal name corresponds to the control axis number.
MV 1
1 ..... The 1st axis is moving.
2 ..... The 2nd axis is moving.
3 ..... The 3rd axis is moving.
: :
: :

[Output condition] The signals turn to “1” in the following cases:

. The corresponding axis has started moving.
. In manual handle feed mode, the handle feed axis of the corresponding
axis has been selected.
The signals turn to “0” in the following case:
. When the move command for the corresponding axis has been
distributed (when bit 6 (MVX) of parameter No. 3003 is 0)
. When deceleration for the corresponding axis has been completed and
the axis is set to the in–position condition. If in–position check is not
performed, when the deceleration for the corresponding axis is
completed. (When bit 6 (MVX) of parameter No. 3003 is 1)

14
B–63173EN–1/02 1. AXIS CONTROL

Axis moving direction

signals
MVD1 – MVD8 <F106>
[Classification] Output signal
[Function] These signals indicate the movement direction of control axis.
They are provided for each control axis, and the number in the signal name
corresponds to the control axis number.
MVD 1
1 ..... The moving direction of the 1st axis is minus.
2 ..... The moving direction of the 2nd axis is minus.
3 ..... The moving direction of the 3rd axis is minus.
: :
: :

[Output condition] “1” indicates the corresponding axes are moving in the minus direction,
and “0” indicates they are moving in the plus direction.

CAUTION
These signals maintain their existing condition during a
stop, indicating the direction of the axes’ movement before
being stopped.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F102 MV8 MV7 MV6 MV5 MV4 MV3 MV2 MV1
#7 #6 #5 #4 #3 #2 #1 #0
F106 MVD8 MVD7 MVD6 MVD5 MVD4 MVD3 MVD2 MVD1

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

15
1. AXIS CONTROL B–63173EN–1/02

1.2.6
Mirror Image

General Mirror image can be applied to each axis, either by signals or by

parameters (setting input is acceptable). All movement directions are
reversed during automatic operation along axes to which a mirror image
is applied.

X
B

A B’
Z
0
When MI1 signal turned to “1” at point A

Mirror image

However, the following directions are not reversed:

– Direction of manual operation and direction of movement, from the
intermediate position to the reference position during automatic
reference position return
– Shift direction for boring cycles (G76 and G87) (for Power Mate i–D
only)
Mirror image check signals indicate whether mirror image is applied to
each axis. System variable #3007 contains the same information (refer
to II–13.2 in the operator’s manual).

Signal

Mirror image signal

MI1 – MI8 <G106>
[Classification] Input signal
[Function] Apply mirror image to the specified axes.
[Operation] Apply mirror image to those axes for which the signals are 1.
These signals are provided for the controlled axes on a one–to–one basis.
A number appended to a signal represents the controlled axis number.
MI 1
1 ..... Applies mirror image to the 1st axis.
2 ..... Applies mirror image to the 2nd axis.
3 ..... Applies mirror image to the 3rd axis.
: :
: :

16
B–63173EN–1/02 1. AXIS CONTROL

The mirror image signal can be turned to “1” in the following cases:
a) During offset cancel;
b) When the CNC is in the automatic operation stop state and not in the
feed hold state.

Mirror image check

signal
MMI1 – MMI8<F108>
[Classification] Output signal
[Function] These signals indicate the mirror image condition of each axis. The mirror
image is set by taking the logical sum of the signal from the MDI panel
and the input signal of the machine tool, then relaying the information to
the machine tool.
These signals are provided for every control axis; the numeral in the signal
name indicates the relevant control axis number.
MMI 1
1 ..... Mirror image is applied to the 1st axis
2 ..... Mirror image is applied to the 2nd axis
3 ..... Mirror image is applied to the 3rd axis
: :
: :

[Output condition] These signals turn to “1” when:

· Mirror image signal MIn of the corresponding axis is “1”; or
· Mirror image of the corresponding axis is turned on by setting data
from the MDI panel.
These signals turn to “0” when:
· Mirror image signal (MIn) of the corresponding axis is “0” and the
setting of the mirror image in the control unit is turned off.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G106 MI8 MI7 MI6 MI5 MI4 MI3 MI2 MI1

#7 #6 #5 #4 #3 #2 #1 #0
F108 MMI8 MMI7 MMI6 MMI5 MMI4 MMI3 MMI2 MMI1

17
1. AXIS CONTROL B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0012 MIRx

At least one of these parameters can also be set on the ”Setting screen”.
[Data type] Bit axis
MIRx Mirror image for each axis
0 : Mirror image is off.
1 : Mirror image is on.

Caution
CAUTION
Even when the mirror image is applied, commands which do
not actuate mirror image (such as automatic reference
position return and manual operation) do not affect mirror
image check signals MMI1 to MMI8 <F108>.

Reference item
OPERATOR’S MANUAL V.4.5 Mirror Image
(B–63174EN)

18
B–63173EN–1/02 1. AXIS CONTROL

1.2.7
Follow–up

General When position control is disabled for the controlled axes (when the servo
is off, during emergency stop, or during a servo alarm), if the machine is
moved, a positional error occurs. Follow–up is a function for changing
the current position of the CNC and reset the error counter to zero,
assuming a command corresponding to the error has been specified.
You can select whether to perform follow–up for axes for which the servo
is turned off.
Follow–up is always performed during emergency stop or a servo alarm.
D When follow–up is not When signal *FLWU is 1, follow–up is not performed. The error is added
performed for the axes to the error counter as a servo error. In this case, the machine moves to
for which the servo is compensate for the error when the servo off signal changes to 0.
turned off In general, follow–up is not used if the machine is mechanically clamped
when position control is disabled for the controlled axes.
D When follow–up is When *FLWU is “0”, the follow-up function is engaged. The present
performed for the axes position of the CNC is changed to reset the error counter to zero. The
for which the servo is machine tool remains in a deviated position, but since the present position
turned off of the CNC changes correspondingly, the machine moves to the correct
position when the absolute command is next applied.
In general, follow–up should be used when motors are driven by
mechanical handles.

Signal

Follow–up signal
*FLWU <G007#5>
[Classification] Input signal
[Function] Select whether to perform follow–up when the servo is turned off.
[Operation] 0: Performs follow–up.
1: Does not perform follow–up.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G007 *FLWU

Reference item
CONNECTION MANUAL 1.2.8 Servo Off (Mechanical handle)
(This manual)

19
1. AXIS CONTROL B–63173EN–1/02

1.2.8
Servo Off (Mechanical
Handle)
General Place the controlled axes in the servo off state; that is, they stop the current
to the servo motor, which disables position control. However, the
position detection feature functions continuously, so the current position
is not lost.
These signals are used to prevent the servo motors from overloading when
the tools on the axes are mechanically clamped under certain machining
conditions on the machine, or to move the machine by driving the motors
by mechanical handles.

Signal

Servo off signal

SVF1 – SVF8 <G126>
[Classification] Input signal
[Function] Select whether to place each axis in the servo off state.
These signals are provided for the controlled axes on a one–to–one basis.
A number appended to a signal represents a controlled axis number.
SVF 1
1 ..... Servo off for the first axis
2 ..... Servo off for the second axis
3 ..... Servo off for the third axis
: :
: :
[Operation] These signals place those axes for which the signals are 1 in the servo off
state (the current to the servo motor is stopped), thus disabling position
control. However, the position detection feature continues to function, so
the current position is not lost.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G126 SVF8 SVF7 SVF6 SVF5 SVF4 SVF3 SVF2 SVF1

20
B–63173EN–1/02 1. AXIS CONTROL

Caution
CAUTION
1 In general, interlock is applied to an axis while the servo off signal for that axis is 1.
2 When one of these signals turns to “1”, the servo motor is turned off. The mechanical clamp
is done by using the auxiliary function. Set the timing for the auxiliary function, mechanical
clamp and servo off signals as shown in the diagram below.
Do not execute the auxiliary function of the clamp command during axis movement.
Clamp command Unclamp command
MF

Machine
clamp
Servo off state

SVF1, ...

FIN

3 When an axis is placed in Servo–Off state during cycle start under the setting of enabling follow
up (*FLWU<G007#5>=0) and machine is moved by external force, the amount of this moving
cannot be reflected to the coordinate immediately. Then, the coordinate is shifted by the
amount of moving and the path of an axis is also shifted as a following figure.

Actual machine path

Servo–On

Moved by
external
force during
Servo–Off Programmed
Servo–Off
machine path

There are following methods to reflect the amount of moving to the coordinate. It is necessary
to set the coordinate by following methods not to shift the machine path and then execute the
absolute command block. The path is as follows.

21
1. AXIS CONTROL B–63173EN–1/02

CAUTION
S After Servo–On is performed, the work coordinate setting that sets the current position to
the coordinate should be performed before the axis moving,.
Ex.
N10 G00 X10. Y20.; The machine is moved by external
force during servo off and then
N20 G01 X100. Y100. F500; ←
servo on while the block number
N30 M44;
N20 is executing.
N40 G92 X#5041 Y#5042;
N50 G90 G01 X50. Y150. F800;
N60 G01 X70. Y200.;
#5041:Current absolute coordinate of X axis
#5042:Current absolute coordinate of Y axis
N30,40
Absolute command block

Servo–On
N50
Actual machine path
Moved by
external
force during N20
N60
N10 Programmed
Servo–Off
machine path

S Automatic operation starts again after stopping the automatic operation by reset, single
block stop or feed hold.
4. When an axis is placed in Servo–Off state during cycle start under the setting of disabling follow
up (*FLWU<G007#5>=1) and machine moved by external force, the amount of the moving is
pulled back at a time at Servo–On. So the machine path is not shifted after this.
The amount moved by external force during Servo–Off is accumulated into the inner of NC as
servo following error. So the machine moves to compensate the error when Servo–On state
is applied. The velocity of this motion is based on the servo loop gain. Then there is possibility
that the machine is shocked if the moved amount is big.

Reference item
CONNECTION MANUAL 1.2.7 Follow–up
(This manual)

22
B–63173EN–1/02 1. AXIS CONTROL

1.2.9
Position Switch

General Position switch signals can be output to the PMC while the machine
coordinates along a controlled axes are within a specified ranges.

Signal

Position switch signal

PSW01 – PSW10
<F070#0 – F071#1>
[Classification] Output signal
[Function] Notifies that the machine coordinates along the controlled axes specified
by parameters (Nos. 6910 to 6919) are within the ranges specified by
parameters (Nos. 6930 to 6939 and 6950 to 6959). Up to ten position
switch signals can be output.
[Output condition] These signals are 1 in the following case:
· When the machine coordinates along the controlled axes are within the
specified ranges.
These signals are 0 in the following case:
· When the machine coordinates along the controlled axes are not within
the specified ranges.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F070 PSW08 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01

F071 PSW10 PSW09

23
1. AXIS CONTROL B–63173EN–1/02

Parameter

D Specifying whether to
output the position #7 #6 #5 #4 #3 #2 #1 #0
switch signals during 6901 IGP
absolute–position
detector follow–up IGP Specifies whether to output the position switch signals during
absolute–position detector follow–up, as follows:
0 : To output
1 : Not to output
D Setting the
correspondence
between the position
switch signals and the
controlled axes
6910 Axis corresponding to the first position switch

6911 Axis corresponding to the second position switch

6912 Axis corresponding to the third position switch

6913 Axis corresponding to the fourth position switch

6914 Axis corresponding to the fifth position switch

6915 Axis corresponding to the sixth position switch

6916 Axis corresponding to the seventh position switch

6917 Axis corresponding to the eighth position switch

6918 Axis corresponding to the ninth position switch

6919 Axis corresponding to the tenth position switch

[Data type] Byte

[Valid data range] 1, 2, 3, . . . , control axis count
These parameters specify the control–axes numbers corresponding to the
first through tenth position switch functions. A corresponding position
switch signal is output to PMC when the machine coordinate value of a
corresponding axis is within the range that is set using a parameter.

NOTE
Set 0 for those position switch numbers that are not to be
used.

24
B–63173EN–1/02 1. AXIS CONTROL

D Setting the machine

coordinate ranges for
which the position
switch signals are output

D Maximum operation
range 6930 Maximum operation range of the first position switch

6931 Maximum operation range of the second position switch

6932 Maximum operation range of the third position switch

6933 Maximum operation range of the fourth position switch

6934 Maximum operation range of the fifth position switch

6935 Maximum operation range of the sixth position switch

6936 Maximum operation range of the seventh position switch

6937 Maximum operation range of the eighth position switch

6938 Maximum operation range of the ninth position switch

6939 Maximum operation range of the tenth position switch

[Data type] Two–word

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to +99999999

These parameters set the maximum operation range of the first through
tenth position switches.

25
1. AXIS CONTROL B–63173EN–1/02

D Minimum operation
range 6950 Minimum operation range of the first position switch

6951 Minimum operation range of the second position switch

6952 Minimum operation range of the third position switch

6953 Minimum operation range of the fourth position switch

6954 Minimum operation range of the fifth position switch

6955 Minimum operation range of the sixth position switch

6956 Minimum operation range of the seventh position switch

6957 Minimum operation range of the eighth position switch

6958 Minimum operation range of the ninth position switch

6959 Minimum operation range of the tenth position switch

[Data type] Two–word

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to +99999999

These parameters set the minimum operation range of the first through
tenth position switches.

26
B–63173EN–1/02 1. AXIS CONTROL

1.2.10
High–speed Position
Switch (Including
“Judging a Passing
Direction Type”)

Outline When an axis is positioned within the range given by the machine
coordinate, this function turns on the DO (position switch) signal. There
are two types of position switch. One is ”normal type”. And another is
”judging a passing direction type”. (Hereafter, ”High speed position
switch” means both ”normal type” and ”judging a passing direction type”
if there is no special attention.)
Normal type
When an axis is positioned within the specified range, the signal of the
built–in I/O is turned on. When an axis is positioned out of the
specified range, the signal is turned off. As the interval to watch a
signal is shorter than that of the conventional type, this function makes
it possible to watch the axis position with higher precision.

Specified built–in DO signal = 1

Specified built–in DO signal = 0

Specified range

Judging a passing direction type

This type position switch considers the direction to pass by the
specified position. When an axis passes by a specified point in a
specified direction, the signal of the built–in I/O is turned on. When
an axis passes by another specified point in a specified direction, the
signal of the built–in I/O is turned off. In case the point to turn on a
signal is different from the point to turn off, this type should be
applied.
In case passing in plus direction,
specified built–in DO signal = 1
In case passing in minus direction,
specified built–in DO signal = 0

Specify to turn off a signal in minus direction

Specify to turn on a signal in plus direction

27
1. AXIS CONTROL B–63173EN–1/02

Built–in DO signals can be used up to 16 points for this position switch.

NOTE
D This function is an optional function. In order to use “normal
type high speed position switch” or “judging a passing
direction type position switch” is used, the “high speed
position switch” option is also necessary.
D The appropriate version of the PMC control software and
the digital servo control software is required for this function.
If the version is not appropriate, an alarm No.5800 is
generated.

Explanation Both ”normal type” and ” judging a passing direction type” calculate the
current position by the machine coordinate and the feedback of position
detector at every 2msec, and check the condition whether a position
switch signal should be turned on or not.
The following selections are prepared.
D Output method of position switch (normal type or judging a passing
direction type)
Select by the parameter No.8504, 8505
D Point number of position switch
Select up to 16 points by the parameter No.8516.
D Top address of PMC Y area to output position switch signal
Select by the parameter No.8517. If not existed address is specified,
high speed position switch can not be used.
The first high–speed position switch is assigned to the bit 0 of the PMC
Y area specified by the parameter No.8517. The second high–speed
position switch is assigned to the bit 1. And so on.
Ex) In case the parameter No.8516=16 and the parameter
No.8517=1001:
Y1001#0 ––– the first high speed position switch signal
Y1001#1 ––– the second high speed position switch signal
: :
Y1002#7 ––– the sixteenth high speed position switch signal
D Axis corresponding to each high speed position switch
Set by the parameter No.8520 to No.8535. If the set value is zero, the
high–speed position switch is not effective.
The above description is common both to normal type and judging a
passing direction type. The difference of two types is described below.

28
B–63173EN–1/02 1. AXIS CONTROL

Normal type high speed In normal type high–speed position switch, when an axis is positioned
position switch within the specified range, the signal is output to the Y address of the
built–in I/O.

Normal type high–speed position switch

Range to output signal
n–th axis
(current
position)
Axis assignment: The minimum value: The maximum value:
Nos.8520–8535 Nos.8580–8595 Nos.8550–8565

As for the range to output a high–speed position switch, the maximum

values are given by the parameter Nos.8550 to 8565 and the minimum
values are given by the parameter Nos.8580 to 8595.

NOTE
If the maximum value is less than the minimum value in a
linear axis, the high–speed position switch is never turned
on because there is no effective range. If the maximum
value is less than the minimum value in a rotary axis, the
range to output a signal is the range including the point of
0 degree.

Ex)

Rotary axis The maximum value: 45 degree

(360deg./rev)

0 degree (= 360degree)

The minimum value: 315 degree)

Range to output a signal
(0 – 45 degree,
315 – 360 degree)

29
1. AXIS CONTROL B–63173EN–1/02

Judging a passing In judging a passing direction type high–speed position switch, when an
direction type high speed axis passes by a specified point (point A) in a specified direction, the
position switch signal in Y address of the built–in I/O is turned on. When an axis passes
by another specified point (point B) in a specified direction, the signal in
Y address of the built–in I/O is turned off. In case the point to turn on a
signal is different from the point to turn off, this type should be applied.
Effective direction Effective direction
of point B: of point A:
Nos.8512–8513 Nos.8508–8509
n–th axis
(current position)
Axis assignment: Point B: Point A:
Nos.8520–8535 Nos.8580–8595 Nos.8550–8565

As for the parameters of the judging a passing direction type high–speed

position switch, the absolute coordinate of the position A to turn on a
signal is set by the parameters No.8550 to No.8565. And the absolute
coordinate of the position B to turn off a signal is set to the parameter
No.8580 to No.8595.
The effective passing direction of the point A to turn on a signal is set to
the parameters No.8508 and No.8509, and the effective passing direction
of the point B to turn off a signal is set to the parameters No.8512 and
No.8513.
If an axis passes in the reverse direction set by these parameters,
high–speed position switches are not changed.

30
B–63173EN–1/02 1. AXIS CONTROL

(Example)
The outline of the action of judging a passing direction type high–speed
position switch is shown in the following Fig. 1.2.10.

(a)
Current
position
P
a e
P1
(Point A)

b d
P2
(Point B)

(1) (2) (3) (4)

Time
(b)
Output
signal
ON

OFF
(1) (3) Time

Set up condition
D When an axis passes by the point P1 in the direction ↓ , the high
speed skip signal is turned on.
D When an axis passes by the point P2 in the direction ↑ , the high
speed skip signal is turned off.

Fig. 1.2.10 Relation between the coordinate and

signals of high speed position switch

In the Fig. 1.2.10, the horizontal axis represents time and the vertical axis
represents the absolute coordinate of the high–speed position switch. The
current position is moved from a to b, c, d and e with passing time.
In this case, the high–speed position switch is turned on/off as shown in
the Fig. 1.2.10 (b).
(1) When an axis moves from the point ”a” to the point ”b” by way of the
boundary ”P1” as shown in the Fig. 1.2.10 (a), a high–speed position
switch is turned on because the passing direction is the same as the
specified direction.
(2) When an axis moves to the point ”c” by way of the boundary ”P2”, a
high–speed position switch is not changed (is kept turning on) because
the passing direction is reverse to the specified direction.
(3) When an axis moves from the point ”c” to the point ”d” by way of the
boundary ”P2”, a high–speed position switch is turned off because the
passing direction is the same as the specified direction.

31
1. AXIS CONTROL B–63173EN–1/02

(4) After that, when an axis moves from the point ”d” to the point ”e” by
way of the boundary ”P1”, a high–speed position switch is not
changed (is kept turning off) because the passing direction is reverse
to the specified direction.
Caution D The high–speed position switch is effective only in the axis whose
reference position is established.
D If the reference position is lost while the position switch is active, the
status of the position switch is kept as it was till the reference position
is established again.
D In case that an absolute position detector is used, the status of the
high–speed position switch is not changed while the absolute
coordinate is being established by following up the position of the
absolute position detector. (This follow up is being performed from the
power–on or releasing an absolute position detector/servo alarm till
the absolute coordinate is established.) In this following up period, the
reference position is temporarily regarded as not established. The
high–speed position switch will work after this follow up.

NOTE
By setting the parameter No.1203#1 to ”1” and checking the
reference position establishment signal (ZRF1–ZEF8),
whether the reference position is lost or not can be judged.

Signal

High–speed position Example of Y address signal:

switch signal D In case the parameter No.8517=1000
HPS01–HPS16 #7 #6 #5 #4 #3 #2 #1 #0
<YXX#0–YXX+1#7> Y1000 HPS08 HPS07 HPS06 HPS05 HPS04 HPS03 HPS02 HPS01

Y1001 HPS16 HPS15 HPS14 HPS13 HPS12 HPS11 HPS10 HPS09

D In case the parameter No.8517=1001

#7 #6 #5 #4 #3 #2 #1 #0
Y1001 HPS08 HPS07 HPS06 HPS05 HPS04 HPS03 HPS02 HPS01

Y1002 HPS16 HPS15 HPS14 HPS13 HPS12 HPS11 HPS10 HPS09

The final number of the signal names shown above is corresponding to

the arrangement of the high–speed position switch.
HPS01 ––– The first high–speed position switch signal
HPS02 ––– The second high–speed position switch signal
: :
HPS16 ––– The sixteenth high–speed position switch signal
[Classification] Output signal
[Function] When the current position of each axis corresponding to each high–speed
position switch satisfies the given condition, this signal is turned to ”1”.
Up to 16 points can be used for high–speed position switch. The total
signal number of high–speed position switch is the sum of normal type
and judging a passing direction type.

32
B–63173EN–1/02 1. AXIS CONTROL

[Output condition] D Normal type

The signals are set to ”1” in the following case:
S When the current position of a controlled axis is within the
specified range (between the maximum value and the minimum
value).
The signals are set to ”0” in the following case:
S When the current position of a controlled axis is out of the specified
range (between the maximum value and the minimum value)
D Judging a passing direction type
The signals are set to ”1” in the following case:
S When a controlled axis passes by the specified point A in the
specified direction.
The signals are set to ”0” in the following case:
S When a controlled axis passes by the specified point B in the
specified direction.
(*) The point A is the point where the judging a passing direction
type high–speed position switch is turned on. The point B is the
point where the judging a passing direction type high–speed
position switch is turned off.
(Note) The bit of the Y address, which is specified by the parameter
No.8516, No.8517, can not be used for other purpose even if it
is not assigned for a high–speed position switch.
(Ex) When the parameter No.8516=10 (maximum switch
number: 10) and No.8517=1000 (the top address to output
the switch signal: Y1000), the bit #0 to #7 of Y1000 and the
bit #0 to #1 of Y1001 are used for high–speed position
switches. In this case, the bit #2 to #7 of Y1001 can not be
used even if the purpose is not high–speed position switch.

#7 #6 #5 #4 #3 #2 #1 #0
Y1000 HPS08 HPS07 HPS06 HPS05 HPS04 HPS03 HPS02 HPS01

Y1001 Not used Not used Not used Not used Not used Not used HPS10 HPS09

* Y1002 can be used for other than high–speed position switch.

The parameters to select the output conditions are summarized as below.
D In case normal type
The relation between the address to output each high–speed position
switch and the parameter is shown in the below table 1.2.10(a).
Table 1.2.10(a) The relation between the output address of normal type high–speed position
switch and the parameter.
High–speed Maximum Minimum
Output Axis Output
position value value Valid /invalid
address assignment method
switch parameter parameter
Value of
No.1 to 8 8520 to 8527 8504 8550 to 8557 8580 to 8587 8500
No.8517

Value of
No.9 to 16 8528 to 8535 8505 8558 to 8565 8588 to 8595 8501
No.8517+1

33
1. AXIS CONTROL B–63173EN–1/02

D In case judging a passing direction type

The relation between the address to output each high–speed position
switch and the parameter is shown in the below table 1.2.10(b).
Table 1.2.10(b) The relation between the output address of judging a passing direction type high–speed position
switch and the parameter.
High–
Axis Coor– Effective Coor– Effective
speed Output Output Valid
assign– dinate of direction dinate of direction
position address method /invalid
ment point A of point A point B of point B
switch
Value of 8520 to 8550 to 8580 to
No.1 to 8 8504 8500 8508 8512
No.8517 8527 8557 8587

Value of 8528 to 8558 to 8588 to

No.9 to 16 8505 8501 8509 8513
No.8517+1 8535 8565 8595

(*) The point A is the point where the judging a passing direction type
high–speed position switch is turned on. The point B is the point
where the judging a passing direction type high–speed position
switch is turned off.

(*) If an axis passes by the point A or B not in the effective direction,

high–speed position switches are not changed.

Reference position
establishment signal #7 #6 #5 #4 #3 #2 #1 #0
ZRF1–ZRF8<F120> F120 ZRF8 ZRF7 ZRF6 ZRF5 ZRF4 ZRF3 ZRF2 ZRF1

[Classification] Output signal

[Function] Notify the system that the reference position has been established.
A reference position established signal is provided for each axis. The
number appended to each signal name indicates the number of the
controlled axis.

ZRF 1
1: 1st–axis reference position establishment signal
2: 2nd–axis reference position establishment signal
3: 3rd–axis reference position establishment signal
:
:

[Output condition] The signals are set to 1 in the following case.

S When the reference position is established after manual reference
position return.
S When the reference position is established using the absolute–position
detector at initial power–on.
The signals are set to 0 in the following case.
S When the reference position is lost.

34
B–63173EN–1/02 1. AXIS CONTROL

NOTE
The new specification is selected by the parameter ZRC
(No.1203#1)=1.
In the new specification comparing with the conventional
specification, the condition to turning on/off the reference
position establishment signals (ZRF1–ZRF8) is different at
the following points.
D All the bits are turned off during following up the absolute
position detector. The bits corresponding to the axes
established the reference position (the axis whose
parameter APZ (No.1815#4) is set to 1) are turned on
automatically.
D While an absolute position detecter/serial pulsecoder
alarm occurs, the bit corresponding to the alarm axis is
turned off. But in case of an alarm 307 or 308 (battery low
alarm1, 2), the bit is not turned off. The bit, that is turned
off by an absolute position detecter/serial pulsecoder
alarm, is turned on again if the parameter APZ
(No.1815#4) of the axis is 1 after releasing alarm.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1203 ZRC

[Data type] Bite

ZRC The specification of the reference position establishment signal
(ZRF1–ZRF8) is changed.
0 : Conventional specification
The reference position establishment signals are turned on when the
reference position is established. And it status is kept till the origin is
lost.
1 : New specification
The reference position establishment signal is turned on when the
reference position is established. And its status is kept till the origin is
lost. Moreover it is also turned off while the reference position is lost
temporally, such as during following–up absolute position detecter or
an absolute position detecter/serial pulsecoder alarm.

35
1. AXIS CONTROL B–63173EN–1/02

Supplement
The new specification is selected by the parameter
No.1203#1=1.
In the new specification comparing with the conventional
specification, the condition to turning on/off the reference
position establishment signals (ZRF1–ZRF8) is different at
the following points.
D All the bits are turned off during following up the absolute
position detector. The bits corresponding to the axes
established the reference position (the axis whose
parameter 1815#4(APZ) is set to 1) are turned on
automatically.
D While an absolute position detecter/serial pulsecoder
alarm occurs, the bit corresponding to the alarm axis is
turned off. But in case of an alarm 307 or 308 (battery low
alarm1, 2), the bit is not turned off. The bit, that is turned
off by an absolute position detecter/serial pulsecoder
alarm, is turned on again if the parameter
No.1815#4(APZ) of the axis is 1 after releasing alarm.

In case high–speed position switch is used, this parameter is

recommended to set 1 in order to select the new specification.

#7 #6 #5 #4 #3 #2 #1 #0
8500 E08 E07 E06 E05 E04 E03 E02 E01

8501 E16 E15 E14 E13 E12 E11 E10 E09

[Data type] Bit

E01 to E16 Set whether each high–speed position switch can be used or not. When the
position switch is not used, the status of corresponding signal is always 0.
The two–digit number part in the parameter name corresponds to the
position switch number.
Ex) E01: Setting for the first high–speed position switch
E16: Setting for the sixteenth high–speed position switch
High–speed position switch is
0 : Effective
1 : Not effective. (The status of high–speed position switch is always 0.)

NOTE
The signal that is set not to be effective by this parameter
can not be used for the purpose other than a high–speed
position switch.

36
B–63173EN–1/02 1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
8504 D08 D07 D06 D05 D04 D03 D02 D01

8505 D16 D15 D14 D13 D12 D11 D10 D09

[Data type] Bit

D01 to D16 Set the output method of each high–speed position switch. The two–digit
number part in the parameter name corresponds to the position switch
number.
Ex) D01: Setting for the first high–speed position switch
D16: Setting for the sixteenth high–speed position switch
The method of high–speed position switch is
0 : Normal type. (Signal output condition is judged by an axis position.)
1 : Judging a passing direction type. (Signal output condition is judged
by an axis position and moving direction.)

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

#7 #6 #5 #4 #3 #2 #1 #0
8508 A08 A07 A06 A05 A04 A03 A02 A01

8509 A16 A15 A14 A13 A12 A11 A10 A09

[Data type] Bit

A01 to A16 In judging a passing direction type, set the passing direction to turn on
each high–speed position switch when each axis passes by the position
given by the parameter No.8550 to 8565. The two–digit number part in
the parameter name corresponds to the position switch number.
Each high–speed position switch is turned on when each axis passes by
the position given by the parameter No.8550 to 8565 in the direction
given as follows.
0 : Passing by in the minus direction.
1 : Passing by the plus direction.

NOTE
In case of normal type, it is not necessary to set this
parameter.

37
1. AXIS CONTROL B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
8512 B08 B07 B06 B05 B04 B03 B02 B01

8513 B16 B15 B14 B13 B12 B11 B10 B09

[Data type] Bit

B01 to B16 In judging a passing direction type, set the passing direction to turn off
each high–speed position switch when each axis passes by the position
given by the parameter No.8580 to 8595. The two–digit number part in
the parameter name corresponds to the position switch number.
Each high–speed position switch is turned off when each axis passes by
the position given by the parameter No.8580 to 8595 in the direction
given as follows.
0 : passing by in the minus direction.
1 : passing by the plus direction.

NOTE
In case of normal type, it is not necessary to set this
parameter.

8516 Maximum point number of high–speed position switch

[Data type] Byte

[Valid data range] 1 to 16
Specify the maximum point number of high–speed position switch
number to be used.

38
B–63173EN–1/02 1. AXIS CONTROL

NOTE
D The value set by this parameter is the total of the points of
normal type and judging a passing direction type.
D When this parameter is set, the power must be turned off
before operation is continued.
D When set value is out of valid data range, high–speed
position switch is not effective.
The bigger value is set to this parameter, the more time is
needed for judging procedure. Then, it is recommended
that the same value as used switch number should be set
to this parameter.
But the number of the switches that is set not to be effective
by the parameter No.8500 to 8501 should be added to this
number. Then, this parameter must be set to the value
according to the largest number of high–speed position
switches.
Ex) When the first high–speed position switch, the fourth
high–speed position switch and the tenth
high–speed position switch are used, the value more
than 10 must be set to the parameter No.8516 even
if the other high–speed position switches are not
used. If just three points of high–speed position
switches are used, it is recommended that the
parameter No.8516 should be set to 3 and the first,
second and third high–speed position switch should
be used.

8517 Top output address of high–speed position switch

[Data type] Word

[Valid data range] 1000 to 1002 (within the range of Y address for built–in I/O)
Specify the Y address to output the first to the eighth high–seed position
switch signal. The output address of the ninth to the sixteenth high–speed
position switch is ”the value of the parameter No.8517 + 1”. It is not
necessary to set the address of normal type and judging a passing direction
type separately. It is decided by the parameter No.8504 and No.8505
which bit in the output address is used for normal type and judging a
passing direction type.
(*) The bits of the Y address set by this parameter from 0 is assigned to
the first, the second ... position switch respectively. This
correspondence is fixed. This order cannot be changed. And the bits
cannot be skipped.
Ex) In case the parameter No.8516=16 and No.8517=1000, the
relation between the signal of Y address and the number of the
high–speed position switch is as follows.
Y1000#0 ––– the first high speed position switch signal
Y1000#1 ––– the second high speed position switch signal
: :
Y1001#7 ––– the sixteenth high speed position switch
signal

39
1. AXIS CONTROL B–63173EN–1/02

It is not allowed that the Y1000#0 is assigned to the sixteenth

high–speed position switch or Y1002#2 is assigned to the
second high–speed position switch by skipping Y1000#1.
(*) If the not existing Y address is specified, the high–speed position
switch is not effective.

WARNING
1. When the high–speed position switch is used in both paths
of Power Mate i–D dual path control, the Y address for each
path must be set different.
Ex) In case 4 points are assigned to the first path and 4
points are assigned to the second path
(Right setting)
Parameter for the first path No.8516=4
No.8516=1000 (Y1000#0 to #3 are used)
Parameter for the second path No.8516=4
No.8516=1001 (Y1001#0 to #3 are used.)
(Wrong setting)
Parameter for the first path No.8516=4
No.8516=1000 (Y1000#0 to #3 are used)
Parameter for the second path No.8516=4
No.8516=1000 ← (Y1000#4 to #7 are used)
is not allowed.
2. The Y address that is accessed by the PMC ladder must not
be used for the high–speed position switch. If such Y
address is used by mistake, there is a possibility that the
machine performs unexpected motion.

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

Example to set the parameters No.8516 and No.8517

– In case the parameters No.8516=10 and No.8517=1000,

#7 #6 #5 #4 #3 #2 #1 #0
Y1000 HPS08 HPS07 HPS06 HPS05 HPS04 HPS03 HPS02 HPS01

Y1001 HPS10 HPS09

HPS01 ––– the first high–speed position switch signal

HPS02 ––– the second high–speed position switch signal
: :
HPS10 ––– the tenth high–speed position switch signal
Though Y1000#2 to #7 are not used in above case, these bits cannot be
used for the purpose other than the high–speed position switch. Y1002
can be used for the purpose other than the high–speed position switch.

40
B–63173EN–1/02 1. AXIS CONTROL

8520 Axis number correspond to the first high speed position switch

8521 Axis number correspond to the second high speed position switch

8522 Axis number correspond to the third high speed position switch

8523 Axis number correspond to the fourth high speed position switch

8524 Axis number correspond to the fifth high speed position switch

8525 Axis number correspond to the sixth high speed position switch

8526 Axis number correspond to the seventh high speed position switch

8527 Axis number correspond to the eighth high speed position switch

8528 Axis number correspond to the ninth high speed position switch

8529 Axis number correspond to the tenth high speed position switch

8530 Axis number correspond to the eleventh high speed position switch

8531 Axis number correspond to the twelfth high speed position switch

8532 Axis number correspond to the thirteenth high speed position switch

8533 Axis number correspond to the fourteenth high speed position switch

8534 Axis number correspond to the fifteenth high speed position switch

8535 Axis number correspond to the sixteenth high speed position switch

[Data type] Byte

[Valid data range] 0,1,2,3,..., controlled axis number
The controlled axis number corresponding to each high–speed position
switch is specified. If 0 is set, that high–speed position switch is not
effective.

NOTE
In case of Power Mate i–D two–path control, this parameter
must be set to 1 in both paths.

Maximum value of the range to output the first signal (in case of normal type) or
8550
point to turn on the first signal (in case of judging a passing direction type)

Maximum value of the range to output the second signal (in case of normal type)
8551
or point to turn on the second signal (in case of judging a passing direction type)

Maximum value of the range to output the third signal (in case of normal type) or
8552
point to turn on the third signal (in case of judging a passing direction type)

Maximum value of the range to output the fourth signal (in case of normal type) or
8553
point to turn on the fourth signal (in case of judging a passing direction type)

41
1. AXIS CONTROL B–63173EN–1/02

Maximum value of the range to output the fifth signal (in case of normal type) or
8554
point to turn on the fifth signal (in case of judging a passing direction type)

Maximum value of the range to output the sixth signal (in case of normal type) or
8555
point to turn on the sixth signal (in case of judging a passing direction type)

Maximum value of the range to output the seventh signal (in case of normal type)
8556
or point to turn on the seventh signal (in case of judging a passing direction type)

Maximum value of the range to output the eighth signal (in case of normal type) or
8557
point to turn on the eighth signal (in case of judging a passing direction type)

Maximum value of the range to output the ninth signal (in case of normal type) or
8558
point to turn on the ninth signal (in case of judging a passing direction type)

Maximum value of the range to output the tenth signal (in case of normal type) or
8559
point to turn on the tenth signal (in case of judging a passing direction type)

Maximum value of the range to output the eleventh signal (in case of normal type)
8560
or point to turn on the eleventh signal (in case of judging a passing direction type)

Maximum value of the range to output the twelfth signal (in case of normal type) or
8561
point to turn on the twelfth signal (in case of judging a passing direction type)

Maximum value of the range to output the thirteenth signal (in case of normal type)
8562
or point to turn on the thirteenth signal (in case of judging a passing direction type)

Maximum value of the range to output the fourteenth signal (in case of normal type)
8563
or point to turn on the fourteenth signal (in case of judging a passing direction type)

Maximum value of the range to output the fifteenth signal (in case of normal type)
8564
or point to turn on the fifteenth signal (in case of judging a passing direction type)

Maximum value of the range to output the sixteenth signal (in case of normal type)
8565
or point to turn on the sixteenth signal (in case of judging a passing direction type)

[Data type] 2–word

[Unit of data] Last input increment IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

S Normal type
Specify the maximum value of the range to output the high–speed
position switch (in machine absolute coordinate value). If the
maximum value is less than the minimum value in a linear axis, the
high–speed position switch is not effective because there is no valid
range. If the maximum value is less than the minimum value in a
rotation axis, the signal is output in the range including the point of 0
degree.
S Judging a passing direction type
Specify the point to turn on the high–speed position switch signal (in
machine absolute coordinate). When an axis passed by this point in the
direction given by the parameter No.8508 and No.8509, the
high–speed position switch is changed.

42
B–63173EN–1/02 1. AXIS CONTROL

WARNING
This parameter has two different meaning, such as the
maximum value of the range to output the signal in case of
normal type and the point to turn on the signal in case of
judging a passing direction type. So be careful to set this
parameter not to mistake types.

Minimum value of the range to output the first signal (in case of normal type) or
8580
point to turn off the first signal (in case of judging a passing direction type)

Minimum value of the range to output the second signal (in case of normal type) or
8581
point to turn off the second signal (in case of judging a passing direction type)

Minimum value of the range to output the third signal (in case of normal type) or
8582
point to turn off the third signal (in case of judging a passing direction type)

Minimum value of the range to output the fourth signal (in case of normal type) or
8583
point to turn off the fourth signal (in case of judging a passing direction type)

Minimum value of the range to output the fifth signal (in case of normal type) or
8584
point to turn off the fifth signal (in case of judging a passing direction type)

Minimum value of the range to output the sixth signal (in case of normal type) or
8585
point to turn off the sixth signal (in case of judging a passing direction type)

Minimum value of the range to output the seventh signal (in case of normal type)
8586
or point to turn off the seventh signal (in case of judging a passing direction type)

Minimum value of the range to output the eighth signal (in case of normal type) or
8587
point to turn off the eighth signal (in case of judging a passing direction type)

Minimum value of the range to output the ninth signal (in case of normal type) or
8588
point to turn off the ninth signal (in case of judging a passing direction type)

Minimum value of the range to output the tenth signal (in case of normal type) or
8589
point to turn off the tenth signal (in case of judging a passing direction type)

Minimum value of the range to output the eleventh signal (in case of normal type)
8590
or point to turn off the eleventh signal (in case of judging a passing direction type)

Minimum value of the range to output the twelfth signal (in case of normal type) or
8591
point to turn off the twelfth signal (in case of judging a passing direction type)

Minimum value of the range to output the thirteenth signal (in case of normal type)
8592
or point to turn off the thirteenth signal (in case of judging a passing direction type)

Minimum value of the range to output the fourteenth signal (in case of normal type)
8593
or point to turn off the fourteenth signal (in case of judging a passing direction type)

Minimum value of the range to output the fifteenth signal (in case of normal type)
8594
or point to turn off the fifteenth signal (in case of judging a passing direction type)

Minimum value of the range to output the sixteenth signal (in case of normal type)
8595
or point to turn off the sixteenth signal (in case of judging a passing direction type)

43
1. AXIS CONTROL B–63173EN–1/02

[Data type] 2–word

Last input increment IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

S Normal type
Specify the minimum value of the range to output the high–speed
position switch (in machine absolute coordinate value). If the
maximum value is less than the minimum value in a linear axis, the
high–speed position switch is not effective because there is no valid
range. If the maximum value is less than the minimum value in a
rotation axis, the signal is output in the range including the point of 0
degree.
S Judging a passing direction type
Specify the point to turn off the high–speed position switch signal (in
machine absolute coordinate). When an axis passed by this point in the
direction given by the parameters No.8512 and No.8513, the
high–speed position switch is changed.

WARNING
This parameter has two different meaning, such as the
minimum value of the range to output the signal in case of
normal type and the point to turn off the signal in case of
judging a passing direction type. So be careful to set this
parameter not to mistake types.

Alarm and message

Number Message Description

5800 System combination The function to be executed is not

mismatch effective because the combination of
the system is incorrect. Please refer
to the diagnostic screen for details.
Diagnostic data No.50: the incorrect
software is displayed.Diagnostic data
No.60: the function not to be used is
displayed.

The details of the alarm No.5800 are displayed in the diagnostic data
No.50 and No.60.

44
B–63173EN–1/02 1. AXIS CONTROL

The details of the alarm No.5800

#7 #6 #5 #4 #3 #2 #1 #0
Diagnostic data 50 SYS SVO PMC

The software to cause the alarm No.5800 is displayed.

PMC PMC control software is incorrect.
SVO Digital servo control software is incorrect
SYS CNC control software is incorrect.

#7 #6 #5 #4 #3 #2 #1 #0
Diagnostic data 60 HPS

The function to cause the alarm No.5800 is displayed.

HPS High–speed position switch can not be used.

NOTE
D When the alarm No.5800 occurs, the system enters into the
emergency stop state and any axes cannot be moved.
D When the high–speed position switch signal is not used, set
the value out of range (for instance No.8516=0 or so on.) to
the parameters No.8516 and No.8517, and the power is
turned off and on. Then the alarm No.5800 can be avoided.

Matters to pay attention 1 In normal type, if the range to output the signal is so small or an axis
moves so fast that the high–speed position switch may not output.
To avoid above, it is necessary to meet the following condition.

Maximum speed
(mm/min) Valid range (maximum value (mm)
<
30000 – minimum value (mm))

(When used unit is ”inch” or ”deg”, replace ”mm” part with ”inch” or
”deg”.)
In judging a passing direction type, there is a similar restriction. If the
direction to turn on at point A is the same as to turn off at point B, the
difference between the point A and B must be set larger than the left
part of above expression.
2 In rotary axis, feedrate must be given less than n 10000 (deg/min).
(n: moving distance per one rotation) If feedrate is faster than above
value, the high–speed position switch may not work correctly.
3 When normal type is used in a rotary axis, the range can be set to go
across the point of 0 degree.
Ex) In order to turn on the high–speed position switch within the
range from 350 degree to 10 degree when one rotation is 360
degree, the minimum value should be set to 350 degree and the
maximum value should be set to 10 degree.

45
1. AXIS CONTROL B–63173EN–1/02

4 In case the high–speed position switch is used in a rotary axis, the

switch may not work correctly if the point to turn on/off the switch is
set to near 0 degree where the coordinate of rotary axis is rounded. The
point to turn on/off the switch should be set away from over the
following distance from the point to round the coordinate.

Feedrate (Unit is mm in when feedrate unit is mm/min, inch

30000 when inch/min and deg when deg/min)

5 When the compulsory input/output function of PMC is used, the

high–speed position switch may not work correctly.
6 When the origin is not established or an axis looses the origin, the
status of the high–speed position switch of that axis is locked with
keeping the status. When the parameter No.1203#1 is turned on, it can
be confirmed by the reference position establishment signal (ZRF1 to
ZRF8) whether the reference position is established or not.
7 When the absolute position detector is used, the status of the
high–speed position switch is not changed while the follow–up
operation of the absolute position detector is being executed till the
coordinate is established just after the power on, absolute position
detector alarm or servo alarm status.
(In this condition, the origin is regarded to be lost temporarily.)
8 When the high–speed position switch is used, the fine
acceleration/deceleration function of the digital servo control must not
be used with setting the parameter No.2007#6 to 0. If the fine
acceleration/deceleration is used, the high–speed position switch can
not work correctly.
9 In the high–speed position switch function, the actual position is
gotten with referring to the actual servo following error. If an axis stops
or moves at very low speed near the point to turn on/off the high speed
position switch, the status of the high–speed position switch may be
turned on/off unexpectedly because of the servo following error
changing.
Example)
In case of normal type → the switch turn on and off repeatedly near
the boundary of the range to output the switch.
In case of judging a passing direction type → the switch is turned
on in spite of passing by the point in the reverse direction.
Or, the switch is turned off in spite of passing by the point
in the reverse direction.
10 When the high–speed response function is used, the high–speed
position switch function cannot be used at the same time.

46
B–63173EN–1/02 1. AXIS CONTROL

1.3
ERROR
COMPENSATION

1.3.1
Stored Pitch Error
Compensation

General If pitch error compensation data is specified, pitch errors of each axis can
be compensated in detection unit per axis.
Pitch error compensation data is set for each compensation position at the
intervals specified for each axis. The origin of compensation is the
reference position to which the tool is returned.
Pitch error compensation data can be set with external devices such as the
Handy File (see Operator’s manual). Compensation data can also be set
directly with the MDI panel.
The following parameters must be set for pitch error compensation. Set
the pitch error compensation value for each pitch error compensation
position number set by these parameters.
In the following example, 33 is set for the pitch error compensation
number at the reference position.

Pitch error compensation value (absolute value)

Compensation number for
3 the compensation position
Compensation number for the
having the largest value
reference position (No. 3620)
(No. 3622)
2

31 32 33 34 35 36 37

Reference position
–1
Compensationmagnification
parameter (No. 3623)
–2
Compensation number for the Compensation interval
compensation position having the parameter (No. 3624)
smallest value (No. 3621)
Compensation
31 32 33 34 35 36 37
position number
Compensation +3 –1 –1 +1 +2 –1 –3
value to be set

· Number of the pitch error compensation position at the reference

position (for each axis): Parameter No.3620
· Number of the pitch error compensation position having the smallest
value (for each axis): Parameter No.3621
· Number of the pitch error compensation position having the largest
value (for each axis): Parameter No.3622
· Pitch error compensation magnification (for each axis): Parameter
No.3623

47
1. AXIS CONTROL B–63173EN–1/02

· Interval of the pitch error compensation positions (for each axis):

Parameter No.3624

Procedure for displaying and setting the pitch error compensation data

1 Set the following parameters:

⋅ Number of the pitch error compensation position at the
reference position (for each axis): Parameter No.3620
⋅ Number of the pitch error compensation position having the
smallest value (for each axis): Parameter No.3621
⋅ Number of the pitch error compensation position having the
largest value (for each axis): Parameter No.3622
⋅ Pitch error compensation magnification (for each axis):
Parameter No.3623
⋅ Interval of the pitch error compensation positions (for each
axis): Parameter No.3624

PITCH 2 Press function key SYSTEM

.

3 Press the continuous menu key , then press chapter selection soft
Continuous menu key
key [PITCH].
The following screen is displayed:

PIT–ERROR SETTING O0000 N00000

NO. DATA NO. DATA NO. DATA

0000 0 0010 0 0020 0
0001 0 0011 0 0021 0
0002 0 0012 0 0022 0
0003 0 0013 0 0023 0
(X)0004 0 0014 0 0024 0
0005 0 0015 0 0025 0
0006 0 0016 0 0026 0
0007 0 0017 0 0027 0
0008 0 0018 0 0028 0
0009 0 0019 0 0029 0
> _
AUTO **** *** *** 16:05:59
[ NO.SRH ][ ON:1 ][ OFF:0 ][ +INPUT ][ –INPUT ]

4 Move the cursor to the compensation position number to be set in

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

keys, PAGE
and , and cursor keys, , , , and .

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

48
B–63173EN–1/02 1. AXIS CONTROL

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

D Compensation position 1024 compensation positions from No. 0 to 1023 are available on the
number pitch error setting screen. Assign arbitrary positions for each axis using
parameters.
The number of the compensation position at the reference position
(parameter No.3620), number of the compensation position having the
smallest value (parameter No.3621), and number of the compensation
position having the largest value (parameter No.3622) must be set for each
axis.
The name of each axis is displayed before the smallest compensation
position number on the pitch error setting screen.

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

–400 –350 –100 –50 0 50 100 750 800

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

Compensation values are output at the positions indicated by .

49
1. AXIS CONTROL B–63173EN–1/02

Therefore, set the parameters as follows:

Parameter Setting value

3620 : Compensation number for the reference position 40

3621 : Smallest compensation position number 33

3622 : Largest compensation position number 56

3623 : Compensation magnification 1

3624 : Interval between pitch error compensation positions 50000

The compensation amount is output at the compensation position No.

corresponding to each section between the coordinates.
The following is an example of the compensation amounts.
No 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 56
Compensation
value +2 +1 +1 –2 0 –1 0 –1 +2 +1 0 –1 –1 –2 0 +1 +2 1

Pitch error compensation value

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

–2
Reference –3
position
–4

50
B–63173EN–1/02 1. AXIS CONTROL

D For rotary axis ⋅Amount of movement per rotation: 360°

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

Reference position 0.0

45.0 315.0
(61) (68)
(60)

(62) (67)

(+)
90.0 270.0

(63) (66)

(64) (65)
135.0 225.0

180.0
Compensation values are output at the positions indicated by .

Therefore, set the parameters as follows:

Parameter Setting value

3620 : Compensation number for the reference position 60

3621 : Smallest compensation position number 60

3622 : Largest compensation position number 68

3623 : Compensation magnification 1

3624 : Interval between pitch error compensation positions 45000

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

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

51
1. AXIS CONTROL B–63173EN–1/02

The following is an example of compensation amounts.

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

Pitch error compensation value

(absolute value)
+4

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

–2

–3

–4

Parameter
Number of the pitch error compensation position for the reference position for
3620
each axis

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Word axis

[Unit of data] Number
[Valid data range] 0 to 1023
Set the number of the pitch error compensation position for the reference
position for each axis.

Number of the pitch error compensation position at extremely negative position

3621
for each axis

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Word axis

[Unit of data] Number
[Valid data range] 0 to 1023
Set the number of the pitch error compensation position at the extremely
negative position for each axis.

52
B–63173EN–1/02 1. AXIS CONTROL

Number of the pitch error compensation position at extremely positive position

3622
for each axis

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Word axis

[Unit of data] Number
[Valid data range] 0 to 1023
Set the number of the pitch error compensation position at the extremely
positive position for each axis.

NOTE
This value must be larger than set value of parameter (No.
3620).

3623 Magnification for pitch error compensation for each axis

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Byte axis

[Unit of data] 1
[Valid data range] 0 to 100
Set the magnification for pitch error compensation for each axis.
If the magnification is set to 1, the same unit as the detection unit is used
for the compensation data.

3624 Interval between pitch error compensation positions for each axis

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Two–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

53
1. AXIS CONTROL B–63173EN–1/02

[Valid data range] 0 to 99999999

The pitch error compensation positions are arranged with equally spaced.
Set the space between two adjacent positions for each axis.
The minimum interval between pitch error compensation positions is
limited and obtained from the following equation:
Minimum interval of pitch error compensation positions = maximum
feedrate (rapid traverse rate)/3750
Unit:
· Minimum interval of pitch error compensation positions: mm, inches,
deg.
· Maximum feed rate: mm/min, inch/min, deg/min
[Example] When the maximum rapid traverse rate is 15000 mm/min, the minimum
interval between pitch error compensation positions is 4 mm.

Warning

WARNING
1 Compensation value range
Compensation values can be set within the range from –7
x compensation magnification (detection unit) to +7 x
compensation magnification (detection unit). The
compensation magnification can be set for each axis within
the range from 0 to 100 in parameter No.3623.
2 Intervals of compensation positions
The pitch error compensation positions are arranged with
equally spaced. Set the space between two adjacent
positions for each axis to the parameter (No. 3624).
3 Pitch error compensation of the rotary axis
For the rotating axis, the interval between the pitch error
compensation positions shall be set to one per integer of the
amount of movement (normally 360°) per rotation. The sum
of all pitch error compensation amounts per rotation must be
made to 0. Also, set the same compensation value to a
position and the same position with one rotation.
4 Conditions where pitch error compensation is not
performed
Note that the pitch error is not compensated in the following
cases:
· When the machine is not returned to the reference
position after turning on the power. This excludes the
case where an absolute position detector is employed.
· If the interval between the pitch error compensation
positions is 0.
· If the compensation position Nos. on the positive or
negative direction do not fall within the range of 0 to
1023.
· If the compensation position Nos. do not conform to the
following relationship:
Negative side x Reference position < Positive side

54
B–63173EN–1/02 1. AXIS CONTROL

Reference item
OPERATOR’S MANUAL V 8.6.3 Inputting pitch error compensation
(B–63174EN) data

V 8.6.4 Outputting pitch error compensation

data

V 11.5.2 Displaying and setting pitch error com-

pensation data

1.3.2
Backlash
Compensation

General
D Backlash compensation Function for compensating for lost motion on the machine. Set a
compensation value in parameter No. 1851, in detection units from 0 to
"9999 pulses for each axis.

Parameter
1851 Backlash compensating value for each axis

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] –9999 to +9999
Set the backlash compensating value for each axis.
When the machine moves in the direction opposite to the reference
position return direction after the power is turned on, the first backlash
compensation is performed.

1.3.3
Straightness
Compensation B

General For a machine tool with a long stroke, deviations in the straightness
between axes may deteriorate machining accuracy. For this reason, when
an axis moves, other axes are compensated in detection units to improve
straightness. This improvement results in better machining accuracy.
When an axis (parameter No. 5711) moves, the corresponding
compensation axis (parameter No. 5721) is compensated. That is, the
compensation axis is compensated at the pitch error compensation
position (See 1.3.1 Stored Pitch error compensation) of the moving axis.

55
1. AXIS CONTROL B–63173EN–1/02

S Pitch error compensation points on moving axis

0 1 2 3 60 61 126 127

S Machine coordinates for moving axis

c

a d
γ
α

β
ε
b
a, b, c, d : Compensation position numbers of the moving axis.
(used pitch error compensation point number)
a, b, g, e : Compensation for compensation axis.
This compensation from point a to point b is calculated from the formula:(β–α)/(b–a)

Parameter
5711 Axis number of moving axis 1

[Data type] Byte

[Unit of data] Axis number (When 0, compensation is not performed.)
[Valid data range] 1 to Number of controlled axes
Set the axis numbers of moving axes.

5721 Axis number of compensation axis 1 for moving axis 1

[Data type] Byte

[Unit of data] Axis number (When 0, compensation is not performed.)
[Valid data range] 1 to Number of controlled axes
Set the axis numbers of compensation axes.

5731 Compensation position number a of moving axis 1

5732 Compensation position number b of moving axis 1

5733 Compensation position number c of moving axis 1

5734 Compensation position number d of moving axis 1

[Data type] Word

[Unit of data] Number
(Compensation position numbers in stored pitch error compensation)
[Valid data range] 0 to 1023
Set four compensation positions for each moving axis.

56
B–63173EN–1/02 1. AXIS CONTROL

5761 Compensation corresponding to compensation position number a of moving axis 1

5762 Compensation corresponding to compensation position number b of moving axis 1

5763 Compensation corresponding to compensation position number c of moving axis 1

5764 Compensation corresponding to compensation position number d of moving axis 1

[Data type] Word

[Unit of data] Detection unit
[Valid data range] –32768 to +32767
Set compensation for each compensation position.

Alarm and message

Number Message Description

5046 ILLEGAL PARAMETER Parameter related to straightness com-

(ST.COMP B) pensation B have been erroneously
specified.Possible causes are as fol-
lows.
1. Invalid axis number have been as-
signed to move or compensation
axes.
2. The number of pitch–error com-
pensation positions between the
maximum positive and maximum
negative positions exceeds 128.
3. Straightness compensation posi-
tion numbers have been assigned
in order other than ascending order.
4. Straightness compensation posi-
tions could not be located between
the maximum positive and maxi-
mum negative pitch–error com-
pensation positions.
5. The amount of compensation per
compensation position is too large
or too small.

57
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 The straightness compensation B function can be used
after a moving axis and its compensation axis have returned
to the reference position.
2 After setting parameters for straightness compensation B,
be sure to turn off the CNC power.
3 Set parameters for straightness compensation B according
to the following conditions:
S The compensation at a compensation position must be
within the range –128 to 127.
S Compensation positions must be set so that
”avbvcvd” is satisfied.
S Compensation positions must exist between the
compensation position with the largest positive value and
that with the largest negative value in the stored pitch
error compensation data for each axis. Four
compensation position can be set to 0 at a time. In this
case, compensation is not performed.
4 To add the straightness compensation B function option, the
stored pitch error compensation option is needed. In this
case, the number of compensation positions of each axis
between the compensation position with the largest positive
value and that with largest negative value in the stored pitch
error compensation data must be equal to or less than 128.
5 Straightness compensation data is superposed on stored
pitch error compensation data and output.
6 The straightness compensation B function can’t be used in
the Power Mate i–MODEL D 2 PATH control system.

58
B–63173EN–1/02 1. AXIS CONTROL

1.4 The servo interface of the Series 16 features the following:

Digitally controlled AC servo motor
SETTINGS RELATED Motor feedback with serial pulse coders
TO SERVO– (1) Absolute pulse coder with a resolution of 1,000,000 pulses/rev
CONTROLLED AXES (2) Absolute pulse coder with a resolution of 65,536 pulses/rev
(3) Incremental pulse coder with a resolution of 10,000 pulses/rev
Scale feedback with A/B/Z signal interface

1.4.1
Parameters Related to
Servo

General Explanation of terms frequently used in CNC

Least command increment
The minimum unit of a command to be given from CNC to the
machine tool
Detection unit
The minimum unit which can detect the machine tool position
Command multiplier (CMR)
A constant to enable the weight of CNC command pulses to meet the
weight of pulses from the detector
Detection multiplier (DMR)
A constant to enable the weight of CNC command pulses to meet the
weight of pulses from the detector

CAUTION
The relations among the least command increment,
detection unit, CMR, and DMR are as specified below.
Least command increment = CMR detection unit
Move amount per revolution of motor
Detection unit =
DMR number of pulses of detector per revolution

The flexible feed gear function in the digital servo defines

constant DMR using two parameters (Nos. 2084 and 2085)
n and m (DMR = n/m).

59
1. AXIS CONTROL B–63173EN–1/02

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

[Data type] Bit

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

#7 #6 #5 #4 #3 #2 #1 #0
1815 APCx APZx OPTx

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

[Data type] Bit axis

OPTx Position detector
0 : A separate pulse coder is not used.
1 : A separate pulse coder is used.
APZx Machine position and position on absolute position detector when the
absolute position detector is used
0 : Not corresponding
1 : Corresponding

WARNING
When an absolute position detector is used, after primary
adjustment is performed or after the absolute position
detector is replaced, this parameter must be set to 0, power
must be turned off and on, then manual reference position
return must be performed. This completes the positional
correspondence between the machine position and the
position on the absolute position detector, and sets this
parameter to 1 automatically.

APCx Position detector

0 : Other than absolute position detector
1 : Absolute position detector (absolute pulse coder)

#7 #6 #5 #4 #3 #2 #1 #0
1816 DM3x DM2x DM1x

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

60
B–63173EN–1/02 1. AXIS CONTROL

[Data type] Bit axis

DM1x to DM3x Setting of detection multiplier
Set value
Detection multiplier
DM3x DM2x DM1x
0 0 0 1/2
0 0 1 1
0 1 0 3/2
0 1 1 2
1 0 0 5/2
1 0 1 3
1 1 0 7/2
1 1 1 4

NOTE
When the flexible feed gear is used, do not use these
parameters. Set the numerator and denominator of DMR
to an appropriate values in parameters Nos.2084 and 2085
respectively.

1820 Command multiplier for each axis (CMR)

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

[Data type] Byte axis

Set a command multiplier indicating the ratio of the least command
increment to the detection unit for each axis.
Least command increment = detection unit x command multiplier
Relationship between the increment system and the least command
increment
Increment system IS–A IS–B IS–C Unit
Metric machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

The value set in the parameter is obtained as follows:

(1) When command multiplier is 1/2 to 1/27
Set value = 1 + 100
(Command multiplier)

Valid data range: 102 to 127

61
1. AXIS CONTROL B–63173EN–1/02

(2) When command multiplier is 1 to 48

Set value = 2 command multiplier
Valid data range: 2 to 96

NOTE
When command multiplier is 1 to 48, the set value must be
determined so that an integer can be set for command
multiplier.

1821 Reference counter size for each axis

[Data type] Two–word axis

[Valid data range] 0 to 99999999
Set the size of the reference counter.

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

1825 Servo loop gain for each axis

[Data type] Word axis

[Unit of data] 0.01 s –1
[Valid data range] 1 to 9999
Set the loop gain for position control for each axis.
When the machine performs linear and circular interpolation (cutting), the
same value must be set for all axes. When the machine requires
positioning only, the values set for the axes may differ from one another.
As the loop gain increases, the response by position control is improved.
A too large loop gain, however, makes the servo system unstable.
The relationship between the positioning deviation (the number of pulses
counted by the error counter) and the feedrate is expressed as follows:
Positioning deviation = feedrate
60 (loop gain)
Unit : Positioning deviation: mm, inches, or deg
Feedrate: mm/min, inches/min, or deg/min
Loop gain: s–1

62
B–63173EN–1/02 1. AXIS CONTROL

1828 Positioning deviation limit for each axis in movement

[Data type] Two–word axis

[Unit of data] Detection unit
[Valid data range] 0 to 99999999
Set the positioning deviation limit in movement for each axis.
If the positioning deviation exceeds the positioning deviation limit during
movement, a servo alarm is generated, and operation is stopped
immediately (as in emergency stop).
Generally, set the positioning deviation for rapid traverse plus some
margin in this parameter.

1829 Positioning deviation limit for each axis in the stopped state

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set the positioning deviation limit in the stopped state for each axis.
If, in the stopped state, the positioning deviation exceeds the positioning
deviation limit set for stopped state, a servo alarm is generated, and
operation is stopped immediately (as in emergency stop).

1832 Feed stop positioning deviation for each axis

[Data type] Two–word axis

[Unit of data] Detection unit
[Valid data range] 0 to 99999999
Set the feed stop positioning deviation for each axis.
If the positioning deviation exceeds the feed stop positioning deviation
during movement, pulse distribution and acceleration/deceleration
control are stopped temporarily. When the positioning deviation drops to
the feed stop positioning deviation or below, pulse distribution and
acceleration/deceleration control are resumed.
The feed stop function is used to reduce overshoot in acceleration/
deceleration mainly by large servo motors.
Generally, set the middle value between the positioning deviation limit
during movement and the positioning deviation at rapid traverse as the
feed stop positioning deviation.

63
1. AXIS CONTROL B–63173EN–1/02

1850 Grid shift for each axis

[Data type] Two–word axis

[Unit of data] Detection unit
[Valid data range] –99999999 to +99999999
A grid shift is set for each axis.
To shift the reference position, the grid can be shifted by the amount set in
this parameter. Up to the half of maximum value counted by the reference
counter can be specified as the grid shift.

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

1.4.2
Absolute Position
Detection

General Even when the power to the CNC is turned off, a battery–powered pulse
coder stores the current position. No reference position return is required
when the power to the CNC is turned on next.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1815 APCx

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

[Data type] Bit axis

APCx Position detector
0: Other than absolute position detector
1: Absolute position detector (absolute pulse coder)

64
B–63173EN–1/02 1. AXIS CONTROL

1.4.3
FSSB Setting

Overview Connecting the CNC control section to servo amplifiers via a high–speed
serial bus (FANUC Serial Servo Bus, or FSSB), which uses only one fiber
optics cable, can significantly reduce the amount of cabling in machine
tool electrical sections.
In a system using the FSSB, it is necessary to set up the following
parameters to specify its axes. (The other parameters should be specified
as usual.)
D Parameter No. 1023
D Parameter No. 1905
D Parameter Nos. 1910 to 1919
D Parameter Nos. 1936 and 1937
These parameters can be specified using the following methods:
1. Manual setting 1
Parameters are defaulted according to the setting of parameter No.
1023. There is no need to specify parameter Nos. 1905, 1910 to 1919,
1936 and 1937. No automatic setting is used. Note that some
functions are unusable.
2. Automatic setting
Axis settings are calculated automatically according to the
interrelationships between axes and amplifiers entered on the FSSB
setting screen. Parameter Nos. 1023, 1905, 1910 to 1919, 1936, and
1937 are specified automatically according to the results of the
calculation. They are not usable for Power Mate i–D 2 path control.
3. Manual setting 2
Parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 are
specified according to manually entered values. The user must be
totally familiar with the meaning of each parameter before entering
any values.

65
1. AXIS CONTROL B–63173EN–1/02

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

CNC

Controlled Program Slave

axis axis name No.
number (No. 1020)
Single–axis 1
1 X amplifier

2 Y 2
Two–axis
amplifier 3
3 Z

4 A 4
Two–axis
amplifier
5 B 5

6 C M1 6
Single–axis 7
amplifier

M2 8

M1/M2: First/second pulse module

Manual setting 1 The manual setting 1 is usable when the following parameter
specifications made:
Bit 0 of parameter No. 1902 = 0
Bit 1 of parameter No. 1902 = 0
Parameter Nos. 1910 to 1919 = all 0s
By manual setting 1, the value set for parameter No. 1023 when the power
is switched on is regarded as a slave number. Specifically, an axis for
which parameter No. 1023 is set to 1 is connected to the amplifier nearest
to the CNC, while an axis for which parameter No. 1023 is set to 2 is
connected to the amplifier nearest but one to the CNC.

66
B–63173EN–1/02 1. AXIS CONTROL

D Power Mate i–D 2 path Set parameter No. 1023 for path 1 with 1.
control Set parameter No. 1023 for path 2 with 2.

CNC

Controlled Program Servo axis

axis axis name number
number (No. 1020) (No. 1023)

1 X 1 Two–axis
X
amplifier
2 Y 3 A
Single–axis Y
3 Z 4 amplifier

4 A 2 Z
Two–axis
amplifier B
5 B 5

6 C 6 Single–axis C
amplifier

By manual setting 1, some of the following functions and values cannot

be used, as described below. They should be used in automatic setting or
manual setting 2.
D No pulse module can be used; hence, no separate position detectors
can be used.
D No number can be skipped in parameter No. 1023; for example,
number 3 cannot be used for any axis unless number 2 is used.

Automatic setting Automatic setting can be used on the FSSB setting screen, if the following
parameter is set as follows:
Bit 0 of parameter No. 1902 = 0
On the FSSB setting screen, automatic setting should be enabled by
means of the following procedure:
1. On the amplifier setting screen, specify the axis number of a controlled
axis to be connected to each amplifier.
2. Press the [SETING] soft key. (If a warning message is displayed,
restart from step 1.)
3. On the axis setting screen, specify information about each axis, such
as a pulse module connector No.
4. Press the [SETING] soft key. (If a warning message is displayed,
repeat the procedure, starting from step 3.)
In this way, parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 are
set according to the results of automatic calculation. In addition, bit 1 of
parameter No. 1902 is set to 1 to indicate that each parameter has been set
up. Switching the power off then back on again causes axis setting to be
performed according to these parameter settings.
For details of the FSSB setting screen, see the FSSB data display and
setting procedure, described below.

67
1. AXIS CONTROL B–63173EN–1/02

Manual setting 2 If the following parameter is set, manual setting 2 can be used for each
parameter axis setting.
Bit 0 of parameter No. 1902 = 1
To perform manual setting 2, set parameter Nos. 1023, 1905, 1910 to
1919, 1936, and 1937. Refer to the Parameter Manual for the meaning
of each parameter.
Example of axis configuration and manual setting 2
(Refer to the corresponding description for the meaning of each parameter.)

CNC

Controlled Program Pulse Axis

axis axis name module
number (No. 1020) connector
Single–axis X
1 X No. 1 in the amplifier
first module
Two–axis
A
2 Y No. 2 in the
second module amplifier
Y
3 Z No. 1 in the
second module Z
Two–axis
4 A (Not used) amplifier
B
5 B No. 2 in the
first module M1
6 C No. 3 in the
second module Single–axis C
amplifier
M2

M1/M2: First/second pulse module

No. 1902#0
FMD

No. 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919

0 1 2 3 4 16 5 48 40 40

No. 1023 1905#0 1905#6 1905#7 1936 1937

FSL PM1 PM2

X 1 0 1 0 0 0

Y 3 0 0 1 0 1

Z 4 1 0 1 0 0

A 2 1 0 0 0 0

B 5 0 1 0 1 0

C 6 1 0 1 0 2

68
B–63173EN–1/02 1. AXIS CONTROL

D Power Mate i–D 2 path When performing Power Mate i–D 2 path control, it is possible to use
control manual setting 2 for each axis setting parameter provided that the
following parameter setting is true.
For both paths, bit 0 of parameter No. 1902 = 1
When using manual setting 2 for Power Mate i–D 2 path control, specify
axis type parameters Nos. 1023, 1904, 1905, 1936, and 1937 for each path
separately and also specify parameter Nos. 1910 to 1919 only for path 1.
Refer to the applicable parameter manual for explanations about the
meaning of each of these parameters.
Examples configuring axes for Power Mate i–D 2 path control and setting
parameters in the manual setting mode 2. (Refer to the respective descrip-
tions for the meaning of each parameter.)

CNC

Controlled Program Pulse

axis axis name module
number (No. 1020) connector
Single–axis
amplifier X
Path 1 1 X No. 1 in the
first module
No. 2 in the Single–axis Y
Path 2 2 Y second amplifier
module

Pulse module

No. 1902#0
FMD

Path 1 1

Path 2 1

No. 1910 1911 1912 1913 1914 1915 1916 1917 1918 1920

Path 1 0 1 16 40 40 40 40 40 40 40

Path 2 40 40 40 40 40 40 40 40 40 40

No. 1023 1905#0 1905#6 1905#7 1936 1937

FSL PM1 PM2

Path 1 (X) 1 0 1 0 0 0

Path 2 (Y) 2 0 1 0 1 0

69
1. AXIS CONTROL B–63173EN–1/02

FSSB display and setting

procedure

D Display The FSSB setting screen displays FSSB–based amplifier and axis
information. This information can also be specified by the operator.

1. Press the SYSTEM function key.

2. To display [FSSB], press the next menu page key several times.
3. Pressing the [FSSB] soft key causes the AMPLIFIER SETTING
screen (or the previously selected FSSB setting screen) to appear, with
the following soft keys displayed.

[ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

The FSSB setting screens include: AMPLIFIER SETTING, AXIS

SETTING, and AMPLIFIER MAINTENANCE
Pressing the [AMP] soft key causes the AMPLIFIER SETTING
screen to appear.
Pressing the [AXIS] soft key causes the AXIS SETTING screen to
appear.
Pressing the [MAINTE] soft key causes the AMPLIFIER
MAINTENANCE screen to appear.
(1) Amplifier setting screen
The amplifier setting screen consists of two sections: the first section
displays information about the amplifiers, while the second section
displays information about the pulse modules.

AMPLIFIER SETTING O1000 N00001

NO. AMP SERIES UNIT CUR. AXIS NAME
1 A1–L α SVM–HV 40AL 1 X
2 A1–M α SVM 12A 2 Y
3 A2–L β SVM 40A 3 Z
4 A3–L α SVM 20A 4 A
5 A3–M α SVM 40A 5 B
7 A4–L α SVU 240A 6 C

NO. EXTRA TYPE PCB ID

6 M1 A 0000 DETECTOR(8AXES)
8 M2 B 12AB
>_
MDI **** *** *** 13:11:56
[ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

The amplifier setting screen consists of the following items:

D NO. . . slave number
The numbers of up to ten slaves (up to eight amplifiers and up to
two pulse modules) connected via the FSSB are displayed
sequentially, with the one nearest the CNC being number 1.

70
B–63173EN–1/02 1. AXIS CONTROL

D AMP . . . . amplifier type

The amplifier type display consists of the letter A, which stands for
“amplifier”, a number that indicates the placing of the amplifier, as
counted from that nearest to the CNC, and a letter such as L (first
axis) or M (second axis) indicating the placing of the axis in the
amplifier.
D AXIS . . . . controlled axis number
The axis number of each controlled axis specified in parameters
(Nos. 1920 to 1929) is displayed. If a number specified in these
parameters falls outside the range of between 1 and the maximum
number of controlled axes, 0 is displayed.
D NAME . . . controlled axis name
The axis name assigned to a parameter (No. 1020) corresponding
to a particular controlled axis number is displayed. If the controlled
axis number is 0, – is displayed.
D The following items are displayed as amplifier information:
S UNIT . . . . . servo amplifier unit type
S SERIES . . . servo amplifier series
S CUR. . . . . . maximum rating current
D The following items are displayed as pulse module information:
S EXTRA
This display consists of the letter M, which stands for “pulse
module”, and a number indicating the placing of the pulse
module, as counted from that nearest to the CNC.
S TYPE
This display is a letter indicating the type of the pulse module.
S PCB ID
This display consists of four digits indicating the pulse module
ID (hexadecimal). The pulse module ID is followed by
DETECTOR (8AXES) when 8–axes pulse module or
DETECTOR (4AXES) when 4–axes pulse module.
(2) Axis setting screen
The axis setting screen displays the information shown below:

AXIS SETTING O1000 N00001

AXIS NAME AMP M1 M2 1–DSP CS TNDM
1 X A1–L 0 0 0 0 1
2 Y A1–M 1 0 1 0 0
3 Z A2–L 0 0 0 1 0
4 A A3–L 0 0 0 0 2
5 B A3–M 0 0 0 0 0
6 C A4–L 0 0 0 0 0

>_
MDI **** *** *** 13:11:56
[ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

The axis setting screen displays the following items:

71
1. AXIS CONTROL B–63173EN–1/02

D AXIS . . . . controlled axis number

This item is the placing of the NC controlled axis.
D NAME . . . controlled axis name
D AMP . . . . type of the amplifier connected to each axis
D M1 . . . . . . connector number for pulse module 1
This item is the number of the connector for pulse module 1,
specified in parameter No. 1931.
D M2 . . . . . . connector number for pulse module 2
This item is the number of the connector for pulse module 2,
specified in parameter No. 1932.
D 1–DSP
This item is the value specified in bit 0 (parameter 1DSP) of
parameter No. 1904. It is 1 for an axis that exclusively uses a DSP,
which is usually shared by two axes.
D CS
Not used.
D TNDM
This item is the number specified in parameter No. 1934.
Consecutive odd and even numbers are displayed for the master
and slave axes for tandem control.
(3) Amplifier maintenance screen
The amplifier maintenance screen displays maintenance information
for servo amplifiers. This screen consists of the following two pages,
PAGE
either of which can be selected by pressing the PAGE
or key.

AMPLIFIER MAINTENANCE O1000 N00001

AXIS NAME AMP SERIES UNIT AXES CUR.
1 X A1–L α SVM–HV 2 40AL
2 Y A1–M α SVM 2 12A
3 Z A2–L β SVM 1 40A
4 A A3–L α SVM 2 20A
5 B A3–M α SVM 2 40A
6 C A4–L α SVU 1 240A

>_
MDI **** *** *** 13:11:56
[ AMP ][ AXIS ][ MAINTE ][ ][ ]

72
B–63173EN–1/02 1. AXIS CONTROL

AMPLIFIER MAINTENANCE O1000 N00001

AXIS NAME EDITION TEST MEINTE–NO.
1 X 01A 970123 01
2 Y 01A 970123 01
3 Z 01A 970123 01
4 A 02B 970123 01
5 B 02B 970123 01
6 C 02B 970123 01

>_
MDI **** *** *** 13:11:56
[ AMP ][ AXIS ][ MAINTE ][ ][ ]

The amplifier maintenance screen displays the following items:

D AXIS . . . . . . . . . Controlled axis number
D NAME . . . . . . . . Controlled axis name
D AMP . . . . . . . . . Type of amplifier connected to each axis
D SERIES . . . . . . . Servo amplifier series of an amplifier
connected to each axis
D UNIT . . . . . . . . . Unit type of a servo amplifier connected to
each axis
D AXES . . . . . . . . . Maximum number of axes controlled by an
amplifier connected to each axis
D CUR. . . . . . . . . . Maximum rating current for amplifiers
connected to each axis
D EDITION . . . . . . Unit version number of an amplifier connected
to each axis
D TEST . . . . . . . . . Date of test performed on an amplifier
connected to each axis
Example) 970123 = January 23, 1997
D MEINTE–No. . . Engineering change number for an amplifier
connected to each axis
D Setting On an FSSB setting screen (other than the amplifier maintenance screen),
pressing the [(OPRT)] soft key displays the following soft keys:

[ SETING ][ ][ CANCEL ][ ][ INPUT ]

To enter data, place the machine in MDI mode or the emergency stop state,
position the cursor to the point where a desired item is to be input, then
enter the desired data and press the [INPUT] soft key (or the INPUT key on
the MDI panel).
When the [SETING] key is pressed after data has been entered, a warning
message is displayed if the entered data contains an error. When the data
is satisfactory, the corresponding parameter is set up.
To restore the previous value of a parameter if, for example, an entered
value is incorrect, press the [CANCEL] soft key.

73
1. AXIS CONTROL B–63173EN–1/02

When the power is switched on, values are read from the parameters and
displayed on the screen.

CAUTION
1 For the parameters to be specified on the FSSB setting
screen, do not attempt to enter values on the parameter
screen using the MDI or a G10 command. Use only the
FSSB screen to enter values for these parameters.
2 If pressing the [SETING] key results in a warning message
being displayed, retry data entry, or press the [CANCEL] key
to clear the warning message. Note that pressing the reset
key does not clear the warning message.

(1) Amplifier setting screen

AMPLIFIER SETING O1000 N00001

NO. AMP SERIES UNIT CUR. AXIS NAME
1 A1–L α SVM–HV 40AL 1 X
2 A1–M α SVM 12A 2 Y
3 A2–L β SVM 40A 3 Z
4 A3–L α SVM 20A 4 A
5 A3–M α SVM 40A 5 B
7 A4–L α SVU 240A 6 C

NO. EXTRA TYPE PCB ID

6 M1 A 0000 DETECTOR(8AXES)
8 M2 B 12AB
>_
MDI **** *** *** 13:11:56
[ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

The amplifier setting screen displays the following items:

D AXIS . . . Controlled axis number
For this item, enter a value of between 1 and the maximum number
of controlled axes. If a number that falls outside this range is
entered, the warning message FORMAT ERROR appears. If the
entered controlled axis number is duplicate or 0, the warning
message DATA IS OUT OF RANGE appears when the [SETING]
soft key is pressed to assert the entered value. In this case, no value
can be entered for the parameter.

74
B–63173EN–1/02 1. AXIS CONTROL

(2) Axis setting screen

AXIS SETTING O1000 N00001

AXIS NAME AMP M1 M2 1–DSP CS TNDM
1 X A1–L 0 0 0 0 1
2 Y A1–M 1 0 1 0 0
3 Z A2–L 0 0 0 1 0
4 A A3–L 0 0 0 0 2
5 B A3–M 0 0 0 0 0
6 C A4–L 0 0 0 0 0

>_
MDI **** *** *** 13:11:56
[ SETING ][ ][ CANCEL ][ ][ INPUT ]

On the axis setting screen, the following items can be specified:

D M1 . . . Connector number for pulse module 1
For an axis that uses pulse module 1, enter a connector number
using a number in the range of between 1 and the maximum number
of axes for pulse module 1. When pulse module 1 need not be used,
enter 0. If a number that falls outside the valid range is entered, the
message FORMAT ERROR is displayed.
D M2 . . . Connector number for pulse module 2
For an axis that uses pulse module 2, enter a connector number
using a number in the range of between 1 and the maximum number
of axes for pulse module 2. When pulse module 2 need not be used,
enter 0. If a number that falls outside the valid range is entered, the
message FORMAT ERROR is displayed.
D 1–DSP
Enter 1, each of which exclusively uses a DSP, which is usually
shared by two axes. If a number other than 0 or 1 is entered, the
message FORMAT ERROR is displayed.
D CS
Not used.
D TNDM
Enter odd and even numbers for the master and slave axes for
tandem control. These numbers must be consecutive and in the
range of between 1 and 8. If a number that falls outside the valid
range is entered, the message FORMAT ERROR is displayed.
When the [SETING] soft key is pressed on the axis setting screen after
data entry, the message DATA IS OUT OF RANGE is displayed if any
of the following conditions is satisfied.
D Both M1 and M2 are nonzero for an axis.
D Any two of the 1–DSP, CS, and TNDM are nonzero for an axis.
D A duplicate value is specified for M1.
D A duplicate value is specified for M2.
D A duplicate value is specified for CS.
D A duplicate value is specified for TNDM.

75
1. AXIS CONTROL B–63173EN–1/02

D An invalid master/slave axis pair is specified for TNDM.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1902 ASE FMD

[Data type] Bit

FMD Specifies the FSSB setting mode.
0 : Automatic setting mode.
(If the interrelationships between axes and amplifiers are specified on
the FSSB setting screen, parameter Nos. 1023, 1905, 1910 to 1919,
1936, and 1937 are set automatically.)
1 : Manual setting 2 mode.
(Parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 must be
set manually.)
ASE Indicates whether automatic setting is complete, if bit 0 of parameter No.
1902 is 0 (automatic setting mode).
0 : Incomplete.
1 : Complete.
(This bit automatically becomes 1 upon the completion of automatic
setting.)

#7 #6 #5 #4 #3 #2 #1 #0
1904 DSP

[Data type] Bit axis

DSP 0 : Two axes share a DSP. (Ordinary axis)
1 : One axis occupies a DSP.
Usually, the user should not attempt to manipulate this bit, because it is
set using the FSSB setting screen. It need not be used in FSSB manual
setting 2 mode.

#7 #6 #5 #4 #3 #2 #1 #0
1905 PM2 PM1 FSL

[Data type] Bit axis

FSL Specifies whether to use a fast or slow interface between a servo amplifier
and the servo software.
0 : Fast type
1 : Slow type
There are two types of servo data transfer interfaces: fast and slow types.
They are selected as described below.
D Both types are usable for single–axis amplifiers.
D For two–axis amplifiers, do not use fast type interfaces for both axes
simultaneously. Slow types can be used simultaneously for both axes.
D For three–axis amplifiers, the same rules as those for two–axis
amplifiers apply to the first and second axes, while the same rules as
those for single–axis amplifiers apply to the third axis.

76
B–63173EN–1/02 1. AXIS CONTROL

D For those axes for which an odd number is set for parameter No. 1023,
the fast type must be used.
D For those axes for which an even number is set for parameter No.
1023, only the slow type is usable; this bit must be set to 1.

CNC

Controlled Program Servo axis Interface

axis axis name number type
number (No. 1020) (No. 1023) (fast/slow)

1 X 1 F Two–axis X (Fast)
amplifier
2 Y 3 F A (Slow)
Single–axis
3 Z 4 S amplifier Y (Fast)

4 A 2 S Z (Slow)
Two–axis
amplifier B (Fast)
5 B 5 F
Single–axis C (Slow)
6 C 6 S amplifier

PM1 Specifies whether the first pulse module is to be used.

0 : Not used.
1 : Used.
PM2 Specifies whether the second pulse module is to be used.
0 : Not used.
1 : Used.
If automatic setting is set as the FSSB setting mode (bit 0 of parameter
No. 1902 = 0), this parameter is set automatically when data is entered
using the FSSB setting screen. For manual setting 2 (bit 0 of parameter
No. 1902 = 1), the user must set this parameter. When using a pulse
module, a connection number must be specified separately (parameter
Nos. 1936 and 1937).

77
1. AXIS CONTROL B–63173EN–1/02

1910 Address conversion table value for slave 1 (ATR)

1911 Address conversion table value for slave 2 (ATR)

1912 Address conversion table value for slave 3 (ATR)

1913 Address conversion table value for slave 4 (ATR)

1914 Address conversion table value for slave 5 (ATR)

1915 Address conversion table value for slave 6 (ATR)

1916 Address conversion table value for slave 7 (ATR)

1917 Address conversion table value for slave 8 (ATR)

1918 Address conversion table value for slave 9 (ATR)

1919 Address conversion table value for slave 10 (ATR)

[Data type] Byte

[Valid data range] 0 to 7, 16, 40, and 48
An address conversion table value must be specified for each of slaves 1
to 10. The term “slave” refers to any of the servo amplifiers and pulse
modules connected to the CNC. Each slave is assigned a number of
between 1 and 10 sequentially, with the one nearest to the CNC assigned
number 1. A two–axis amplifier is regarded as being two slaves, while
a three–axis amplifier is regarded as being three slaves. Each of these
parameters is set depending on whether the slave is an amplifier or pulse
module, as follows:
f When the slave is an amplifier:
The parameter is set to the “value in parameter No. 1023 for an axis
to which the amplifier is assigned,” minus 1.
f When the slave is a pulse module:
The parameter is set to 16 for the first pulse module (that nearest to the
CNC) or to 48 for the second pulse module (that farthest from the
CNC).
f When there is no slave:
The parameter is set to 40.
If automatic setting is set as the FSSB setting mode (bit 0 of parameter
No. 1902 = 0), this parameter is set automatically when data is entered on
the FSSB setting screen. For manual setting 2 (bit 0 of parameter No.
1902 = 1), the parameter must be set manually.

78
B–63173EN–1/02 1. AXIS CONTROL

f Example of axis configuration and parameter setting

CNC
Slave ATR
Controlled Program Servo axis number No.1910 Axis
axis axis name number to 1919
number (No. 1020) (No. 1023)
Single–axis 1 0
1 X 1 amplifier X

2 Y 3 2 1 A
Two–axis
amplifier
3 Z 4 3 2 Y

4 A 2 Two–axis 4 3 Z
amplifier
5 B 5 5 4 B
6 C 6 M1 6 16 (M1)
Single–axis 7 5
amplifier C

M2 8 48 (M2)

9 40 (None)
10 40 (None)

CNC
Slave ATR
Controlled Program Servo axis number No.1910 Axis
axis axis name number to 1919
number (No. 1020) (No. 1023)
Single–axis 1 0
1 X 1 amplifier X

2 Y 3 2 2 Y
Two–axis
amplifier
3 Z 4 3 3 Z

4 A 2 Two–axis 4 1 A
amplifier
5 B 5 5 4 B
6 C 6 M1 6 16 (M1)
Single–axis 7 5 C
amplifier

M2 8 48 (M2)

9 40 (None)
10 40 (None)

M1/M2: First/second pulse module

79
1. AXIS CONTROL B–63173EN–1/02

1920 Controlled axis number for slave 1 (FSSB setting screen only)

1921 Controlled axis number for slave 2 (FSSB setting screen only)

1922 Controlled axis number for slave 3 (FSSB setting screen only)

1923 Controlled axis number for slave 4 (FSSB setting screen only)

1924 Controlled axis number for slave 5 (FSSB setting screen only)

1925 Controlled axis number for slave 6 (FSSB setting screen only)

1926 Controlled axis number for slave 7 (FSSB setting screen only)

1927 Controlled axis number for slave 8 (FSSB setting screen only)

1928 Controlled axis number for slave 9 (FSSB setting screen only)

1929 Controlled axis number for slave 10 (FSSB setting screen only)

[Data type] Byte

[Valid data range] 0 to 8
Each of these parameters is set using a controlled axis number for a slave
numbered 1 to 10. This parameter is set automatically when data is
entered using the FSSB setting screen; do not specify it manually. For
manual setting 2, the parameter need not be set.

1931 Connector number for first pulse module (FSSB setting screen only)

1932 Connector number for second pulse module (FSSB setting screen only)

[Data type] Byte axis

[Valid data range] 0 to the number of connectors in each pulse module
To use a pulse module, the user must specify a connector number for the
pulse module on each axis. This parameter is set automatically when data
is entered using the FSSB setting screen; do not specify it manually. For
manual setting 2, the parameter need not be set.

1934 Master/slave number for tandem–controlled axes (FSSB setting screen only)

[Data type] Byte axis

[Valid data range] 0 to 8
To use tandem control, this parameter must be set to an odd number (for
the master axis) or to an even number (slave axis). This parameter is set
automatically when data is entered using the FSSB setting screen; do not
specify it manually. For manual setting 2, the parameter need not be set.

80
B–63173EN–1/02 1. AXIS CONTROL

1936 Connector number for first pulse module

1937 Connector number for second pulse module

[Data type] Byte axis

[Valid data range] 0 to 7
To use a pulse module, this parameter must be set to “connection number
for the pulse module,” minus 1; that is, 0 for connector number 1, 1 for
connector number 2, and so on. It is also necessary to set up bits 6 and
7 of parameter No. 1905. For an axis that does not use a pulse module,
0 is specified for the parameter. Basically, each axis can be combined with
any connector, but the smaller connector numbers must be used first. For
example, connector number 4 cannot be used unless connector number 3
is in use.
Example)
Connector Connector
Controlled number for number for No.1905
first pulse second pulse
No.1936 No.1937
axis (#7, #6)
module module

X 1 Not used 0 0 0,1

Y Not used 2 0 1 1,0

Z Not used 1 0 0 1,0

A Not used Not used 0 0 0,0

B 2 Not used 1 0 0,1

C Not used 3 0 2 1,0

If the FSSB setting mode is automatic setting (bit 0 of parameter No. 1902
= 0), this parameter is set automatically when data is entered using the
FSSB setting screen. For manual setting 2 (bit 0 of parameter No. 1902
= 1), the user must set this parameter.

Alarm and message

D Servo alarms
Number Message Description

460 n AXIS : FSSB DISCON- FSSB communication was interrupted.

NECT The most likely causes are:
1. The FSSB communication cable is
disconnected or has a broken con-
ductor.
2. The amplifier power supply was
turned off.
3. A low–voltage alarm condition oc-
curred in the amplifier.
461 n AXIS : ILLEGAL AMP The fast type interface was assigned to
INTERFACE both axes of a two–axis amplifier.
462 n AXIS : SEND CNC The slave could not receive data cor-
DATA FAILED rectly because of an FSSB commu-
nication error.

81
1. AXIS CONTROL B–63173EN–1/02

Number Message Description

463 n AXIS : SEND SLAVE The servo section failed to receive data
DATA FAILED correctly because of an FSSB commu-
nication error.
464 n AXIS : WRITE ID DATA An attempt to write maintenance in-
FAILED formation to the amplifier maintenance
screen failed.
465 n AXIS : READ ID DATA An attempt to read the initial ID informa-
FAILED tion for the amplifier failed when the
power was switched on.
466 n AXIS : MOTOR/AMP The maximum current rating for the am-
COMBINATION plifier does not match that for the motor.
467 n AXIS : ILLEGAL SET- The servo function has not been en-
TING OF AXIS abled when an axis occupying a single
DSP is specified on the axis setting
screen.

D P/S alarms
Number Message Description

5134 FSSB : OPEN READY The FSSB did not become ready to
TIME OUT open during initialization.
5135 FSSB : ERROR MODE The FSSB entered an error mode.
5136 FSSB : NUMBER OF The number of amplifiers recognized
AMPS IS SMALL by the FSSB is insufficient, compared
with the number of controlled axes.
5137 FSSB : CONFIGURATION The FSSB detected a configuration er-
ERROR ror.
5138 FSSB : AXIS SETTING Axis setting has not been performed in
NOT COMPLETE automatic setting mode. Perform axis
setting using the FSSB setting screen.
5197 FSSB : OPEN TIME OUT The FSSB did not open when the CNC
had allowed the FSSB to open.
5198 FSSB : ID DATA NOT The initial ID information for the amplifi-
READ er cannot be read because of a failure
in the temporary assignment.

82
B–63173EN–1/02 1. AXIS CONTROL

1.4.4
FSSB Serial Feedback
Dummy Function

Outline Serial feedback dummy function neglects all the servo alarm of the axis
that is not connected with a servo amplifier actually. This function is
useful to use an imaginary axis of Electronic cam function.

Details Serial feedback dummy function is effective when the parameter

No.2009#0 of the axis that does not have an actual servo amplifier is set
to ”1”. Also parameters related with axis configuration should be set. In
order to set parameters related with axis configuration, there are 3
methods, ”manual setting 1”, ”auto setting” and ”manual setting 2”. The
following is the explanations for each setting method for serial feedback
dummy function. In advance, please read 1.4.3 FSSB Setting” and
understand the 3 setting methods.

D Manual setting 1 In the manual setting 1, only a parameter No.1023 to assign the relation
(P1902#0=0, #1=0) between logical axis address and physical axis should be set but ATR No.
(No.1910–1919). However there are some restrictions. For example,
pulse module can not be used.
In case that serial feedback dummy function is used, the manual setting
1 can not be used if the maximum value of the normal (no dummy) axes
in parameter No.1023 is larger than the number of actual connected
amplifiers.
Ex. 1–1)

P1023 P2009#0
X 1 0 X
Y 2 0
Power Mate Y
Z 3 1
C 4 1

In this example, 2 or more amplifiers are required because the maximum

value of the normal (no dummy) axes in parameter No.1023 is 2. X–axis
controls the 1st amplifier, and Y–axis controls the 2nd.

83
1. AXIS CONTROL B–63173EN–1/02

Ex. 1–2)

P1023 P2009#0
X 1 0 X
Y 2 1
Power Mate Y(dummy)
Z 3 0
C 4 1
Z

In this example, 3 or more amplifiers are required because the maximum

value of the normal (no dummy) axes in parameter No.1023 is 3. X–axis
controls the 1st amplifier, and Z–axis controls the 3rd.
D Auto setting In the auto setting method, Power Mate automatically sets the parameters
(P1902#0=0) related with axis configuration by defining the relation between axes and
amplifiers on the FSSB setting screen. In case that serial feedback dummy
function is used, it is not necessary to assign an amplifier to a dummy axis
on the amplifier setting screen. However, after the auto setting, the
parameter No.1023 for dummy axis must be set manually a consecutive
number larger than the maximum of No.1023 of no dummy axes because
an unfixed value is set by auto setting. Also ATR No. for dummy axis
(parameter No.1910–1919) must be set by the manual setting to a value
subtracted 1 from the setting value of No.1023.
Ex. 2–1) X/Y–axis controls the 1st/2nd amplifier, and Z and C are
dummy axes.

Power Mate Y

Z (dummy)

C (dummy)

(After auto setting)

P1023 P2009#0 P1910 0

X 1 0 P1911 1
Y 2 0 P1912 40
Z indef. 1 P1913 40
C indef. 1 P1914-1919 40

(Final setting)

P1023 P2009#0 P1910 0

X 1 0 P1911 1
Y 2 0 P1912 2
Z 3 1 P1913 3
C 4 1 P1914-1919 40

84
B–63173EN–1/02 1. AXIS CONTROL

In this example, as the maximum of No.1023 of no dummy axes is 2, set

No.1023 of Z, C–axis to 3,4 that are a consecutive integer larger than 2.
And set No.1912, No.1913 to 2,3 that are subtracted 1 from 3,4.
No.2009#0 of Z, C–axis must be set by the manual setting before the auto
setting.
Ex. 2–2) X/Z–axis controls the 1st/2nd amplifier, and Y and C are
dummy axes.

Power Mate Z

Y (dummy)

C (dummy)

(After auto setting)

P1023 P2009#0 P1910 0

X 1 0 P1911 1
Y indef. 1 P1912 40
Z 2 0 P1913 40
C indef. 1 P1914-1919 40

(Final setting)

P1023 P2009#0 P1910 0

X 1 0 P1911 1
Y 3 1 P1912 2
Z 2 0 P1913 3
C 4 1 P1914-1919 40

In this example, as the maximum of No.1023 of no dummy axes is 2, set

No.1023 of Y, C–axis to 3,4 that are a consecutive integer larger than 2.
And set No.1912, No.1913 to 2,3 that are subtracted 1 from 3,4.
No.2009#0 of Y, C–axis must be set by the manual setting before the auto
setting.
D Manual setting 2 Manual setting 2 is the method to set manually parameters that are related
(P1902#0=1) with axis configuration and are set automatically if auto setting is used.
In case that serial feedback dummy function is used, the parameters
related with axis configuration are required to be set manually the value
that are the same as the one set in above auto setting method.

85
1. AXIS CONTROL B–63173EN–1/02

D Example Ex. 3–1) X, Y and Z are normal (no dummy) axes. C–axis has the
external scale but no amplifier, and Power Mate can display the
position of C–axis by the feedback from the scale.
First, X, Y and Z axes are assigned to amplifiers, and the feedback
connector number for C–axis is set by the auto setting. Then parameter
No.1023 for C–axis and so on should be set by the manual setting.

Power Mate Y

Pulse module

C (dummy)
C-axis scale

(After auto setting)

P1023 P2009#0 P1815#1 P1905#6 P1910 0

X 1 0 0 0 P1911 1
Y 2 0 0 0 P1912 2
Z 3 0 0 0 P1913 16
C indef. 1 1 1 P1914 40
P1915-1919 40

(Final setting)

P1023 P2009#0 P1815#1 P1905#6 P1910 0

X 1 0 0 0 P1911 1
Y 2 0 0 0 P1912 2
Z 3 0 0 0 P1913 16
C 4 1 1 1 P1914 3
P1915-1919 40

Moreover, input the following signals.

G126.3=1 (C–axis servo off)
G007.5=0 (follow–up enabled)

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2009 DMY

[Data type] Bit axis

DMY Serial feedback dummy function is
0 : Not enabled
1 : enabled

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

86
B–63173EN–1/02 1. AXIS CONTROL

1.5
SETTINGS RELATED
WITH COORDINATE
SYSTEMS

1.5.1
Machine Coordinate
System
General Machine coordinate system is a coordinate system set with a zero point
proper to the machine system.
A coordinate system in which the reference position becomes the
parameter-preset (No. 1240) coordinate value when manual reference
position return is performed, is set.

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

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Two–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

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

Reference item
OPERATOR’S MANUAL II.7.1 MACHINE COORDINATE
(B–63174EN) SYSTEM

87
1. AXIS CONTROL B–63173EN–1/02

1.5.2
Workpiece Coordinate
System

General A coordinate system used for machining a workpiece is referred to as a

workpiece coordinate system. A workpiece coordinate system is to be set
with the CNC beforehand (setting a workpiece coordinate system).

Setting a workpiece A workpiece coordinate system can be set using one of two methods:
coordinate system (1) Method using G92
A workpiece coordinate system is set by specifying a value after G92
in the program.
(2) Automatic setting
If bit 0 (ZPR) of parameter No. 1201 is set beforehand, a workpiece
coordinate system is automatically set when manual reference
position return is performed.
If a workpiece coordinate system is set, this workpiece coordinate system
is used for absolute command after setting.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1201 ZPI ZPR

[Data type] Bit

ZPR Automatic setting of a coordinate system when the manual reference
position return is performed
0 : Not set automatically
1 : Set automatically
ZPI Coordinates at the reference position when a coordinate system is set
automatically
0 : Value set in parameter No. 1250 is used.
1 : For input in mm, the value set in parameter No. 1250 is used, or for
input in inches, the value set in parameter No. 1251 is used.

1250 Coordinate value of the reference position used when automatic coordinate
system setting is performed

[Data type] Two–word axis

[Unit of data] Input increment IS–A IS–B IS–C Unit
Linear axis (input in mm) 0.01 0.001 0.0001 mm
Linear axis (input in inches) 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

88
B–63173EN–1/02 1. AXIS CONTROL

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

1251 Coordinate value of the reference position used when automatic coordinate
system setting is performed with inch input

[Data type] Two–word axis

Input increment IS–A IS–B IS–C Unit
Linear axis (input in inches) 0.001 0.0001 0.00001 inch

[Valid data range] –99999999 to 99999999

Set the coordinate value of the reference position on each axis to be used
for setting a coordinate system automatically when input is performed in
inches.

NOTE
This parameter is valid when ZPI (bit 1 of parameter No.
1201) is set to 1.

Reference item
OPERATOR’S MANUAL II.7.2 WORKPIECE COORDINATE
(B–63174EN) SYSTEM

89
1. AXIS CONTROL B–63173EN–1/02

1.5.3
Rotary Axis Roll Over

General The roll–over function prevents coordinates for the rotation axis from
overflowing. The roll–over function is enabled by setting bit 0 (ROAx)
of parameter No. 1008 to 1.
For an incremental command, the tool moves the angle specified in the
command. For an absolute command, the coordinates after the tool has
moved are values rounded by the angle corresponding to one rotation set
in parameter No. 1260. The tool moves in the direction in which the final
coordinates are closest when bit 1 (RABx) of parameter No. 1008 is set
to 0. Displayed values for relative coordinates are also rounded by the
angle corresponding to one rotation when bit 2 (RRLx) of parameter No.
1008 is set to 1.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROSx ROTx

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Bit axis

ROTx, ROSx Setting linear or rotation axis

ROSx ROTx Description

0 0 Linear axis
(1) Inch/metric conversion is done.
(2) All coordinate values are linear axis type.
(Not rounded in 0 to 360_)
(3) Stored pitch error compensation is linear axis type (Refer to pa-
rameter No. 3624)

0 1 Rotation axis (A Type)

(1) Inch/metric conversion is not done.
(2) Machine coordinate values are rounded in 0 to 360_. Absolute
coordinate values and relative coordinate values are rounded or
not rounded by parameter No. 1008 #0 and #2.
(3) Stored pitch error compensation is the rotation type. (Refer to pa-
rameter No. 3624)
(4) Automatic reference position return (G28, G30) is done in the ref-
erence position return direction and the move amount does not ex-
ceed one rotation.

1 0 Setting is invalid (unused)

1 1 Rotation axis (B type)

(1) Inch/metric conversion is not done.
(2) Machine coordinate values, absolute coordinate values and rela-
tive coordinate values are linear axis type. (Is not rounded in 0 to
360_)
(3) Stored pitch error compensation is linear axis type (Refer to pa-
rameter No. 3624)
(4) The rotation axis roll over function and index table indexing func-
tion (M series) cannot be used.

90
B–63173EN–1/02 1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
1008 RRLx RABx ROAx

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Bit axis

ROAx The roll–over function of a rotation axis is
0 : Invalid
1 : Valid

NOTE
ROAx specifies the function only for a rotation axis (for
which ROTx, #0 of parameter No. 1006, is set to 1)

RABx In the absolute commands, the axis rotates in the direction

0 : In which the distance to the target is shorter.
1 : Specified by the sign of command value.

NOTE
RABx is valid only when ROAx is 1.

RRLx Relative coordinates are

0 : Not rounded by the amount of the shift per one rotation
1 : Rounded by the amount of the shift per one rotation

NOTE
1 RRLx is valid only when ROAx is 1.
2 Assign the amount of the shift per one rotation in parameter
No. 1260.

1260 Move amount per rotation of rotary axis

NOTE
When this parameter is changed, turn off the power before
continuing operation.

[Data type] Two–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Unit of data 0.01 0.001 0.0001 deg
Standard setting
36000 360000 3600000
value

[Valid data range] 1000 to 9999999

Set move amount per rotation of rotation axis.

91
1. AXIS CONTROL B–63173EN–1/02

Reference item
OPERATOR’S MANUAL II.16.1 ROTARY AXIS ROLL–OVER
(B–63174EN)

92
B–63173EN–1/02 1. AXIS CONTROL

1.6
SIMPLE
SYNCHRONOUS
CONTROL

General A movement along an axis can be executed simply by executing a move

command specified for that axis or by synchronizing the movement with
another axis. Either of these two types can be selected by means of a signal
sent from the machine.

In synchronous operation, that axis for which move commands can be

specified is called the master axis, while an axis along which the tool
moves in sync with the master axis is called a slave axis.

The function can synchronize both automatic and manual operations.

Also, the following functions are provided.

D Synchronization error check function

D Synchronization compensation function

NOTE
No slave axis is included in the number of simultaneously
controlled axes.

D Synchronization error Any difference between the servo positional deviation of the master axis
check based on and that of the slave axis is monitored constantly. A P/S alarm condition
positional deviation (No. 213) is detected if a limit set in parameter No. 8313 (if only one
master/slave axis pair is in synchronization) or 8323 (if more than one
master/slave axis pair is in synchronization) is exceeded.

D Synchronization error The function monitors the difference between the machine coordinates on
check based on machine the master and slave axes. If the function detects a difference greater than
coordinates or equal to a preset value, it stops the machine. This function constantly
monitors the difference. Even if the synchronization control signal is
erroneously set to 0, thus disabling synchronization control, the function
can issue an alarm, stop the machine, and thus prevent damage.

If the detected difference is greater than or equal to the maximum error

set in parameter No. 8314, servo alarm 407 is output.

93
1. AXIS CONTROL B–63173EN–1/02

WARNING
1 Before using the synchronization error check function, set
identical values for the reference positions of the master
and slave axes.
2 To clear the alarm, first increase the maximum
synchronization error set in parameter No. 8314, then press
the reset key. Next, perform handle operations or other
manual operations so that the machine coordinates agree.
Then, restore the original value in parameter No. 8314.
3 If an alarm is detected during a synchronous operation, set
the signals indicating that a synchronous operation is in
progress (G138, G140) to off, then follow the procedure for
clearing an alarm.

NOTE
If the synchronization error check function is not used, set
parameter No. 8314 to 0.

D Synchronization If the agreement between the positions of the master and slave axes is lost
compensation function when the system power is turned off, the function compensates for the
difference between them. After performing a follow–up at power on, the
function sends compensation pulses to the slave axis to adjust its position
such that it agrees with that of the master axis. This function is enabled
only when the slave axis of synchronization control supports the
absolute–position detection function.
This function, however, cannot be used for rotation axes.

WARNING
1 The synchronization compensation function is enabled
after reference position returns have been performed. The
function is not executed if the parameter is set before
reference position returns are performed.
2 The synchronization compensation function is not executed
when the servo alarm is eliminated.

CAUTION
The synchronization deviation is processed as a position
error on the slave axis while at rest. The position error is
displayed as diagnostic No. 300, in the same units as used
to detect the error. If the error exceeds the value set in
parameters No. 8315 (if only one master/slave axis pair is
in synchronization) or No. 8325 (if more than one
master/slave axis pair is in synchronization), servo alarm
410 is triggered. The alarm can be cleared by pressing the
<RESET> key. As the position error for the slave axis
remains even after the alarm is cleared, however, the
positions must be adjusted.

94
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 To use the synchronization compensation function, set the
SOF bit, bit 7 of parameter No. 8301 (if only one master/
slave axis pair is in synchronization) or SOFx bit, bit 7 of
parameter No. 8303 (if more than one master/slave axis pair
is in synchronization), to 1.
2 The synchronization compensation function is also enabled
when emergency stop is canceled.

D Automatic setting of grid To use simple synchronous control, it is necessary to perform reference
positioning position return for the master and slave axes. This function causes the
CNC to automatically perform reference position return (grid position)
for both the master and slave axes in simple synchronization.
[Operating procedure] This procedure can be applied only when one master/slave axis pair is in
sync, and when bit 0 (ATE) of parameter No. 8302 is set to 1. If more than
one master/slave axis pair is in sync, it is necessary to use parameters
ATEx (bit 0 of parameter No. 8303) and ATSx (bit 1 of parameter No.
8303).
1 Set bit 1 (ATS) of parameter No. 8302 to 1.
2 Enter ZRN mode (or JOG mode for reference position setting without
dogs), and move along the axis toward the reference position.
3 Motion along the master and slave axes stops automatically, and the
grid deviation is set in parameter No. 8316. At the same time, bit 1
(ATS) of parameter No. 8302 becomes 0, and a power–off request
alarm (No. 000) occurs.
4 Switch the power off then back on.
5 Perform ordinary reference position return.

NOTE
Parameter setting
When parameter ATS (bit 1 of parameter No. 8302) or ATSx
(bit 1 of parameter No. 8303) is set, parameter APZ (bit 4 of
parameter No. 1815) for the master and slave axes and
parameter No. 8316 become 0. If the operator specifies
parameter No. 8316 (MDI, G10L50), parameter ATE (bit 0
of parameter No. 8302) becomes 0.

95
1. AXIS CONTROL B–63173EN–1/02

D Torque difference alarm If the master and slave axes operate independently while simple
detection synchronous control is applied, the machine may be damaged. To prevent
this, the torque command difference between the axes is monitored. If the
difference is found to be abnormal, an alarm can be issued.
[System configuration]

Position gain Master axis

+ torque command
Kp Velocity control
Master axis -
position
command Master axis position
feedback

+ Torque command The absolute value is

difference compared with the
threshold value.
- Alarm
Position gain detection
+
Kp Velocity control
Slave axis Slave axis
- torque command
position
command

Slave axis position

feedback

[How to use]
Determine the threshold parameter using the following procedure.
1 Set up the following parameters:
Parameter No. 2031 = 0 : Disable torque difference alarm detection.
Bit 0 of parameter No. 8950 = 1 : Display the memory screen.
Parameter No. 8960 : Specify the following values as data addresses.
1304 if the servo axis numbers for two axes in sync are 1 and 2
1312 if the servo axis numbers for two axes in sync are 3 and 4
1800 if the servo axis numbers for two axes in sync are 5 and 6
1808 if the servo axis numbers for two axes in sync are 7 and 8
Parameter No. 2115 : Display, on the memory screen, the absolute
value of the torque difference between the two
axes that are in sync. This parameter No. must
be set to the same value for both axes.
Value: 22160
2 Display the memory screen using:
<SYSTEM> function key ³ soft key ³ [MEMORY] soft key
The absolute value of the torque difference between the two axes that
are in sync is displayed as No.1C0 on the memory screen.
3 Read the maximum torque difference absolute value during ordinary
operation, and convert it to decimal. The threshold parameter should
be specified with a margin.
If it is difficult to read the absolute torque difference value on the memory
screen it can be observed, using an oscilloscope by means of the following
procedure:

96
B–63173EN–1/02 1. AXIS CONTROL

4 Set parameter No. 2115 to 22160.

5 Connect a check board, and observe a signal at CH7 with the rotary
switch on the check board set to 1.
6 Convert the observed value, using the formula 1 V = 410 (specified
threshold value). Read the maximum value during ordinary operation,
and allow an appropriate margin.
[Timing chart]

SA<F000#6> 1
0

Alarm detection Enabled

Disabled

Value in parameter No. 8317 (if only one master/slave axis

pair is in sync) or 8327 (if more than one master/slave axis
pair is in sync), or 512 ms (if neither parameter is set).

If the servo preparation completed signal SA <F000#6> is 0, torque

difference alarm detection is not performed.

Signal

Signals to select the

slave axis for simple
synchronous control
SYNC1 to SYNC8 <G138>

[Classification] Input signal

[Function] synchronous control is performed for memory or MDI operation.

The signal is provided for each controlled axis. The number at the end
of the signal name represents the number of the controlled axis.
SYNC 1
1. ... The first axis becomes the slave axis for synchronous control.
2. ... The second axis becomes the slave axis for synchronous control.
3. ... The third axis becomes the slave axis for synchronous control.
:
:

[Operation] When the signal is set to 1, the control unit operates as described below:
– During memory or MDI operation, the control unit supplies the move
command, specified for the master axis, to both the master and slave
axes of synchronous control.

The master axis is specified with a parameter.

97
1. AXIS CONTROL B–63173EN–1/02

Signals for selecting the

manual feed axis for
simple synchronous
control
SYNCJ1 to SYNCJ8
<G140>

[Classification] Input signal

[Function] synchronous control is performed in jog, handle, or incremental feed
mode.
The signal is provided for each controlled axis. The number at the end
of the signal name represents the number of the controlled axis.
SYNCJ 1
1. ... The first axis becomes the slave axis for synchronous control.
2. ... The second axis becomes the slave axis for synchronous control.
3. ... The third axis becomes the slave axis for synchronous control.
:
:

[Operation] When the signal is set to 1, the control unit operates as described below:
– In jog, handle, or incremental feed mode, the control unit supplies the
move command, specified for the master axis, to both the master and
slave axes of synchronous control.
The master axis is specified with a parameter.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G138 SYNC8 SYNC7 SYNC6 SYNC5 SYNC4 SYNC3 SYNC2 SYNC1

G140 SYNCJ8 SYNCJ7 SYNCJ6 SYNCJ5 SYNCJ4 SYNCJ3 SYNCJ2 SYNCJ1

98
B–63173EN–1/02 1. AXIS CONTROL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3105 SMF

[Data type] Bit

SMF During simple synchronous contorol, movement along a slave axis is:
0 : Included in the actual speed display
1 : Not included in the actual speed display

NOTE
This parameter is valid when simple syncronous contorol is
applied according to the setting of parameter No. 8311
(master and slave axes can be arbitrarily selected).

#7 #6 #5 #4 #3 #2 #1 #0
8301 SOF

[Data type] Bit

SOF The synchronization compensation funciton under simple synchronous
control (one master/slave axis pair) is:
0 : Not used.
1 : Used.

#7 #6 #5 #4 #3 #2 #1 #0
8302 ATS ATE

NOTE
The system power must be turned off then back on in order
for this parameter setting to become effective.

[Data type] Bit

ATE Specify whether to enable the automatic setting of grid positioning under
simple synchronous control (one master/slave axis pair)
0 : Disabled
1 : Enabled
ATS Specify whether to start the automatic setting of grid positioning under
simple synchronous control (one master/slave axis pair)
0 : Not started
1 : Started

NOTE
1 Setting this parameter resets parameter APZx (bit 4 of
parameter No. 1815) for the master and slave axes and
parameter No. 8316 to 0.
2 This parameter automatically becomes 0 upon the
completion of grid positioning.

99
1. AXIS CONTROL B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
8303 SFX ASX AEX

[Data type] Bit axis

AEX Specify whether to enable the automatic setting of grid positioning under
simple synchronous control (more than one master/slave axis pair)
0 : Disabled
1 : Enabled
ASX Specify whether to start the automatic setting of grid positioning under
simple synchronous control (more than one master/slave axis pair)
0 : Not started
1 : Started

NOTE
To start the automatic setting of grid positioning, set ASX to
1. ASX automatically becomes 0 upon the completion of
automatic setting.

SFX Specify whether to enable synchronization compensation during simple

synchronous control (more than one master/slave axis pair)
0 : Disabled
1 : Enabled

100
B–63173EN–1/02 1. AXIS CONTROL

8311 Axis number of master axis in synchronous control

[Data type] Byte axis

[Valid data range] 0 to 7

Select a master axis and slave axis for simple synchronous control. Set
a master axis number for the slave axis side. Up to four pairs can be
specified.

Example1: When using the first axis (X–axis) as the master axis, and the
third axis (Z–axis) as the slave axis, set parameter No. 8311 as follows:

Parameter No. 8311 X (first axis) = 0

Parameter No. 8311 Y (second axis) = 0
Parameter No. 8311 Z (third axis) = 1
Parameter No. 8311 A (fourth axis) = 0

Example2: If there are three master/slave axis pairs under simple

synchronous control:

To specify the:
master axis as the 1st axis, and the slave axis as the 6th axis
master axis as the 2nd axis, and the slave axis as the 5th axis
master axis as the 3rd axis, and the slave axis as the 4th axis,
set the following:
Parameter No. 8311 X(1st axis) = 0
Y(2nd axis) = 0
Z (3rd axis) = 0
(4th axis) = 3
(5th axis) = 2
(6th axis) = 1

NOTE
Specifying the third axis (Z–axis) as the master axis, and the
first axis (X–axis) as the slave axis is not allowed. The
master axis number must always be smaller than the slave
axis number.
It is impossible to specify more than one slave axis for a
master axis.

8313 Limit of the difference between the amount of positioning deviation of the master
and slave axes (one master/slave axis pair under synchronous control)

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies a limit imposed on the positional deviation
difference between the master and slave axes. If the limit is exceeded, a
P/S alarm (No. 213) is issued.

101
1. AXIS CONTROL B–63173EN–1/02

8314 Allowable error in synchronization error check

[Data type] Word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] 0 to 32767

This parameter sets, in the detection unit, the allowable error when a
synchronization error check is made. The mechanical coordinates of the
master axis and slave axis are monitored. When a synchronization error
equal to or greater than the value set in this parameter is detected, servo
alarm No. 407 is issued, and the machine is stopped. Set this parameter
to the master axis. When 0 is set with this parameter, no synchronization
error check is performed.

8315 Maximum compensation value for synchronization compensation

(one master/slave axis pair under synchronous control)

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter sets the maximum compensation value for
synchronization. When a compensation value greater than the value set
in this parameter is used, servo alarm No. 410 is issued.

8316 Reference counter difference between the master and slave axes
(one master/slave axis pair under synchronous control)

NOTE
The system power must be turned off then back on in order
for this setting to become effective.

[Data type] Two–word

[Unit of data] Detection unit
[Valid data range] –99999999 to 99999999
This parameter is set to the reference counter difference between the
master and slave axes.

NOTE
Upon the completion of grid positioning, the reference
counter difference is set automatically. At the same time,
parameter ATS (bit 1 of parameter No. 8302) is reset to 0.

102
B–63173EN–1/02 1. AXIS CONTROL

8317 Torque difference alarm detection timer (one master/slave axis pair under synchro-
nous control)

[Data type] Word

[Unit of data] ms
[Valid data range] 0 to 4000 (if 0 is specified, the system assumes 512 ms.)
This parameter specifies the time between the servo preparation
completed signal SA <F000#6> becoming 1 and the torque difference
alarm detection function starting to check for a torque difference alarm
condition. The specified value is rounded up to the nearest multiple of
16 ms.
(Example) If 100 is specified, 112 ms is assumed.

8323
Maximum allowable difference between master axis and slave axis positional deviations
(more than one master/slave axis pair under synchronous control)

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies a limit imposed on the positional deviation
difference between the compensation and slave axes. If the limit is
exceeded, a P/S alarm (No. 213) is issued. This parameter must be set for
the master axis. If 0 is specified, a positional deviation difference check
is not performed.

8325
Maximum compensation value for synchronization
(more than one master/slave axis pair under synchronous control)

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies the maximum compensation to be applied
during synchronous compensation. If the compensation exceeds the set
value, a servo alarm (No. 410) is issued. This parameter must be set for
the master axis. For this setting to become effective, parameter SOFx (bit
7 of parameter No. 8303) must be set to 1.

103
1. AXIS CONTROL B–63173EN–1/02

8326
Difference between master axis and slave axis reference counters
(more than one master/slave axis pair under synchronous control)

[Data type] Two–word axis

[Unit of data] Detection unit
[Valid data range] –99999999 to 99999999
This parameter is automatically set to the reference counter difference
(grid deviation) between the master and slave axes, when automatic grid
position setting is performed. This parameter setting, together with an
ordinary grid shift, is transferred to the servo section, when the user
subsequently switches the power off then back on. This parameter must
be set for the master axis.

8327
Torque difference alarm detection timer
(more than one master/slave axis pair under synchronous control)

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000
This parameter specifies the time between the servo preparation
completed signal (SA [F000#6]) becoming 1 and the torque difference
alarm detection function starting to check for a torque difference alarm
condition during simple synchronous control. The specified value is
rounded up to the nearest multiple of 16 ms.
(Example) If 100 is specified, 112 ms is assumed.
This parameter must be specified for the master axis. If the set value is
0, 512 ms is assumed.

Alarm and message

Number Message Description

213 ILLEGAL COMMAND IN One of the following errors occurred

SYNCHRO–MODE during synchronous operation (simple
synchronous control):
(1) The program contains a move command
for the slave axis.
(2) A command for jog feed, manual handle
feed, or incremental feed was issued for
the slave axis.
(3) After power on, the command for auto-
matic reference position return was spe-
cified before a manual reference
position return had been performed.
(4) The difference in position error between
the master and slave axes exceeded
the value set in parameters Nos. 8313 or
8323.

104
B–63173EN–1/02 1. AXIS CONTROL

Servo alarm
Number Message Description

407 SERVO ALARM: The difference in position error be-

EXCESS ERROR tween the master and slave axes ex-
ceeded the value set with the parame-
ter No. 8314.
410 SERVO ALARM: The most likely causes are:
n AXIS EXCESS ERR 1 For the n axis, the positional devi-
ation observed when the axis is
stopped has exceeded the value
set in parameter No. 1829.
2 In simple synchronous control, the
compensation used during syn-
chronous compensation has ex-
ceeded the value set in parameter
No. 8315 or 8325. This alarm oc-
curs only for the slave axis.
420 SERVO ALARM: A torque command issued for the mas-
n AXIS SYNC TORQUE ter or slave axis is greater than the val-
ue specified in parameter No. 2031.
This alarm condition occurs only for the
master axis.

Diagnosis data

Number Display Description

540 SYNCHRO ERROR The data represents the difference in

position error between the master and
slave axes during synchronous control.
(One master/slave axis pair under syn-
chronous control)
541 SYNCHRO ERROR The positional difference between the
master and slave axes under synchro-
nous control is displayed. (More than
one master/slave axis pair under syn-
chronous control)

105
1. AXIS CONTROL B–63173EN–1/02

Caution
CAUTION
1 When a manual reference position return is executed,
identical movements are performed along the master and
slave axes until deceleration commences. Subsequently,
grids are detected separately.
2 Pitch error compensation and backlash compensation are
executed separately for the master and slave axes.
3 If control of more than one master/slave axis pair is specified
in parameter No. 8311, parameters to perform setting for,
and display diagnostic information about, only one
master/slave axis pair are invalid, and if control of only one
master/slave axis pair is specified, parameters to perform
setting for, and display diagnostic information about, only
one master/slave axis pair are valid (except for common
parameters Nos. 8311 and 8314).
4 Do not specify any axis under PMC axis control as a
simplified–synchronization master axis.

Reference item
OPERATOR’S MANUAL II.16.2 Simple synchronous control
(B–63174EN)

106
B–63173EN–1/02 1. AXIS CONTROL

1.7
TANDEM CONTROL

General If a single motor cannot produce sufficient torque to move a large table,
for example, this function allows two motors to be used. By means of this
function, two motors can be used to perform movement along a single
axis.
Positioning is carried out only for the master axis. The slave axis is used
only to produce a torque. By means of this function, double the amount
of torque can be obtained.

Table
Master axis

Ball screw
Slave axis

Sample application

The CNC generally processes the two axes of tandem control as a single
axis. In the management of servo parameters and the monitoring of servo
alarms, however, the two axes are handled individually.

107
1. AXIS CONTROL B–63173EN–1/02

PC: Pulse coder

Master Slave axis

axis

PC PC
Power Power
line line

Servo Servo
amplifier amplifier

PWM PWM

Rotor Rotor
position position
Current Current
loop loop

PRM. 2087 Speed FB PRM. 2087 Speed FB

Preload (L) Preload (M)
+ +
+ +

Re- Re-
verse? verse?

PRM. 2022 PRM. 2022

Velocity PRM. 2008#2

loop

Aver-
age?
PRM: Parameter

+
-
Scale

Built–in de- Separate

tector detector
Position
loop

PRM.1815#1

+
-
Specified
pulse

Block Diagram of Tandem Control

108
B–63173EN–1/02 1. AXIS CONTROL

Explanations
D Axis configuration in To specify the axis configuration in tandem control, follow the procedure
tandem control below:
(1) Tandem control can be performed for up to four pairs of axes.
(2) In terms of controlled axes, the pair of axes is handled as two separate
axes. In terms of CNC–controlled axes (command axes), the pair of
axes is handled as a single axis (master axis). Specify the number of
CNC–controlled axes with parameter No. 1010, excluding the slave
axis of tandem control. The slave axis must be handled as if it were
controlled only by the PMC.
(3) The pair of axes is handled as two separate axes in the management of
servo parameters and the monitoring of servo alarms.
(4) Assign two consecutive numbers, that is one odd and one even
number, to the master and slave axes as their servo axis numbers
(parameter No. 1023). Assign the smaller number to the master axis.
(Example) If the servo axis number of the master axis (parameter No.
1023) is set to 1, specify servo axis number 2 for the corresponding
slave axis. If the servo axis number of the master axis is set to 3,
specify servo axis number 4 for the corresponding slave axis.
(5) If tandem control is performed for two or more pairs of axes, assign
servo axis numbers to the master and slave axes in identical order.
(6) Specify a unique axis name for the slave axis.
(7) The slave axis is handled as a controlled axis. Set the NDPx bit (bit
0 of parameter No. 3115) to 1 to suppress the position display.
The following sample axis configuration is for a machine with six axes
X, Y, Z, A, B (PMC axis), and C. The X–axis and Y–axis are the master
axes of tandem control.
Number of controlled axes (parameter No.1011): 6
Number of CNC controlled axes (parameter 1010): 3

Axis Axis Servo axis

num- name number
ber (PRM. 1023)
1 X 3 CNC axis (master axis of tandem control)
2 Y 1 CNC axis (master axis of tandem control)
3 Z 6 CNC axis
4 A 4 Slave axis of tandem control (master axis:
X–axis)
5 B 5 PMC axis
6 C 2 Slave axis of tandem control (master axis:
Y–axis)

109
1. AXIS CONTROL B–63173EN–1/02

D Preload function By adding an offset to the torque controlled by the position (velocity)
feedback device, the function can apply opposite torques to the master and
slave axes so that equal and opposite movements are performed for both
axes. This function can reduce the effect of backlash on the master and
slave axes caused by the tandem connection of the two motors via a gear.
This function, however, cannot reduce backlash between the ball screw
and table or other backlash inherent to the machine.
If a preload of x is set for the master axis and –x for the slave axis, the
opposing preload torques are continuously applied to the two axes, even
at rest, as shown below:

Master axis Slave axis

X -X

CAUTION
1 Specify as low a preload as possible. Avoid specifying a
preload higher than the rated torque. Too high a preload will
trigger an overload alarm because the specified torques
continue to be applied, even at rest. A preload that is very
slightly higher than the frictional force is recommended.
Thus, the recommended preload may be about one–third of
the rated torque.
2 If the motors rotate in opposite directions (different signs are
specified in parameter No. 2022), specify the preload
values with the same sign.

D Velocity feedback As shown in the block diagram of tandem control, the motor of the slave
average function axis is not subject to velocity control. A machine with a large amount of
backlash may become unstable if the motor of the slave axis vibrates as
a result of backlash in the gear. This can be overcome by applying
velocity control to the slave axis also. This velocity feedback average
function is enabled when bit 2 of parameter No. 2008 is set to 1.

D Improved stability of a The following two functions can increase the stability and position gain
closed–loop system of a closed–loop system having a linear scale:
@Dual position feedback function
@Machine velocity feedback function
For details of these functions, refer to FANUC AC SERVO MOTOR ai/bi
series PARAMETER MANUAL (B–65270EN).

D Notes on stability of An important factor affecting stability in tandem control is the capability
tandem control of back feed. Back feed is to cause movement along either the master or
slave axis from the other axis, via the transmission mechanism connecting
the two axes. A machine without this capability may be inclined to
become unstable and require adjustments.

110
B–63173EN–1/02 1. AXIS CONTROL

D Connection of axis The DI/DO signals, generally connected to each axis, must be connected
signals only to the master axis of two axes of tandem control. The signals need
not be connected to the slave axis. The following signals, however, may
have to be connected depending on the application.
i) Controlled axis detach signal and servo off signal
Connect these signals so that the master and slave axis signals are
simultaneously input.
ii) Overtravel limit signal
Connect the signal so that 1 is always output as the overtravel limit
signal for the slave axis.
If the slave axis stroke limit must also be detected, connect the signals so
that the signal detected on the slave axis is sent to the overtravel limit
signal of the master axis.

D Connecting motors Connect the motors according to the servo axis numbers. Connect the
feedback cable of the slave axis.

(Sample connection for position feedback cable)

Axis control
Feedback cable for motor of master axis
JF1

Feedback cable for motor of slave axis

JF2

Adapter for separate

detector
Feedback cable for separate detector
JF21

D Servo alarms Motor overload and other servo alarms are displayed separately for the
master and slave axes.

Parameter

Setting data The parameters that are generally set for each axis can, when set for axes
(parameters) under tandem control, be classified into the following three groups:
i) Parameters in which identical values must be set for the master and
slave axes
ii) Parameters that must be specified only for the master axis (The
corresponding parameter for the slave axis is not used.)
iii) Parameters for which different values may be set for the master and
slave axes

111
1. AXIS CONTROL B–63173EN–1/02

The classifications of the parameters are described below. Any parameter

that is not listed in the tables for the three classifications should be
processed as a parameter of type i) and, specify identical values for the
master and slave axes.

WARNING
Note that, if different values are set for the master and slave
axes in a parameter of type i), the operations for the two
axes of tandem control will not be performed correctly.

– Care must be taken to specify the following two servo parameters,

according to the directions of rotation around the master and slave
axes.
Parameter No. 2022: Direction of rotation of the motor
Parameter No. 2087: Preload value
In parameter No. 2022, specify 111 for forward rotation and –111 for
the reverse rotation.
In parameter No. 2087, specify values having identical signs when the
motors of the master and slave axes rotate in opposite directions.
Specify values having different signs when the motors of the master
and slave axes rotate in the same direction.
– If a separate pulse coder is used, use of the separate pulse coder must
be set for the master axis. For the slave axis, use of a built–in pulse
coder must be set. Therefore, pay particular attention to setting the
following parameters.
Bit 1 of parameter No. 1815: Separate pulse coder
Bits 6 to 4 of parameter No. 1816: Detection multiplier (DMR)
Parameter No. 2024: Number of position detection feedback
pulses (PPLS)
Parameter No. 1821: Capacity of an optional reference counter
Parameter No. 2084: Numerator of flexible feed gear ratio
Parameter No. 2085: Denominator of flexible feed gear ratio
If, for example, a motor with serial pulse coder A is used with a linear
scale capable of detecting a position in 1–mm units, and if a single
rotation of the motor produces a movement of 4 mm, specify the
parameters as shown below:
Master axis Slave axis
No. 1815#1 = 1 0
No. 1816 = 01110000 01110000
No. 2024 = 4000 12500
No. 1821 = 4000 4000
No. 2084 = 0 4
No. 2085 = 0 1000

112
B–63173EN–1/02 1. AXIS CONTROL

Parameters that should

be set to only the master Parameter No. Meaning of parameters
axes 0012#0 Mirror image
0012#7 Servo control off
1004#7 Input unit 10 times
1005#7 Servo control off
1022 Parallel axis specification
1423 Jog feedrate
1424 Manual rapid traverse
1425 FL rate in manual reference position return
1430 Maximum feedrate
1815#1 Separate type pulse coder
1815#5 Absolute pulse coder
2008#2 Velocity feedback average function

Parameters that should

be set different values Parameter No. Meaning of parameters
between the master and 1020 Axis name
slave axes 1023 Servo axis number
2022 Motor rotation direction
2087 Preload value
3115 Current position display
1815#1 Separate type pulse coder
1816#6 to #4 Detection multiplier (DMR)
1821 Arbitrary reference counter capacity
2024 Position detection feedback pulses (PPLS)
2084 Numerator of flexible feed gear ratio
2085 Denominator of flexible feed gear ratio

Parameters that should

be set the same values Parameter No. Meaning of parameters
to the master and slave 1006#7 Least command increment (0.0001 mm)
axes 1005#0 Movement before reference position return
1005#1 Dogless reference position setting
1006#0 Rotary axis
1006#1 Machine coordinate of rotary axis is rotary type
1006#5 Direction of reference position return
1240 Reference position as viewed from machine zero point
1241 Coordinate of 2nd reference position
1242 Coordinate of 3rd reference position
1260 Move distance per rotation of rotary axis
1320 1st stroke limit of plus side
1321 1st stroke limit of minus side
1420 Rapid traverse rate
1421 F0 of rapid traverse override
1620 Time constant of rapid traverse linear acceleration/de-
celeration
1621 Time constant of rapid traverse bell shaped accelera-
tion/deceleration
1622 Time constant of feed exponential acceleration/decel-
eration
1623 FL of feed exponential acceleration/deceleration
1624 Time constant of manual continuous exponential ac-
celeration/deceleration
1625 FL of manual continuous exponential acceleration/de-
celeration
1820 Command multiplier (CMR)
18XX Digital servo parameters
20XX Digital servo parameters

113
1. AXIS CONTROL B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
1817 TAN

[Data type] Bit axis (set to each axis)

Set both master and slave axes.
TAN Tandem control is
1 : invalid
0 : valid

#7 #6 #5 #4 #3 #2 #1 #0
2008 VFBAVE

[Data type] Bit axis (set to each axis)

Set only to the master axes.
VFBAVE Velocity feedback average function
1 : invalid
0 : valid

2087 Preload of each axis (Tcmd offset)

[Data type] Word axis

[Unit of data] (Preamplifier limit) /7282
[Valid data range] –1821 to 1821

An offset is added to a torque command to reduce backlash.

Set a slightly large value than friction torque.
As a reference set a value one–third the rated torque.
[Example] To set a torque of 3A in the opposite direction under amplifier limit of
40A:
3 / (40 / 7282) = 546
Master side = 546
Slave side = –546

2021 Load inertia

[Data type] Word axis

Set the same value to the master and slave axes.
[Unit of data] (All load inertia) / (Motor inertia) 256 / 2

2022 Direction of rotation of motor

[Data type] Word axis

Set the direction of motor rotation.
If the rotation directions of master and slave axes are opposite, set them
by this parameter.

114
B–63173EN–1/02 1. AXIS CONTROL

Alarm and message

Number Message Description

417 SERVO ALARM: Illegal values are set for parameters Nos.
n AXIS DGTL PARAM 1010, 1023, or 1817 when tandem control
is performed.

Reference item
OPERATOR’S MANUAL II.16.3 Tandem control
(B–63174EN)

115
1. AXIS CONTROL B–63173EN–1/02

1.8
HIGH RESPONSE
FUNCTION (Power
Mate i–H)

General The program, which is compiled beforehand in the normal mode, can be
executed in the high response mode, so that the axes can be started or
stopped with the external signals faster than in the normal mode.
Hereafter, the compiled program is called ” motion program”.
1) Characteristic of the high response function
The cycle time to check the external signal in the high response mode
will be shorter than the one in the normal mode. So, if this function is
used, the axes can be started or stopped with the external signal faster
than in the normal mode.
2) High response mode and normal mode
In the system in which high response mode is available, the mode
should be selected to high response mode or normal mode according
to the using function.
High response mode
S This is the mode to execute the motion program by using the high
response function. In this mode, the axes can be started or stopped
faster than the normal mode.
S The some kind of operations such as automatic operation, manual
operation, reference position return etc. permitted in the normal
mode can not be done.
S The parameter can not be changed in this mode.
Normal mode
S In this mode, the operations such as automatic operation, manual
operation, reference position return etc. can be done as usual.
S The motion program can not be executed by using the high
response function.

NOTE
1 In the high response mode, the parameter can not be set by
MDI and PMC window write function.
In case of setting the parameter by MDI, the warning
message ”WRONG MODE” will be displayed in CRT/MDI.
In case of setting the parameter by PMC window write
function, the completion code ”7” will be returned.
2 Establish the reference point in the normal mode before
executing the motion program in high response mode.

116
B–63173EN–1/02 1. AXIS CONTROL

Usage The example of the procedure to execute the motion program by the high
response function is shown below.
Note: The preparation before executing the motion program by the high
response function must be done in the normal mode.
1 Select the normal mode.
2 Create the ladder program.
3 Create the program (O8000 – O8031), and compile the created
program.
4 The reference position setting for each axis is done.
5 The machine is moved to the starting position in the auto operation or
the manual operation(jog, handle feed etc.).
6 Select the high response mode.
7 Execute the motion program.

ƠNormal modeơ Ơhigh response modeơ

Create the ladder program

Create the program, and

compile the program Change to the high response mode

The reference position setting

is done. (Establish the refer-
ence position)

The machine moves to the

starting position in the auto Execute the motion program
operation or the manual
operation (JOG, handle and
so on).

NOTE
1 Creating and compiling the program can be done in the high
response mode, too.
2 The reference position setting, the automatic operation and
the manual operation can be done only in the normal mode.

117
1. AXIS CONTROL B–63173EN–1/02

Change to the high If the input signal HMD is turned to ”1”, the mode will be changed to the
response mode high response mode. When the mode will be changed to the high response
mode, ”HMTN” will be shown at the current mode display and the output
signal HMDO is turned to ”1”.
If the input signal HMD is turned to ”0”, the mode is returned to normal.
In normal mode, the output signal HMDO is turned to ”0”.

#7 #6 #5 #4 #3 #2 #1 #0
G0226 HMD

F0228 HMDO

D Time chart

HMD

HMDO

1 If the signal HMD is turned to ”1” in the following state, the system
will automatically turn into reset state. And after all the axes are
stopped, the system will cancel the reset state and change the mode to
the high response mode.
a. The automatic operation is executing.
b. The MDI operation is executing.
c. The axis control by PMC function is executing.
d. The axis moving by other functions.

CAUTION
1 Stop the all axes when the high response mode is changed.
2 Until the mode is changed to the high response mode after
the signal HMD is turned to ”1”, the system turns into the
reset state, and the reset signal RST(F0001#1) is set to ”1”.
3 Clear the tool length offset value before changing to the high
response mode.
Reference:
The system turns into the reset state certainly when the
mode is changed. So, if the parameter No. 5003#6(LVK) is
set to ”0”, the tool length offset value is cleared.

118
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 The mode can not be changed during any axes are not at
in–position state.
2 The mode can not be changed in the inch input mode.
3 The mode can not be changed in state of the advanced
preview feed forward.
4 In case of using the absolute pulse coder, if the signal HMD
is turned to ”1”during the APC follow–up, the system will
change the mode to the high response mode after the APC
follow–up is completed.
5 In the high response mode, the motion program can be
executed. And in this mode, the program can be edited, too.
(When the high response mode is selected, the signal
MEDT (F0003#6) for the normal mode is set to ”1”.) The
memory protection key should be set to ”0” to inhibit the
program editing in the high response mode.
6 Do not use the RS–232–C except the following functions in
the high response mode.
a DPL/MDI operation package
(Note : The function of CNC data backup/restore must
not be used.)
b Ladder online debug function
7 Do not use the function of the data transfer via FANUC I/O
Link Slave in the high response mode.

2 If the signal HMD is turned to ”0” in the following state, the system
will automatically turn into the reset state. And after all the axes are
stopped, the system will cancel the reset state and change to the normal
mode.
a The motion program is executing.

CAUTION
1 Stop all the axes when the mode is changed.
2 Until the mode is changed to the normal mode after signal
HMD is turned to ”0”, the system turns into the reset state,
and the reset signal RST (F0001#1) is set to ”1”.

119
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 The mode can not be changed during any axes are not at
in–position state.
2 In case of using the absolute pulse coder, if the following
state is happened, the system will be automatically changed
to the normal mode and the APC follow–up will be started.
After the absolute pulse coder follow–up is completed, the
system will automatically returned to the high response
mode.
1) In case that the emergency stop is first released after
power–on.
2) In case that the system is turned into the reset state after
the servo alarm, which needs the absolute pulse coder
follow–up, occurs.

Execute program in the In the high response mode, the motion program, which is compiled from
high response mode the created program in advance, is executed.
D Creating the program The program is created as the NC program. Program number O8000 to
O8031 can be used in the high response mode.
The restrictions for program are shown below.
(1) Available address
Axis name (X,Y,Z,U,V,W,A,B,C), F,G,P,Q,R,M

NOTE
For M function, refer to the section 1.8.2 ”Auxiliary function
in high response mode”.

(2) Available G code

G00/G01/G04/G28/G31/G90/G91/G92/G135.1/G135.2/G135.3

NOTE
For each G code, refer to the section 1.8.1 ”Available G
code in high response mode”.

(3) G90 and G91 can not be specified in a block at the same time. If both
G90 and G91 are specified in a block, the last specified G code(G90
or G91) will be valid.
(4) The one–shot G codes (G04/G28/G31/G92/G135.1) and the G codes
belonging to group 01 (G00/G01/G135.2/G135.3) can not be
specified in a block at the same time.
(5) The decimal point input and the calculator–type decimal point input
are not available.
Specify the position value by 1µm unit. And, specify the feed rate by
mm/min.
(6) The program end (M02 or M30) cannot be specified at the end of the
program. The system regards the ”%” as the program end.

120
B–63173EN–1/02 1. AXIS CONTROL

(7) The modal G code at starting the program is shown below.

group 01 : G00
group 03 : G91
(8) The F code at starting the program is regarded as zero.
(9) Normally, up to about 1000 blocks can be specified totally in all
programs. In case that the custom macro function in the high response
function is available, up to about 6000 blocks can be specified totally
in all programs.
(10) Less than 3 axes can be specified in a block at the same time.
(11) In each program, there must be at least one block that includes a
motion or auxiliary function command.
(12) In case that the custom macro function in the high response function
is available, the macro statements can be specified. For details, refer
to the ”1.8.3 Custom Macro in the high response mode”.
But, in case that the custom macro function in the high response
function is not available, the macro statements can not be specified.
The usage of the macro variables is shown below.
Note:
The value of a macro variable can be referred just to specify the
position, the distance or the feed rate. To refer to the value of a macro
variable in a program, specify a word address followed by the
variable number.
Example: X#1245
But an expression as following is not available.
Example: X [#1245+#1246]
The only variables from #1245 to #1959 are available. (The area that
can be referred by these variables is the same as the area that can be
referred in case that the value of #1994 and #1995 are set to 0. See
the section of the custom macro on the FANUC Power Mate i –
MODEL D/H OPERATOR’S MANUAL(B–63174EN) for detail of
these variables.)

NOTE
The value of the macro variable is referred only when the
programs are compiled. So, if the value of the macro
variable is changed after compiling the programs, the
changed value of the macro variable will not be affected to
the executing motion program.

(13) Optional block skip

When a slash followed by a number (/n (n=1 to 9)) is specified at the
head of a block, if the optional block skip signal BDTn is set to ”1”,
the information contained in the block for which /n corresponding
to signal number n is specified is ignored in executing the motion
program.
1) The signal BDTn is effective during executing the motion
program. (Optional block skip operation is processed when
blocks are read from memory into a buffer. ) So, the signal BDTn
has no effect on the motion program at compile operation.

121
1. AXIS CONTROL B–63173EN–1/02

2) Plural optional block skip can be specified in a block.

3) Optional block skip signals (BDTn) is used in common for all
motion program.
4) A slash (/) must be specified at the head of a block. If a slash is
placed elsewhere, the error occurs at compile.
5) The modal G codes (G00/G01/G135.2/G135.3/G90/G91) and F
code can not be specified in the block which is specified a slash.
So, the modal G codes and F code must be specified before the
block which is specified a slash .
Example)

Oxxxx ; Oxxxx ;
G90 G00 X0 ; G90 G00 X0 ;
/ G91 G01 X100 F500 ; G91 G01 F500 ;
G91 G01 X200 F500 ; / X100 ;
: G91 G01 X200 F500 ;
:

6) Single block stop is not available for the block which is skipped
by optional block skip signal.
Example) When the following operation is done, the block ”b”
is executed.
(1) The optional block skip signal BDT1 is set to ”1” before the
block ”a” is executed.
(2) In executing the block ”a”, it is stopped at the end of the block
”a” by the motion program single block stop signal.
(3) The motion program single block stop signal is set to ”0” and
the motion program restarts.

:
X10000; a
/ X20000;
/ X30000;
/ X40000;
/ X50000;
X60000; b
:

Notes for programming Do not insert the empty blocks that are not necessary, because it has a little
time to execute the empty block.
ex.)

O8000 ; O8000 G91 G00 X100000 ;

G91 G00 X100000 ; Y100000 ;
Y100000 ; :
: :
:

122
B–63173EN–1/02 1. AXIS CONTROL

D Compiling the program The procedure for the compiling the created program (O8000 – O8031)
is shown below.
a CRT/MDI
1) Select the high response mode or the EDIT mode.
2) Display the program editing screen.
[PRGRM] [LIB ] [ ] [ ] [(OPRT)]

3) Press the soft key [(OPRT)].

[BG–EDT] [O SRH] [SRH↓] [SRH↑] [REWIND]

4) Press the continuous menu key twice to display the softkey

[COMPIL].
[ ] [ ] [ ] [ ] [COMPIL]

5) Press the soft key [COMPIL] , and the programs from O8000 to
O8031 are compiled at once. If the compiling is finished normally,
the message ”COMPILE OK” will be displayed at the bottom of
the CRT screen.
If the compiling is finished abnormally, the message ”COMPILE
ERR xxxx” will be displayed at the bottom of the CRT screen. ( The
”xxxx” shows an error code. For details of the error code, refer to
the ” Error code list at compiling”.)

WARNING
1 Even if the program No.8000 to 8031 is altered after
compiling, the contents will not be reflected to the motion
program until the next compiling operation will be done.
2 Compile the program without fail after changing the
following parameters.
S Parameter No.1011 (Number of the controlled axes)
S Parameter No.1020 (Name of the axis used for
programming for each axis).

NOTE
1 The program input/output, edit, and search must not be
done during compiling.
2 It is not necessary to compile the program after every
power–on, because the compiled motion program are
stored in the non–volatile memory.

b DPL/MDI operation package

1) Select the high response mode or the EDIT mode.
2) Display the program editing screen.

123
1. AXIS CONTROL B–63173EN–1/02

3) Press the Back

(&,@,NO.)key together with the F6 key, and the
space

program from O8000 to O8031 are compiled at once.

If the compiling is finished normally, the message ”COMPILE
OK” will be displayed.
If the compiling is finished abnormally, the message ”COMPILE
ERR xxxx” will be displayed. ( The ”xxxx” shows an error code.
For details of the error code, refer to the ” Error code list at
compiling”.)

WARNING
1 Even if the program No.8000 to 8031 is altered after
compiling, the contents will not be reflected to the motion
program until the next compiling operation will be done.
2 Compile the program without fail after changing the
following parameters.
S Parameter No.1011 (Number of the controlled axes)
S Parameter No.1020 (Name of the axis used for
programming for each axis).

NOTE
1 The program input/output, edit, and search must not be
done during compiling.
2 It is not necessary to compile the program after every
power–on, because the compiled motion program are
stored in the non–volatile memory.

c DPL/MDI
1 Select the high response mode or the EDIT mode.
2 Display the program–editing screen.
3 Press the <CAN> key together with the <No.> key, and the
program from O8000 to O8031 are compiled at once.
If the compiling is finished normally, the message ”COMPILE
OK” will be displayed.
If the compiling is finished abnormally, the message ”COMPILE
ERR xxxx” will be displayed. ( The ”xxxx” shows an error code.
For details of the error code, refer to the ” Error code list at
compiling”.)

The notes of compiling are same as DPL/MDI operation

package

d Compile by signal
The program number to compile is set to the PMC address (R area)
which is specified by the parameter in advance. When the compile start
signal is set to ”1”, the specified program can be compiled.
[Procedure]
Below, suppose that R100 is specified as the top of the PMC
internal relay address to be used by the function that compiles the
program by the signal. (The 100 is set to the parameter No.8746.)

124
B–63173EN–1/02 1. AXIS CONTROL

NOTE
In this function, the 16 bytes PMC internal relay are used.
The top address of those bytes is specified by the parameter
No.8746.

1) Select the high response mode or the EDIT mode.

2) The program number to be compiled is set to R100 – R103 as the
double word binary representation value. If all the programs are
compiled, the O8000 to O8031 are set to ”0”.
3) The compile start signal HCPL is set to ”1”.
4) When the compile start signal is set to ”1”, the compile executing
signal HCPLO turns to ”1”. When the compile executing signal
turns to ”1”, set the compile start signal to ”0”.
5) When the compiling is finished, the compile executing signal turns
to ”0”, and the result of the compiling is outputted to the following
area.
a. Compile error code (R112 – R115)
If the compiling is finished normally, the value 0 is set.
If the compiling is finished abnormally, the cause (error code)
is set.
b. Program number where the error occurs (R104 – R107)
If the compiling is finished abnormally, the program number
where the error occurs is set.
c. Block number where the error occurs (R108 – R111)
If the compiling is finished abnormally, the block number
where the error occurs is set.

WARNING
1 The program, which is just compiled, can not be executed
in the high response mode.
2 The program, which is just executed, can not be compiled.
3 The program input/output, edit, and search must not be
done during compiling.
4 In case of compiling all the programs, until all the programs
are compiled normally, any programs can not be executed.
5 Even if the program No. O8000 to O8031 is altered after
compiling, the contents will not be reflected to the motion
program until the next compiling operation will be done.
6 Compile the program without fail after changing the
following parameters.
S Parameter No.1011 (Number of the controlled axes)
S Parameter No.1020 (Name of the axis used for
programming for each axis).
7 The power must not be off during the compiling. If the power
is off during compiling, all the programs must be compiled
again.

125
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 It is not necessary to compile the program after every
power–on, because the compiled motion program are
stored in the non–volatile memory.
2 When the back–ground editing is used, the compiling can
not be done.
3 The compile executing signal does not turn to ”1” at the
following cases, even if the compile start signal is set to ”1”.
S The selected mode is not correct.
S The parameter No.8706#5 is ”0”.
S During the reset state.

D Executing the program When one of the following signals is turned to ”1”, the motion program,
that is already compiled, can be executed.

#7 #6 #5 #4 #3 #2 #1 #0
G0228 HPST07 HPST06 HPST05 HPST04 HPST03 HPST02 HPST01 HPST00

G0229 HPST15 HPST14 HPST13 HPST12 HPST11 HPST10 HPST09 HPST08

G0230 HPST23 HPST22 HPST21 HPST20 HPST19 HPST18 HPST17 HPST16

G0231 HPST31 HPST30 HPST29 HPST28 HPST27 HPST26 HPST25 HPST24

When the signal HPSTxx is turned to ”1”, the compiled motion program,
which is correspond to the program No.80xx, can be executed.

CAUTION
1 Even if the absolute command is specified in servo off state
or torque limit state, there is a possibility that an axis can not
reach the specified position.
2 The motion program is stopped, when the motion program
alarm signal HALMn/HALMMn is set to ”1”. (When the alarm
signal AL(F0001#1) is set to ”1” and the motion program
alarm signal HALMn/HALMMn is not set to ”1”, the motion
program is not stopped.)

126
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 The motion program always starts from the first block.
2 Specify the incremental command, if possible. Because the
time to start the absolute command is longer than the time
to start the incremental command in usual cases. The time
to start the reference point return (G28) is longer than the
time to start the incremental command in some cases, too.
3 The number of the program that can be executed at the
same time is up to the number of control axes. But two or
more programs including the same axis can not be
executed at the same time.
4 When the reset signal RST(F0001#1) goes on, the motion
program can not be executed.
5 The motion program ready signals HRDYn informs of
whether the motion program can be executed or not.

8686
Number of programs that can be executed with the high response
function simultaneously

[Data type] Byte

[Unit of data] Program
[Valid data range] 0 to 8

NOTE
1 Two or more motion programs that contain groups using the
same axis or M code cannot be executed simultaneously.
2 If the parameter specifies 0, as many programs as the
number of controlled axes can be executed. (Conventional
specification)

Address list in the high The available signals in the high response mode are shown below.
response mode
NOTE
1 The signals, which are not shown below, such as ST
(G0007#2), *SP(G0008#5), SBK(G0046#1) etc. are not
available and must not be changed in the high response
mode.
2 Do not change the on/off state of any signal (Gxxx.x) not
listed below during the high response mode.

127
1. AXIS CONTROL B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G0005 AFL

G0006 OVC

G0007 RLSOT *FLWU

G0008 ERS RRW *ESP *IT

G0010 *JV7 *JV6 *JV5 *JV4 *JV3 *JV2 *JV1 *JV0

G0011 *JV15 *JV14 *JV13 *JV12 *JV11 *JV10 *JV9 *JV8

G0012 *FV7 *FV6 *FV5 *FV4 *FV3 *FV2 *FV1 *FV0

G0014 ROV2 ROV1

G0044 MLK BDT1

G0045 BDT9 BDT8 BDT7 BDT6 BDT5 BDT4 BDT3 BDT2

G0046 KEY4 KEY3 KEY2 KEY1

G0053 TMRON

G0066 EKSET ENBKY IGNVRY

G0096 HROV *HROV6 *HROV5 *HROV4 *HROV3 *HROV2 *HROV1 *HROV0

G0098 EKC7 EKC6 EKC5 EKC4 EKC3 EKC2 EKC1 EKC0

G0100 +J8 +J7 +J6 +J5 +J4 +J3 +J2 +J1

G0102 –J8 –J7 –J6 –J5 –J4 –J3 –J2 –J1

G0110 +LM8 +LM7 +LM6 +LM5 +LM4 +LM3 +LM2 +LM1

G0112 –LM8 –LM7 –LM6 –LM5 –LM4 –LM3 –LM2 –LM1

G0114 *+L8 *+L7 *+L6 *+L5 *+L4 *+L3 *+L2 *+L1

G0116 *–L8 *–L7 *–L6 *–L5 *–L4 *–L3 *–L2 *–L1

G0124 DTCH8 DTCH7 DTCH6 DTCH5 DTCH4 DTCH3 DTCH2 DTCH1

G0126 SVF8 SVF7 SVF6 SVF5 SVF4 SVF3 SVF2 SVF1

G0130 *IT8 *IT7 *IT6 *IT5 *IT4 *IT3 *IT2 *IT1

G0140 SYNCJ8 SYNCJ7 SYNCJ6 SYNCJ5 SYNCJ4 SYNCJ3 SYNCJ2 SYNCJ1

G0192 IGVRY8 IGVRY7 IGVRY6 IGVRY5 IGVRY4 IGVRY3 IGVRY2 IGVRY1

G0204 LED08 LED07 LED06 LED05 LED04 LED03 LED02 LED01

G0205 MOPEC LED09

G0212 ACT

G0216 TRQ8E TRQ7E TRQ6E TRQ5E TRQ4E TRQ3E TRQ2E TRQ1E

G0217 TRQ17 TRQ16 TRQ15 TRQ14 TRQ13 TRQ12 TRQ11 TRQ10

128
B–63173EN–1/02 1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
G0218 TRQ27 TRQ26 TRQ25 TRQ24 TRQ23 TRQ22 TRQ21 TRQ20

G0219 TRQ37 TRQ36 TRQ35 TRQ34 TRQ33 TRQ32 TRQ31 TRQ30

G0220 TRQ47 TRQ46 TRQ45 TRQ44 TRQ43 TRQ42 TRQ41 TRQ40

G0221 TRQ57 TRQ56 TRQ55 TRQ54 TRQ53 TRQ52 TRQ51 TRQ50

G0222 TRQ67 TRQ66 TRQ65 TRQ64 TRQ63 TRQ62 TRQ61 TRQ60

G0223 TRQ77 TRQ76 TRQ75 TRQ74 TRQ73 TRQ72 TRQ71 TRQ70

G0224 TRQ87 TRQ86 TRQ85 TRQ84 TRQ83 TRQ82 TRQ81 TRQ80

G0226 HCPL HMD

G0227 HOVC8 HOVC7 HOVC6 HOVC5 HOVC4 HOVC3 HOVC2 HOVC1

G0228 HPST07 HPST06 HPST05 HPST04 HPST03 HPST02 HPST01 HPST00

G0229 HPST15 HPST14 HPST13 HPST12 HPST11 HPST10 HPST09 HPST08

G0230 HPST23 HPST22 HPST21 HPST20 HPST19 HPST18 HPST17 HPST16

G0231 HPST31 HPST30 HPST29 HPST28 HPST27 HPST26 HPST25 HPST24

G0232 HSBK8 HSBK7 HSBK6 HSBK5 HSBK4 HSBK3 HSBK2 HSBK1

G0233 HERS8 HERS7 HERS6 HERS5 HERS4 HERS3 HERS2 HERS1

G0456 HSBKM8 HSBKM7 HSBKM6 HSBKM5 HSBKM4 HSBKM3 HSBKM2 HSBKM1

G0457 HERSM8 HERSM7 HERSM6 HERSM5 HERSM4 HERSM3 HERSM2 HERSM1

G0458 HFIN8 HFIN7 HFIN6 HFIN5 HFIN4 HFIN3 HFIN2 HFIN1

F0000 SA

F0001 MA BAL RST AL

F0053 EKENB PRGDPL INHKY

F0072 OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0

F0073 ZRNO MD4O MD2O MD1O

F0075 SPO KEYO DRNO MLKO SBKO BDTO

F0076 ROV2O ROV1O MP2O MP1O

F0077 RTO HS1DO HS1CO HS1BO HS1AO

F0078 *FV7O *FV6O *FV5O *FV4O *FV3O *FV2O *FV1O *FV0O

F0079 *JV7O *JV6O *JV5O *JV4O *JV3O *JV2O *JV1O *JV0O

F0080 *JV15O *JV14O *JV13O *JV12O *JV11O *JV10O *JV9O *JV8O

F0081 –J4O +J4O –J3O +J3O –J2O +J2O –J1O +J1O

F0090 ABTQSV

129
1. AXIS CONTROL B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F0094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

F0102 MV8 MV7 MV6 MV5 MV4 M V3 MV2 MV1

F0104 INP8 INP7 INP6 INP5 INP4 INP3 INP2 INP1

F0110 MDTCH8 MDTCH7 MDTCH6 MDTCH5 MDTCH4 MDTCH3 MDTCH2 MDTCH1

F0114 TRQL8 TRQL7 TRQL6 TRQL5 TRQL4 TRQL3 TRQL2 TRQL1

F0120 ZRF8 ZRF7 ZRF6 ZRF5 ZRF4 ZRF3 ZRF2 ZRF1

F0168 SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1

F0169 SW16 SW15 M–OPE SW13 SW12 SW11 SW10 SW9

F0170 SW24 SW23 SW22 SW21 SW20 SW19 SW18 SW17

F0171 SW32 SW31 SW30 SW29 SW28 SW27 SW26 SW25

F0172 SW40 SW39 SW38 SW37 SW36 SW35 SW34 SW33

F0173 SW48 SW47 SW46 SW45 SW44 SW43 SW42 SW41

F0174 SW56 SW55 SW54 SW53 SW52 SW51 SW50 SW49

F0175 SW61 SW60 SW59 SW58 SW57

F0209 WVRDY

F0222 SVER8 SVER7 SVER6 SVER5 SVER4 SVER3 SVER2 SVER1

F0228 HCPLO HMDO

F0229 HEX8 HEX7 HEX6 HEX5 HEX4 HEX3 HEX2 HEX1

F0230 HALM8 HALM7 HALM6 HALM5 HALM4 HALM3 HALM2 HALM1

F0231 HRDY8 HRDY7 HRDY6 HRDY5 HRDY4 HRDY3 HRDY2 HRDY1

F0236 APBL1 APBV1 APBZ1 APPS1 APPE1 APFE1 APOV1 APCM1

F0237 APBL2 APBV2 APBZ2 APPS2 APPE2 APFE2 APOV2 APCM2

F0238 APBL3 APBV3 APBZ3 APPS3 APPE3 APFE3 APOV3 APCM3

F0239 APBL4 APBV4 APBZ4 APPS4 APPE4 APFE4 APOV4 APCM4

F0240 APBL5 APBV5 APBZ5 APPS5 APPE5 APFE5 APOV5 APCM5

F0241 APBL6 APBV6 APBZ6 APPS6 APPE6 APFE6 APOV6 APCM6

F0242 APBL7 APBV7 APBZ7 APPS7 APPE7 APFE7 APOV7 APCM7

F0243 APBL8 APBV8 APBZ8 APPS8 APPE8 APFE8 APOV8 APCM8

F0250 ALSV ALOH ALOT ALPS ALPS3 ALPS2 ALPS1

F0251 ALPS4 ALAPC

F0480 HEXM8 HEXM7 HEXM6 HEXM5 HEXM4 HEXM3 HEXM2 HEXM1

130
B–63173EN–1/02 1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
F0481 HALMM8 HALMM7 HALMM6 HALMM5 HALMM4 HALMM3 HALMM2 HALMM1

F0482 HRDYM8 HRDYM7 HRDYM6 HRDYM5 HRDYM4 HRDYM3 HRDYM2 HRDYM1

F0484 HMF8 HMF7 HMF6 HMF5 HMF4 HMF3 HMF2 HMF1

Signal

Motion program start

signal HPST00 to 31
<G0228 to G0231>
[Classification] Input signals
[Function] These signals start the motion programs.
[Operation] These signals are available only in the high response mode.
When the signal HPSTxx (xx: 00 to 31) is turned to ”1” in the high
response mode, the compiled motion program correspond to the signal
can be started.
When the program is started, the motion program using signals
HEXn/HEXMn for the axes and M–code groups, which are specified in
the motion program, are turned to ”1”.
But, the signal HPSTxx is ignored in the following cases.
(1) The high response mode is not selected.
(2) The emergency stop signal *ESP is ”0”.
(3) Either the external reset signal ERS or the reset & rewind signal RRW
is ”1”.
(4) RESET button is pushed.
(5) The motion program reset signals HERSn/HERSMn for the axes/M
code groups that are included in the motion program is ”1”.
(6) The following alarms occur.
servo alarm, over travel alarm, SPC alarm, APC alarm, over heat
alarm, P/S alarm 000
(7) The servo ready signal SA(F0000#6) is off.
(8) During compiling the programs.
When the following occurs in executing the motion program, the machine
stops and the motion program using signal HEXn/HEXMn for each
axis/each M–code group is turned to ”0”.
(1) The mode is changed to the normal mode.
(2) The emergency stop signal *ESP is ”0”.
(3) Either the external reset signal ERS or the reset & rewind signal RRW
is ”1”.
(4) RESET button is pushed.
(5) The executing motion program is reset by the motion program reset
signal HERSn (each axis)/HERSMn (each M–code group).

131
1. AXIS CONTROL B–63173EN–1/02

(6) The motion program executed until EOR(%).

When the following occurs in executing the motion program, the machine
stops, but the motion program using signal HEXn/HEXMn for each
axis/M–code group is not turned to ”0”.
(1) The motion program alarm signal HALMn/HALMMn turns to ”1”.
(2) The executing block is finished, after the motion program single block
signal HSBKn/HSBKMn is ”1”.

Motion program reset

signal (each axis)
HERSn<G0233>
(each M–code group)
HESRMn<G0457>
[Classification] Input signals
[Function] These signals reset the motion programs.
HERS 1
1: Motion program reset signal for 1st axis
2: Motion program reset signal for 2nd axis
:
:
HERSM 1
1: Motion program reset signal for M code group1
2: Motion program reset signal for M code group2
:
:
[Operation] These signals are available only in the high response mode.
When the signal HERSn turns to ”1”, the executing motion program
including the axis number ”n” is stopped.
When the signal HERSMn turns to ”1”, the executing motion program
including the M–code group number ”n” is stopped.

NOTE
1 An alarm for each axis or each M–code group can be
canceled by setting this signal for each axis or each M–code
group to ”1”, when an alarm signal AL is ”0” and the motion
program alarm HALMn/HALMMn signal is ”1”.
2 When an alarm occurs in executing the motion program,
even if one of these signals for the axes or M–code groups
which are included in the motion program is set to ”1”, all the
axes and all M–code groups in the motion program can be
reset.

132
B–63173EN–1/02 1. AXIS CONTROL

Motion program single

block signal (each axis)
HSBKn<G0232>
(each M–code group)
HSBKMn<G0456>
[Classification] Input signals
[Function] These signals can stop the motion program at the end of the executing
block.
HSBK 1
1: Motion program single block signal for 1st axis
2: Motion program single block signal for 2nd axis
:
:
HSBKM1
1: Motion program single block signal for M code group1
2: Motion program single block signal for M code group2
:
:
[Operation] These signals are available only in the high response mode.
When the signal HSBKn is turned to ”1” in executing the motion program
in the high response mode, the motion program which is included the
specified axis stops at the end of the executing block.
When the signal HSBKn is turned to ”0” during the single block stop
state, the next block can be started.
When the signal HSBKMn is turned to ”1” in executing the motion
program in the high response mode, the motion program which is
included the specified M–code group stops at the end of the executing
block.
When the signal HSBKMn is turned to ”0” during the single block stop
state, the next block can be started.

WARNING
For the single block signal SBK in the automatic operation,
the cycle start signal must be inputted to restart the program
at the single block stop state. But, for the motion program,
it can be restarted by turning the signal (HSBKn/HSBKMn)
to ”0” at the single block stop state.

133
1. AXIS CONTROL B–63173EN–1/02

CAUTION
There is a possibility that the block after the following block
can not be stopped.
(1)The block executing time is shorter than 16ms.
(2)The block with G92
(3)The block which is applied to the following two conditions
(the empty block)
S Any axes are not moved.
S The dwell is not executed.

Motion program override

cancel signal
HOVCn<G0227>
[Classification] Input signals
[Function] These signals fixed the override to 100%.
HOVC 1
1: Motion program override cancel signal for 1st axis
2: Motion program override cancel signal for 2nd axis
:
:
[Operation] These signals are available only in the high response mode.
For linear interpolation, when the signal HOVCn is ”1”, the executing
block which include the specified axis is fixed the feedrate override to
100%.
For the rapid traverse, when the signal HOVCn is ”1”, the moving axis
for the specified axis is fixed the rapid traverse override to 100%.
For continuous feed, when the signal HOVCn is ”1”, the moving axis for
the specified axis is fixed the continuous feed override to 100%.

NOTE
The signal OVC(G0006#4) is available in the high response
mode, too. But this signal is not effect to the rapid traverse
override and the continuous feed override.

Motion program using

signal (each axis)
HEXn<F0229>
(each M–code group)
HEXMn<F0480>
[Classification] Output signals
[Function] Inform that the axes are used in the executing motion programs.
HEX 1
1: Motion program using signal for 1st axis
2: Motion program using signal for 2nd axis
:
:

134
B–63173EN–1/02 1. AXIS CONTROL

HEXM 1
1: Motion program using signal for M code group1
2: Motion program using signal for M code group2
:
:
[Output conditions] These signals are available in the only high response mode.
S They are turned to ”1” in the following case.
The n–th axis is specified in the executing motion program.
The n–th axis is slave axis in synchronous operation.
The n–th M–code group is specified in the executing motion program.
S They are turned to ”0” in the following case.
The n–th axis is not specified in the executing motion program.
The n–th M–code group is not specified in the executing motion
program.
They are automatically turned to ”0” when the executing motion
program is ended.

Motion program alarm

signal (each axis)
HALMn<F0230>
(each M code group)
HALMMn<F0481>
[Classification] Output signals
[Function] Inform that an alarm occurs in the motion program.
HALM 1
1: Motion program alarm signal for 1st axis
2: Motion program alarm signal for 2nd axis
:
:
HALMM 1
1: Motion program alarm signal for M–code group1
2: Motion program alarm signal for M–code group2
:
:
[Output conditions] These signals are available only in the high response mode.
S They are turned to ”1” in the following case.
The alarm for the n–th axis that stops the motion program occurs.
The alarm for the n–th M–code group that stops the motion program
occurs.
S They are turned to ”0” in the following case.
The alarm for the n–th axis that stops the motion program does not
occur.
The alarm for the n–th M–code group that stops the motion program
does not occur.
When these signals are set to ”1” and the signal AL is set to ”0”, it means
that the occurring alarm is relative only to the motion program. So, if the
motion program reset signal HERSn/HERSMn is turned to ”1”, the alarm
will be cleared. (It is not necessary to turn the signal ERS to ”1”.)

135
1. AXIS CONTROL B–63173EN–1/02

CAUTION
This signal does not become ”1” if a P/S alarm or an external
alarm message–triggered alarm occurs.
If it is necessary to stop a motion program when these
alarms occur, add a ladder program that can watch for
alarms in a ladder status and stop the program when any of
these alarms occurs.

NOTE
When these signals are set to ”1” and the signal AL is set to
”1”, the signal ERS must be turned to ”1” after clearing the
cause of the occurring alarm. So, the alarm can be cleared.

Motion program ready

signal (each axis)
HRDYn<F0231>
(each M code group)
HRDYMn<F0482>
[Classification] Output signals
[Function] These signals inform that the control axes are in the state that a motion
program can be executed.
HRDY 1
1: Motion program ready signal for 1st axis
2: Motion program ready signal for 2nd axis
:
:
HRDYM 1
1: Motion program ready signal for M code group1
2: Motion program ready signal for M code group2
:
:
[Output conditions] These signals are available only in the high response mode.
S They are turned to ”1” in the following case.
Each axis is in a state that a motion program can be executed.
Each M–code group is in a state that a motion program can be
executed.
S They are turned to ”0” in the following cases.
1. In the normal mode
2. In the reset state
3. The motion program reset signal is ”1”.
4. The alarm, which stops the motion program, occurs.
5. The axes and M–code groups are already used in the executing
motion program.

136
B–63173EN–1/02 1. AXIS CONTROL

6. The servo ready signal SA is ”0”.

7. The axis is slave axis in synchronous operation.

Compile start signal

HCPL<G226#7>
[Classification] Input signal
[Function] This signal starts compiling the program.
[Operation] When this signal HCPL is turned to ”1”, the programs are compiled.

Compile executing
signal
HCPLO<F228#7>
[Classification] Output signal
[Function] This signal informs that the compile is executing
[Output conditions] It is turned to ”1” in the following case.
The compile is executing by the compile start signal HCPL.
It is turned to ”0” in the following case.
The compile is not executing.

Notes for parameters a. The following parameters must be set to ”0”.

Parameter No. 1001 bit0 (INM)
Parameter No. 1004 bit0 (ISA)
Parameter No. 1004 bit7 (IPR)

NOTE
If these parameters are not set to ”0”, the mode can not be
changed to the high response mode.

b. Feedrate
The minimum setting value for the parameters related to the feedrate
is 30mm/min.
c. Maximum cutting feedrate
The parameter No.1430 (maximum cutting feedrate for each axis)
must be set the value. (The parameter No.1422 (maximum cutting
feedrate) is not available.)

CAUTION
In the high response mode, if the axis exceeds the
maximum feedrate for the axis, an alarm occurs and the
executing motion program that is including the
corresponding axis is stopped.

137
1. AXIS CONTROL B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8706
CPL

[Data type] Bit

CPL In the high response function, the function to compile the program by the
signal is
0 : Not used.
1 : Used.

8746

The top of the PMC internal relay address used by the function to compile
the program by the signal

[Data type] 2–word

[Valid data range] 0 to the number of the available PMC internal relay(R) address
The top of the PMC internal relay address used by the function to compile
the program by the signal in the high response function is set. (The 16 byte
from the specified address are used in the function to compile the program
by the signal in the high response function.)

NOTE
The area managed by the system program can not be
specified.

If the setting value of this parameter is xxx, the allotment for each data
is shown below.

Rxxx+0 (INPUT)
The program number which will be compiled.
(If 0 is set, it means that all programs are
compiled.)

Rxxx+4 (OUTPUT)
The program number which the compile
error occurred

Rxxx+8 (OUTPUT)
The block number which the compile error
occurred

Rxxx+12 (OUTPUT)
The compile error code

138
B–63173EN–1/02 1. AXIS CONTROL

NOTE
The area which is specified the ”OUTPUT” above is the
output area. So, these areas should be used to read only.

Limitations D This function is not available when the following function is used.
a. A high–level task is used with the C language executor function.
b. FANUC I/O Link–II board
c. Profibus–DP master function
d. Profibus–DP slave function
e. DeviceNet master function
f. DeviceNet slave function
g. Stored pitch error compensation
h. The straightness compensation B
D The following functions are not available in the high response mode.
a. Relative coordinate (The value of the relative coordinate is not
changed.)
b. Tool length measurement
c. Variable in–position function
d. Block overlap
e. Rapid traverse overlap
f. Mirror image
g. Machine lock for each axis
h. Fine acceleration/deceleration control
i. Advanced preview feed–forward control
j. Positioning by optimum acceleration
k. Analog input
l. The alarm for the motion program is not recorded in the alarm
history.
m. The alarm for the motion program is not recorded in the operation
history.
n. The operating time on the run hour and parts count display can not
be counted in the high response mode.
o. The cycle time on the run hour and parts count display can not be
counted in the high response mode.
p. The cutting time on the run hour and parts count display can not be
counted in the high response mode.
q. Even if the count type ”RUN” is specified on the periodical
maintenance display, the operation time can not be counted in the
high response mode.
r. Even if the count type ”CUT” is specified on the periodical
maintenance display, the cutting time can not be counted in the high
response mode.

139
1. AXIS CONTROL B–63173EN–1/02

s. When a command that exceeds a stored stroke limit is issued, an

alarm must not be generated before the stroke limit exceeded. The
maximum overrun amount, L(mm), of the stroke limit is obtained
from the following expression:
L = (24+T)*F/120000
(F: Feedrate when the axis arrived at the stroke limit position)
(T: Time constant for acceleration/deceleration when the axis
arrived at the stroke limit position)
t. High–position switch
u. Trouble diagnosis
v. The G code, address, and the function, which are not described as
”available” in the section ”Execute program in the high response
mode”, can not be used.
w. The signals, that are not described in the section ”Address list in the
high response mode”, can not be used.
Example) The axis control by PMC, the JOG feed, the step feed,
the handle feed, the automatic operation, the
electronic cam function, multi axes synchronization
function, position switch etc.
x. The functions, that are described as ” not available” in the other
sections, can not be used.
D In the system that this function is enabled, the variables from #1245
to #1995 are not available in the normal mode, if the following
parameter is set to 0.

#7 #6 #5 #4 #3 #2 #1 #0
8706
APMCD

[Data type] Bit

APMCD In the system that the high response function is enabled, the variables
from #1245 to #1995 in the normal mode are
0 : Not available
1 : Available

CAUTION
The unit to refer the variables #1245 to #1995 in normal
mode is different from one in high response mode.
Example) When #1245 is 1, the distance of the block ”G91
X#1245” is shown below.
S In high response mode : +0.001mm
S In normal mode : +1.000mm (IS–B, mm input)

140
B–63173EN–1/02 1. AXIS CONTROL

D Compile error code list

NOTE
If an error occurs during compilation, the cursor moves to
the location of the error. If the error is within a program,
however, the cursor moves.

Number Contents

0003 Data exceeding the maximum allowable number of digits was

input.
0004 A number or the sign ”–” was input without an address at the
beginning of a block.
0005 The address was not followed by the appropriate data but was
followed by another address or EOB code.
This error occurs when one of the following commands is
specified.
S A number is not specified after ’#’.
Example) #A
S An address is specified after ’=’. A number or ’#’ must be
specified after ’=’.
Example) =A
0006 Sign ”–” input error(Sign ”–” was input after an address with which
it cannot be used. Or two or more ”–” signs were input.)
The sign ” – ” is specified for the variable number
Example) #–1000000
0007 Decimal point ”.” input error (A decimal point was input after an
address with which it can not be used.)
0009 Unusable character was input in significant area.
0010 An unusable G code is specified.
0011 The feedrate was inadequate.
(1) Feedrate was not commanded to a cutting feed.
(2) Feedrate is 0.
0015 The number of the commanded axes exceeded that of
simultaneously controlled axes.
0053 Camma ”,” was input. ( Camma ”,” can not be input.)
0070 The memory area is insufficient.
0113 Sharp ”#” was input. (Sharp ”#” can not be input.)
This error occurs when one of the following commands is
specified.
S The macro variable ’#’ is specified for G code.
Example) G#1000000
S The macro variable ’#’ is specified for M code.
Example) M#1000000
S The macro variable ’#’ is specified for the optional block skip
number.
Example) /#1
S The macro variable ’#’ is specified for the parameter of the M
code output function.
Example) M____ P____ Q#____

141
1. AXIS CONTROL B–63173EN–1/02

Number Contents

0114 Macro statement was specified. (This applies to the systems that
cannot use the custom macro function in the high response
mode.)
This error occurs when one of the following commands is
specified.
S The brackets (”[”and ”]”) are not in pairs for the IF or WHILE sta-
tement.
Example) IF [ #1000000 EQ 1 GOTO 1 ;
S GOTO’ is not specified for the IF statement.
Example) IF [ #1000000 EQ 1] ;
S DO’ is not specified for the WHILE statement. A number after
’DO’ is not specified for the WHILE statement.
Example) WHILE [ #1000000 EQ 1] ;
WHILE [ #1000000 EQ 1] DO ;
S EOB or EOR is not specified just after the conditional sentence.
Example) WHILE [ #1000000 EQ 1] DO1 G90 G00 X0 ;
The executing command (NC sentence) and the
conditional sentence are specified in the same block.
S EOB or EOR is not specified just after the ’ABS[ ]’.
Example) #1000000=ABS[ #1000000] + ABS[ #1000000] ;
0115 A value not used as a variable number is designated.
0116 The left side of substitution statement is a variable whose
substitution is inhibited.
Example) #5021=#1000000;
Impossible (#5021: Current position)
#1051000. 1=1;
Impossible (#1051000: I/O X address)
0118 The nesting of bracket exceeds the upper limit
Example) #1200000=#[#[#1200004]] ;
0124 DO – END does not correspond to 1 : 1.
Example)WHILE [ #1000000 EQ 1] DO1 ;
END2;
0125 This error occurs when one of the following commands is
specified.
S ’=’ is not specified after ’#________’ .
Example) #1000000 #1200000 ;
S An operator is not specified for the WHILE statement or IF
statement.
Example) IF [ #1000000] GOTO 1 ;
S A combination of ’#’ and the brackets (”[” and ”]”) is not correct.
Example) #1000000 = #[#1200000 ;
S The command ’[# _____]’ for ABS is not correct.
Example)#1000000 = ABS[1200000] ;
#1000000 = ABS#1200000 ;
S An attempt was made to specify bit specification for a variable
out of the range of system variables for which bit specification is
allowed.
Example) IF [#5021.0 EQ 0] GOTO 1;
0126 The number for DO and END is not correct.
Example) WHILE[#1200000 EQ 1] DO4 ;
END4 ;
0128 The illegal macro sequence number is specified.
Example) GOTO 90000 ;
N90000 ;
1000 Slash ”/” was input. (Slash ”/” can not be input.)

142
B–63173EN–1/02 1. AXIS CONTROL

Number Contents

1001 Both group 00 G code and group 01 G code were specified in the
same block.
1002 The number of words for a block was over the maximum.
1010 In the block including the command G31, no axis movement
command is specified, or two or more axes movement commands
are specified.
1011 An unusable P code is specified in the block including the
command G31
The macro variable after P in the G31 block is specified.
Example) G90 G31 P#1000000 X0 ;
1020 G code is specified in the block including the M code.
1021 The axis movement command is specified in the block including
the M code.
1022 An unusable M code is specified.
1024 An unusable P code is specified in the block including the M code.
This error occurs when one of the following commands is
specified.
S The macro variable ’#’ is specified for M code group number.
Example) M50 P#1000000 ;
S The macro variable ’#’ is specified for the parameter of the M
code output function.
Example) M40 P#1000000 Q1 ;
1025 P code is not specified in the block including the M code.
1027 The feed rate F is specified in the block including the M code.
1028 The incorrect ”Q” is specified in the block of direct signal output.
1029 The address ”Q” is not specified in the block of direct signal output.
1030 The macro sentence is not available because of the parameter
setting.
1040 In the block including the command of the continuous feed
(G135.1), no axis movement command is specified, or two or more
axes movement commands are specified
1060 The operator for the arithmetic or logic operation (=) is not correct.
Example) #1000000 = #1000000 ABS[#1200000] ;
1061 The number of the sequence number in a program is 1001 or over.
1062 The number of terms in the right of the operator is 2 or over.
Example) #1000000 = #1200000 + #1200000+ #1200000 ;

143
1. AXIS CONTROL B–63173EN–1/02

Number Contents

1063 There is no modal command just after ”N” or ”WHILE”.

Example) GOTO 1 ;
N1 X1000;
There is no modal command in a sub–program
Example) Sub–program O7000
O7000 X100000 ;
M99 ;
A modal command must be given before a motion
command in a sub–program.
O7000 G91 G00 X100000 ;
M99 ;
There is no modal command after sub–program calling command.
Example) Main program O8000
O8000 X100000 ;
M98 P7000 ;
X200000 ;
A modal command must be given between a
sub–program calling command and a motion
command.
O8000 X100000 ;
M98 P7000 ;
G90 G01 X200000 F1000 ;
1064 An attempt was made to specify an out–of–range bit number in
macro variable bit specification. Specify a value within the bit
specification range of 0 to 7.
Example) #1300000.8 = 0 ;
1065 The specified operation command or operator is unusable with bit
specification–type macro variables.
Example) #1300000.0 = #1300000.0 / #1300000.1 ;
1066 An indirect command was issued using a bit specification macro
variable.
1091 The feed rate F is specified in the block including the optional
block skip.
1094 The G code belonging to the G code group 01 is specified in the
block including the optional block skip.
1096 The G code belonging to the G code group 03 is specified in the
block including the optional block skip.
1100 No axis was specified in this program.
1101 No program (O8000 to O8031) to compile is found.
1102 An unusable program number for the motion program is specified
at the function to compile the program by the signal
1800 One or more motion program are executing.
1821 Compiling operation is done during reset state.
1822 Compiling operation is done during alarm state.
1823 Compiling operation is done during the automatic operation.

144
B–63173EN–1/02 1. AXIS CONTROL

Number Contents

1824 The editing of a main program and a sub–program is forbidden

according to the following parameters.
S Parameter No.3202#0(NE8),#4(NE9)
S Parameter No.3204#3(P8E),#4(P9E)
Ex.) In case only main programs exist
If NE8=1, an error occurs at compiling.
Ex.) In case a sub–programs also exists
S In case sub–program numbers are within 8032 to 8999.
(The area of sub–program number is specified by the parameter
No.8691 and No.8692)
If NE8=1, an error occurs at compiling.
S In case sub–program numbers are within 8032 to 9999.
If NE8=1 and NE9=1, an error occurs at compiling.
S In case sub–program numbers are within 80000000 to
89999999
If NE8=1 and P8E=1, an error occurs at compiling.
S In case sub–program numbers are within 90000000 to
99999999.
If NE8=1 and P9E=1, an error occurs at compiling.
1825 Program is protected because the memory protect is enabled.
1826 Background editing is executing.

Diagnosis screen The state in the high response mode can be checked by the following
diagnosis data.

#7 #6 #5 #4 #3 #2 #1 #0
890 OVC0 OVC2 OVC1 ILK2 ILK1

ILK1 The axis is interlocked.

ILK2 The axis is interlocked by the following causes.
S The axis is detached.
S The signal *RILK is ”0”.
S The feed stop function is executing.
OVC1 The override cancel signal (OVC,OVCn) is ”1”.
OVC2 The override cancel signal (OVCn) is ”1”.
OVC0 The feed rate override is 0%.

#7 #6 #5 #4 #3 #2 #1 #0
891 ALM2 ALM1

ALM1 Following alarm occurs, and so the motion program can not be executed
S P/S alarm 000
S Overheat alarm
S Serial pulse coder (SPC) alarm
S Servo alarm
S Over travel alarm
S Absolute position detector alarm
S The alarm for FSSB
(alarm No.5134 – 5139, 5197, 5198)

145
1. AXIS CONTROL B–63173EN–1/02

ALM2 A alarm including the above alarm(ALM1) occurs, and so the motion
program can not be executed.
When this bit is ”1”, the cause is set to the diagnostic data No.896.

894 Executing program number

The number of the executing motion program for each axis is set.
If the time to execute the program is short, this data might be set
incorrectly.

895 Executing block number

The block number of the executing motion program for each axis is set.
If the time to execute the block is short, this data might be set incorrectly.
(So, if the executing motion program is finished, the value might not be
set the last block number for the executed motion program.)

896 Alarm number

The alarm number which occurred in the high response mode is set. For
detail of the alarm number, refer to next page.
The cause for the alarm will be displayed at the alarm message screen,
when this value is 0 and the alarm occurs.
The alarm number at the diagnosis data No.896
Number Contents

0010 An unusable G code is specified.

0011 The feedrate was inadequate.
(1) Feedrate was not commanded to a cutting feed
(2) Feedrate was 0.
The value of the feedrate is 0.
(The value of the macro variable for F#____ is 0.)
0015 The number of the commanded axes exceeded that of
simultaneously controlled axes.
0059 A specified program number was not found.This alarm occurred,
when the program which had not been compiled was specified.
0077 Sub–program call error (A sub–program is called over 5 nests)
0078 Program number that is called as a sub–program is not found.
0090 The reference position return could not be done, because the
reference position is not established.
Get back to the normal mode and make a reference position
return.
0111 The result of calculation is out of the allowable range
0112 Division by zero was specified.
0115 Unavailable variable number is input.
0213 One of the following errors occurred during synchronous operation
(simple synchronous control):
(1) The motion program contains a move command for the slave
axis.
(2) The difference in position error between the master and slave
axes exceeded the value set in parameters Nos.8313 or 8323.

146
B–63173EN–1/02 1. AXIS CONTROL

Number Contents

0224 Reference position return has not been performed before the
operation starts. (Perform reference position return only when
parameter ZRNX (No.1005#0) is 0.)
0244 In the skip function activated by the torque limit signal, the
numbers of accumulated error pulses exceed 32767 before the
signal was input. Therefore, the pulses cannot be corrected with
one distribution.
1000 The number of the programs to be executed at the same time was
exceeded
1001 The two or more programs including the same axis were executed
at the same time.
1002 The program is broken.
1003 The program can not be executed, because the program is
compiling.
1010 The auxiliary function is not available. This alarm occurs at
following cases.
(1) Parameter No.8706#4 is 0.
(2) Parameter No.8745 is set the incorrect value.
(3) PMC–SB5 is specified.
1020 Program number that can not be used for a sub–program is called
as a sub–program. (This error also occurs, when the area
designated as sub–program numbers by parameters is not
correct.)
1021 The program that is called as a sub–program is already called by
another program.
1022 The axis and the M–code group that are commanded in a program
called as a sub–program is in alarm state or reset state.
1050 The value of macro variable for G135.3 Q#____ R#_____ is
minus.
1200 The feedrate was exceeded the value of the maximum cut
feedrate (parameter No.1430).
1210 The movement value per a block was excessive.
1220 The axis which is used in the executing motion program was
synchronized with the master axis.
1231 For continuous feed, both the plus direction signal and the minus
direction signal for the same control axis were set ”1” at the same
time.

147
1. AXIS CONTROL B–63173EN–1/02

1.8.1 Each G code which is available in the high response mode is shown below.
Available G Code in
High Response Mode

1.8.1.1
G00 (Positioning)

Format

G00 IP__;

Explanations The G00 command moves a tool to the position in the workpiece
coordinate system specified with an absolute or an incremental command
at a rapid traverse rate.
In the absolute command, the coordinate value of the end point is
programmed.
In the incremental command, the distance to move the tool is
programmed.
Generally, the tool path is not a straight line.
The rapid traverse rate in G00 command is set to the parameter No. 1420
for each axis independently by the machine tool builder. In the positioning
mode actuated by G00, the tool is accelerated to a predetermined speed
at the start of a block and is decelerated at the end of a block. Execution
proceeds to the next block after confirming the in–position.

NOTE
1 Linear interpolation type positioning of the rapid traverse is
not available.
2 The rapid traverse rate cannot be specified in the address
F.

Parameter
1420 Rapid traverse rate for each axis

[Data type] 2–word axis

[Unit of data] 1mm/min
[Valid data range] 30 to 240000
Set the rapid traverse rate for each axis when the rapid traverse override
is 100%.

148
B–63173EN–1/02 1. AXIS CONTROL

1.8.1.2
G01 (Linear
interpolation)

Format
G00 IP__ F__ ;

Explanations A tool controlled by one or more axes can moves along a line by G01.
A tool moves along a line to the specified position at the feedrate specified
by address F.
The feedrate specified by address F is effective until a new value is
specified in a program. The feedrate need not be specified for each block.
The feedrate commanded by the F code is measured along the tool path.
If the F code is not commanded, the feedrate is regarded as zero.

NOTE
Only feed per minute is available for the linear interpolation.

Parameter
1430 Maximum cutting feedrate for each axis

[Data type] 2–word axis

[Unit of data] 1mm/min
[Valid data range] 30 to 240000
Specify the maximum cutting feedrate for each axis.

CAUTION
1 The parameter No.1430 (maximum cutting feedrate for
each axis) must be set the value. (The parameter No.1422
(maximum cutting feedrate) is not available.)
2 In the high response mode, if the axis exceeds the
maximum feedrate for this axis, an alarm occurs and the
executing motion program that is including this axis is
stopped.

149
1. AXIS CONTROL B–63173EN–1/02

1.8.1.3
G04 (Dwell)

Format
G04 P__ ;

Explanations By specifying a dwell, the execution of the next block is delayed by the
specified time. When P is not specified, exact stop is performed.

NOTE
1 Use the address P to specify a time for dwell.
2 The dwell skip function is not available.

1.8.1.4
G28 (Reference position
return)

Format

G28 IP__ ;

Explanations The G28 command positions the tool to the reference position by the
specified axis, then sets the completion signal of reference position return
to 1 after reaching the reference position.
The reference position in the machine coordinate system must be set in
parameter No. 1240 before issuing the G28 command.
The tool moves to the reference position at the rapid traverse rate.

NOTE
1 The only high–speed reference return is available by G28.
An axis is moved to the reference position without passing
through the intermediate position. But, it is necessary to
specify the axis address (X0 etc.) to select which axis moves
to the reference position.
2 If the reference position is not established, the reference
position return(G28) function can not be done.
3 In case that the reference position return is done during
servo off state, even if the machine does not reach a
reference position, the lamp to indicate the completion of
reference position return goes on.

150
B–63173EN–1/02 1. AXIS CONTROL

1.8.1.5
G31 (Skip function)

Format

G31 P__ IP__ F__ ;

Explanation While the block with G31 and P command is executing, this block can be
interrupted and skipped the rest of block by a signal or torque limit
condition.
The meaning of the P command is shown in the below table.
P command Meaning

No P command, Skip by the skip signal, SKIP, SKIP2 to SKIP4 (on X

P1 to P4 address)

P11 to P26 Skip by the signal, SKIPP1 to SKIPP16 (on G address)

P98 Skip by torque limit condition (Skip by a signal is not

supported)

P101 to P104 Skip by the signal, SKIP, SKIP2 to SKIP4 (on X ad-
dress) or torque limit condition.

P111 to P126 Skip by the signal, SKIPP1 to SKIPP16 (on G address)

or torque limit condition.

D Skip by a signal
When the skip signal correspond to P command is turned on, the
executing block moving by cutting feed is interrupted. The rest of the
motion of the block is cancelled and the next block is performed.
20 signals (4 points: X address, 16 points: G address) can be used as
a skip signal.
D Skip by torque limit condition
When the torque value of a servo motor exceeds the limit during
moving, the executing block moving by cutting feed is interrupted.
The rest of the motion of the block is cancelled and the next block is
performed.
Note) It is necessary to set the torque limit value of a servo motor
before the execution of this command.
D Skip by mixed condition, (both a skip signal and torque limit
condition).
When the value of P command is the sum of 100 and P command for
a skip signal, both conditions, skip signal and torque limit condition,
are effective in this skip command block.
Note) When the P command is omitted, it is regarded that P1 is given.

151
1. AXIS CONTROL B–63173EN–1/02

D Relation between P command and skip signal

In case of ”no P command”, ”P1 to P4”, ”P101 to P104”
By setting parameters (No.6202 to 6205), you can select which of four
skip signals, SKIP, SKIP2 to SKIP4, is effective. Any relation
between each P command and each skip signal can be selected.
Moreover, the relation between one skip signal and plural P commands
is possible.
In case of ”P11 to P26”, ”P111 to P126”
Each P command corresponds to each skip signal, SKIPP1 to
SKIPP16.
Command P11 or P111 → correspond to the signal SKIPP1
Command P12 or P112 → correspond to the signal SKIPP2
: :
: :
Command P26 or P126 → correspond to the signal SKIPP16
It is not allowed that one skip signal corresponds to plural P
commands.
In case of ”P98”
All skip signals are not effective.
The summary of above explanation is shown in the below table.
P command Skip signal

None, P1 to Signal SKIP, SKIP2 to SKIP4By the parameter (No.6202

P4P101 to P104 to 6205), you can select which signal is effective.

P11, P111 Signal SKIPP1

P12, P112 Signal SKIPP2

P13, P113 Signal SKIPP3

P14, P114 Signal SKIPP4

P15, P115 Signal SKIPP5

P16, P116 Signal SKIPP6

P17, P117 Signal SKIPP7

P18, P118 Signal SKIPP8

P19, P119 Signal SKIPP9

P20, P120 Signal SKIPP10

P21, P121 Signal SKIPP11

P22, P122 Signal SKIPP12

P23, P123 Signal SKIPP13

P24, P124 Signal SKIPP14

P25, P125 Signal SKIPP15

P26, P126 Signal SKIPP16

P98 None

152
B–63173EN–1/02 1. AXIS CONTROL

CAUTION
Be sure to give the torque limit command before executing
a skip command by torque limit.

NOTE
1 Do not give the P command with the value out of range. If
give, compile error is generated. If P command is omitted,
it is regarded that ”P1” is given.
2 A custom macro variable can not be applied to P command.
3 Only one axis can be given in the block of this skip
command. (Plural axes can not be given in the block of this
command.)
4 When a skip ends, the coordinate value at that time is stored
into the custom macro system variable #5061 to #5068. But
only the coordinate of the axis that is commanded in the
G31P block is stored.
#5061 Coordinate value of the first axis
#5062 Coordinate value of the second axis
#5063 Coordinate value of the third axis
:
#5068 Coordinate value of the eighth axis
5 In the skip command with ”P11 to P26” or ”P111 to P126”,
each P command corresponds to each skip signal.
6 In the skip command with ”P1 to P4” or ”P101 to P104”,
block skip is not performed when the relation between P
command and a skip signal is not set up.
7 When the P command with the value that is added 100 to
the value of P command by skip signal is given, block skip
is performed by both a skip signal and torque limit.
8 In the skip command with P98, block skip is performed only
by torque limit. In this P command, a skip signal is not
effective.
9 In case that the setting to compensate the servo following
error is selected by the parameter in a skip command by a
skip signal or torque limit, a motion program alarm signal is
turned to ”1” if servo following error is over 32767 when a
skip signal turns on or torque value reaches torque limit
value.

153
1. AXIS CONTROL B–63173EN–1/02

Signal

Skip signal
SKIP, SKIP2 to SKIP4
<X0000#0, #1, #2, #7> or
<X1000#0, #1, #2, #7>,
SKIPP1 to SKIPP16
<G0266, G0267>
[Classification] Input signal
[Function] These signals terminate skip cutting. That is, the position where a skip
signal turns to ”1” in a command program block containing ”G31P_” is
stored in a custom macro variable, and the move command of the block
is terminated at the same time.
Which of the four skip signals, SKIP, SKIP2 to SKIP4, is applicable to
blocks containing the P commands can be determined by parameter
(No.6202 to 6205). The four skip signals can correspond to the P
commands on a one–to–one basis. One skip signal can also be made
applicable to multiple P commands. Conversely, multiple skip signals can
be made applicable to one P command.
The skip signals, SKIPP1 to SKIPP16, can correspond to the P commands
on a one–to–one.
Signal SKIPP1 → Command P11, P111
Signal SKIPP2 → Command P12, P112
:
Signal SKIPP16 → Command P26, P126
[Operation] When a skip signal turns to ”1”, the control unit functions as described
below.
S When a block contains a G code from (G31P_) for skip cutting, and
the skip signal is made applicable by parameter setting to the
command (in case of X address), the control unit reads and stores the
current position of the specified axis at that time. The control unit stops
the axis, then cancels the remaining distance that the block was
supposed to be moved.
S The skip signal is monitored not for a rising edge, but for its state. So,
if a skip signal continues to be ”1”, a skip condition is assumed to be
satisfied immediately when the next skip cutting is specified.

NOTE
1 The skip signal width requires at least 6msec.
2 The CNC directly reads the skip signal, SKIP, SKIP2 to
SKIP4, from the machine tool; the PMC is no longer
required to process the signal.
3 If the skip function is not used, the PMC can use the signal
terminal, SKIP, SKIP2 to SKIP4, corresponding to the skip
signal as a general purpose input signal.

154
B–63173EN–1/02 1. AXIS CONTROL

Torque limit reach signal

(for each axis)
TRQLn<F0114>
[Classification] Output signal
[Function] Indicates that the torque has reached the limit.
TRQL 1
1: Torque limit reached signal for 1st axis
2: Torque limit reached signal for 2nd axis
:
:

[Output condition] They are turned to ”1” in the following case

S The torque has reached the limit for the corresponding axis.
They are turned to ”0” in the following case
S The torque has not reached the limit for the corresponding axis.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X0000 S’KIP SKIP4 SKIP3 SKIP2

X1000 S’KIP SKIP4 SKIP3 SKIP2

G0266 SKIPP8 SKIPP7 SKIPP6 SKIPP5 SKIPP4 SKIPP3 SKIPP2 SKIPP1

G0267 SKIPP16 SKIPP15 SKIPP14 SKIPP13 SKIPP12 SKIPP11 SKIPP10 SKIPP9

F0114 TRQL8 TRQL7 TRQL6 TRQL5 TRQL4 TRQL3 TRQL2 TRQL1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6202 1S4 1S3 1S2 1S1

6203 2S4 2S3 2S2 2S1

6204 3S4 3S3 3S2 3S1

6205 4S4 4S3 4S2 4S1

[Data type] Bit

1S1 to 1S4, 2S1 to 2S4, 3S1 to 3S4, 4S1 to 4S4
Specify which skip signal is enabled when the skip command (G31P_) is
issued with the skip function.
The following table shows the correspondence between the bits, input
signals, and commands.
The settings of the bits have the following meanings:
0 : The skip signal corresponding to the bit is disabled.
1 : The skip signal corresponding to the bit is enabled.

155
1. AXIS CONTROL B–63173EN–1/02

Skip function

Command
G31
Input G31P2 G31P3 G31P4
G31P1
signal

SKIP 1S1 2S1 3S1 4S1

SKIP2 1S2 2S2 3S2 4S2

SKIP3 1S3 2S3 3S3 4S3

SKIP4 1S4 2S4 3S4 4S4

#7 #6 #5 #4 #3 #2 #1 #0
6200 SKF

[Data type] Bit

SKF Override and automatic acceleration/deceleration for G31 skip command
is:
0 : Disabled
1 : Enabled

#7 #6 #5 #4 #3 #2 #1 #0
6201
TSE

[Data type] Bit

TSE When the G31 skip command is skipped by torque limit skip,
0 : Corrects the coordinate by servo errors.
1 : Does not correct the coordinate by servo errors.

#7 #6 #5 #4 #3 #2 #1 #0
8680
HSKZ SSRT TSRT

[Data type] Bit

TSRT When a skip command block with G31 P98 or P101 to P126 is skipped by
torque limit condition,
0 : Servo following error and error of acceleration/deceleration are
reflected to skip position.
1 : Servo following error and error of acceleration/deceleration are not
reflected to skip position.

156
B–63173EN–1/02 1. AXIS CONTROL

The relation between this parameter and the parameter No. 6201#2 (TSE)
is shown in the following table.
Reflection of servo Reflection of error of
TSE TSRT
following error acceleration/deceleration

0 0 Is done. Is done.

0 1 Is not done. Is not done.

1 0 Is not done. Is done.

1 1 Is not done. Is not done.

SSRT When a skip command block with G31 P1 to P26 or P101 to P126 is
skipped by skip signal,
0 : Servo following error and error of acceleration/deceleration are not
reflected to skip position.
1 : Servo following error and error of acceleration/deceleration are
reflected to skip position.
HSKZ In case of skip function in high speed response mode, smoothing zero
check and in–position check between commandblocks are:
0 : Performed.
1 : Not performed.

NOTE
When ”1” (not performed) is set to this parameter, override
and automatic acceleration/deceleration is effective to a
skip command regardless of setting value of the parameter
SKF (No. 6200#7).

Caution
CAUTION
1 Disable feedrate override and automatic acceleration/
deceleration during moving axis by skip command to
improve the precision of the tool position when skip signal
is input. (if No. 6200#7 SKF = 1, then effective)
2 When automatic acceleration/deceleration is effective (the
parameter SKF (No. 6200#7) is set to ”1”), block skip by skip
signal or torque limit is not performed during decelerating.

157
1. AXIS CONTROL B–63173EN–1/02

Note

NOTE
1 The skip cutting commands (G31P_) are all identical,
except that they correspond to different skip signals. The
tool moves along the specified axis until the SKIP signal is
set to ”1” or the end point of the specified movement is
reached, while performing linear interpolation. The feedrate
is specified in the program.
2 When the measuring motion is made by utilizing the skip
signal, program a constant feedrate; otherwise, if the
feedrate changes, the measuring error will be noticeable.
With a constant feedrate, the maximum measuring error can
be calculated as follows:
1 5*1
ERRmax = Fm
60 1000
ERRmax : Maximum measuring error [mm]
Fm : Measuring feedrate [mm/min]
*1 The value becomes 9 when the skip signals, SKIPP1 to
16<G0266,G0267>, are used. (Also it changes
according to the delay time of receiver or the processing
time of ladder program).
3 Maximum overtravel amount Qmax after the skip signal has
been turned to ”1” is calculated by the following: (In case
that the parameter SSRT (No.8680#1) is set to ”0”)
1 1 1
Qmax = Fm (8*2+ Tc+Ts)
60 1000 2
Qmax : Maximum overtravel amount [mm]
Fm : Feedrate [mm/min]
Tc : Cutting time constant [ms]
Ts : Servo time constant [ms] (1/loop gain)
*2 The value becomes 12 when the skip signals, SKIPP1 to
16<G0266,G0267>, are used. (Also it changes
according to the delay time of receiver or the processing
time of ladder program).

1.8.1.6
G90, G91 (Absolute and
incremental
programming)

Format

Absolute command G90 IP__ ;

Incremental command G91 IP__ ;

158
B–63173EN–1/02 1. AXIS CONTROL

Explanations There are two ways to command the travels of the tool, the absolute
command and the incremental command.
In the absolute command, the coordinate value of the end point is
programmed.
In the incremental command, the move distance to the end point itself is
programmed.

1.8.1.7
G92 (Setting a workpiece
coordinate system)
Format

G92 IP__ ;

Explanations By G92, a workpiece coordinate system can be set so that a point on the
tool, such as the tool tip, can be related to the specified coordinate.

1.8.1.8
G135.1 (Continuous
feed)
Format

G135.1 IP__ F__ ;

Explanations During the execution of the block which is specified G135.1 command,
if a feed axis and direction selection signal (+Jn/–Jn) is turned to ”1”, the
selected axis continuously moves in the selected direction. During
moving the axis at this block, if a feed axis and direction selection signal
(+Jn/–Jn) is turned to ”0”, the axis stops. In case of absolute command,
the axis stops the commanded coordinate position. In case of incremental
command, the axis stops after moving the commanded distance. After the
axis which is specified in this block stops, next block is started.
If this function is used, the axis can be moved continuously in the selected
direction in the high response mode like the manual continuous feed in
the normal mode.
1) Absolute command
G90 G135.1 IP__ F__ ;
IP__ : Specify the stopped position in the absolute coordinate system
for the axis which is specified in the continuous feed.
F__ : Specify the feedrate in the continuous feed. (mm/min)
During the execution of the block which is specified G135.1
command, if a feed axis and direction selection signal (+Jn/–Jn) is
turned to ”1”, the axis moves continuously in the selected direction.
During moving the axis at this block, if a feed axis and direction
selection signal (+Jn/–Jn) is turned to ”0”, the axis stops at the
specified position. After the axis which is specified in this block stops,
next block is started.

159
1. AXIS CONTROL B–63173EN–1/02

CAUTION
When the distance from the position where a direction
selection signal turns to ”0” to the specified position is
shorter than the L which is shown below, the axis may round
one more time and stop at the specified position.
L = F * (12 + 2*m + n + (tc/2) + ts) / 60000
F : Feedrate (mm/min)
m : Scan time of the ladder program (msec)
n : Delay time by DI receiver (msec)
L : Distance (mm)
tc : Cutting time constant (msec)
ts : Servo time constant (msec) (1/ loop gain)

NOTE
1 When this command is used, specify only the rotary axis, to
which the roll–over function is valid.
2 Only one axis can be specified in this block.
3 The G135.1 command is the one–shot G code
4 If the signal +Jn/–Jn for the axis which is not specified in the
G135.1 block is set to ”1”, the axis will not move.
5 The moving direction depends on the direction selection
signal.
6 The axis, which is specified in the G135.1 block, always
stops once at the end of this block.
7 The type and time constant of the acceleration/deceleration
are the same as ones for the cutting feed.
8 As for override, the jog override signals *JV0 – *JV15
(G010,G011) are available. And, the override can be fixed
to 100% by the motion program override cancel signal
HOVCn(G227). (But the override cancel signal
OVC(G006#4) is not available in this block.)
9 The feedrate to exceed the rapid traverse feedrate which is
set in the parameter No.1420 must not be specified. If the
feedrate to exceed it is specified, the feedrate is clamped to
the rapid traverse feedrate.
10 One of the direction selection signal, which is not desired,
must be set to ”0” before the execution of the G135.1 block.
During the execution of the G135.1 block, when both the
plus and minus direction selection signal for the axis are set
to ”1” at the same time, an alarm will occur.

160
B–63173EN–1/02 1. AXIS CONTROL

2) Incremental command
G91 G135.1 IP__ F__ ;
IP__ : Specify the distance till the axis is stopped after the direction
selection signal is turned from ”1” to ”0”. (µm)
F__ : Specify the feedrate in the continuous feed. (mm/min)
During the execution of the G135.1 block, if a feed axis and direction
selection signal (+Jn/–Jn) is turned to ”1”, the axis moves
continuously in the selected direction. During moving the axis at this
block, if a feed axis and direction selection signal (+Jn/–Jn) is turned
to ”0”, the axis will stop after moving the specified distance. After the
axis which is specified in this block stops, next block is started

CAUTION
The position at the time when a direction selection signal is
turned to ”0” is not considered acceleration/deceleration
and servo delay. So, the overrun amount L after the
direction selection signal is turned to ”0” is shown below at
maximum.
L = F * (12 + 2*m + n + (tc/2) + ts) / 60000
F : Feedrate (mm/min)
m : Scan time of the ladder program (msec)
n : Delay time by DI receiver (msec)
L : Distance (mm)
tc : Cutting time constant (msec)
ts : Servo time constant (msec) (1/ loop gain)

161
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 When this command is used, specify only the rotary axis, to
which the roll–over function is valid.
2 Only one axis can be specified in this block.
3 Specify 0 or larger value as the move distance (IP__).
4 The G135.1 command is the one–shot G code
5 If the signal +Jn/–Jn for the axis which is not specified in the
G135.1 block is set ”1”, the axis will not move.
6 The moving direction depends on the direction selection
signal.
7 The axis, which is specified in the G135.1 block, always
stops once at the end of this block.
8 The type and time constant of the acceleration/deceleration
are the same as ones for the cutting feed.
9 As for override, the jog override signals *JV0 – *JV15
(G010,G011) are available. And, the override can be fixed
to 100% by the motion program override cancel signal
HOVCn(G227). (But the override cancel signal
OVC(G006#4) is not available in this block.)
10 The feedrate to exceed the rapid traverse feedrate, which
is set in the parameter No.1420, must not be specified. If the
feedrate to exceed it is specified, the feedrate is clamped to
the rapid traverse feedrate.
11 The direction selection signal, which is not desired, must be
set ”0” before the execution of the G135.1 block. During the
execution of the G135.1 block, if both the plus and minus
direction selection signal for the axis are set to ”1” at the
same time, an alarm will occur.

Example)
If following motion program and ladder program are created, the feed
which is similar to the manual continuous feed is available in the high
response mode.

Example for motion program

O8000 G91 G135.1 X0 F1000
%

Example for ladder program

A G100.0

B G102.0

G100.0 G228.0

G102.0

162
B–63173EN–1/02 1. AXIS CONTROL

If above programs are added and the signal A is turned to ”1”, the first axis
moves continuously in plus direction. And, during the first axis is moving
at this block, if the signal A is turned to ”0”, the first axis will stop. If the
signal B is turned to ”1”, the first axis moves continuously in minus
direction. And, during the 1st axis is moving at this block, if the signal
B is turned to ”0”, the 1st axis will stop.
Note) (1) The name of first axis is ”X”.
Note) (2) Suppose that the conditions (interlock, override) to move the
axis have been already set.

Signal

Feed axis and direction

selection signal
+J1 – +J8<G100>
–J1 – –J8<G102>
[Classification] Input signal
[Function] Selects a desired feed axis and direction in continuous feed of the high
response mode. The sign (+ or –) of the signal name indicates the feed
direction. The number following J indicates the number of the control
axis.
+ J 1
1: 1st axis is fed
2: 2nd axis is fed
:
:
+: Feed in positive direction
–: Feed in negative direction

[Operation] When the signal is ”1” in executing the G135.1 block, the control unit
operates as follows.
S When the axis is specified in G135.1 block, the control unit moves the
specified axis in the specified direction.
S The control unit continues to feed the axis while the signal is ”1”.

Manual feedrate override

signal
*JV0 – *JV15<G011>
[Classification] Input signal
[Function] These signals override the feedrate of the continuous feed in the high
response mode. These signals are sixteen binary code signals, which
correspond to the override values as follows:

ȍ|2
15
i
Override value (%) = 0.01% Vi |
i+0

where
Vi = 0 when the *JVi signal is “1”
Vi = 1 when the *JVi signal is “0”

163
1. AXIS CONTROL B–63173EN–1/02

The override value is assumed to be zero when all of the signals, (*JV0
to *JV15) are set to ”1” or ”0”. When this occurs, the feed is stopped.
The override value can be specified in the range of 0% to 655.34% in units
of 0.01%. Some examples are listed below.
*JV0 – *JV15 Override value
12 8 4 0 (%)

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0.01

1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 1 0.10

1 1 1 1 1 1 1 1 1 0 0 1 1 0 1 1 1.00

1 1 1 1 1 1 0 0 0 0 0 1 0 1 1 1 10.00

1 1 0 1 1 0 0 0 1 1 1 0 1 1 1 1 100.00

0 1 1 0 0 0 1 1 1 0 1 1 1 1 1 1 400.00

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 655.34

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

[Operation] For continuous feed in the high response mode, actual feedrate is obtained
by multiplying the speed specified in feedrate F by the override value
selected by these signals.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G010 *JV7 *JV6 *JV5 *JV4 *JV3 *JV2 *JV1 *JV0

G011 *JV15 *JV14 *JV13 *JV12 *JV11 *JV10 *JV9 *JV8

G100 +J8 +J7 +J6 +J5 +J4 +J3 +J2 +J1

G102 –J8 –J7 –J6 –J5 –J4 –J3 –J2 –J1

Parameter
1420 Rapid traverse rate for each axis

[Data type] 2–word axis

[Unit of data] 1mm/min
[Valid data range] 30 to 240000

D Time constant Sometimes it is necessary to set up an acceleration/deceleration time

switch–over constant for high–response jog feed and automatic cutting feed separately.
Using bit 3 of parameter No. 8680 (HECF) makes it possible to use
continuous–feed time constants (parameters Nos. 1644 and 1645) rather
than cutting–feed time constants (parameters Nos. 1635 and 1638) as
acceleration/deceleration time constants for continuous feed.

164
B–63173EN–1/02 1. AXIS CONTROL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1605 TCE

[Data type] Bit

TCE Specifies whether to use the time constant expansion function, as follows:
0 : Not to use
1 : To use (the maximum allowable time constant is determined
according to the number of controlled axes.)

#7 #6 #5 #4 #3 #2 #1 #0
8680
HECF

[Data type] Bit

HECF Specifies whether to use parameter Nos. 1644 and 1645 to specify an
acceleration/deceleration time constant for continuous feed (G135.1), as
follows:
0 : Not to use (in the conventional specification, parameter Nos. 1635
and 1638 are used.)
1 : To use

1635
Axis–specific cutting–feed acceleration/deceleration time constant in the high
response mode or time constant T1 for axis–specific bell–shaped acceleration/
deceleration after cutting–feed interpolation in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 1000 if bit 1 of parameter No. 1605 (TCE) = 0
0 to 1000 (for 5 to 8 controlled axes),
0 to 2000 (for 3 or 4 controlled axes), or
0 to 4000 (for 1 or 2 controlled axes) if bit 1 of parameter No. 1605 (TCE)
=1

1638
Time constant T2 for axis–specific bell–shaped acceleration/deceleration after
cutting–feed interpolation in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 512

165
1. AXIS CONTROL B–63173EN–1/02

1644
Axis–specific continuous–feed acceleration/deceleration time constant in the high
response mode or time constant T1 for axis–specific bell–shaped acceleration/
deceleration after continuous–feed interpolation in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 1000 if bit 1 of parameter No. 1605 (TCE) = 0
0 to 1000 (for 5 to 8 controlled axes),
0 to 2000 (for 3 or 4 controlled axes), or
0 to 4000 (for 1 or 2 controlled axes) if bit 1 of parameter No. 1605 (TCE)
=1

NOTE
These parameters are valid if bit 3 of parameter No. 8680
(HECF) is 1.

1645
Time constant T2 for axis–specific bell–shaped acceleration/deceleration after
continuous–feed interpolation in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 512

NOTE
These parameters are valid if bit 2 of parameter No. 8680
(HECF) is 1.

166
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 If parameter No. 1638 (time constant T2 for axis–specific
bell–shaped acceleration/deceleration after cutting–feed
interpolation in the high response mode) is 0, the linear
acceleration/deceleration after interpolation is performed
for cutting feed in the high response mode.
Likewise, if parameter No. 1645 (time constant T2 for
axis–specific bell–shaped acceleration/deceleration after
continuous–feed interpolation in the high response mode)
is 0, the linear acceleration/deceleration after interpolation
is performed for continuous feed in the high response mode.
2 If bit 1 of parameter No. 1605 (TCE) = 0, the sum of time
constants T1 and T2 cannot exceed 1000 ms.
If bit 1 of parameter No. 1605 (TCE) = 1, the sum of time
constants T1 and T2 must be in the following ranges:
0 to 1000 (for 5 to 8 controlled axes),
0 to 2000 (for 3 or 4 controlled axes), or
0 to 4000 (for 1 or 2 controlled axes)

1.8.1.9
Rate–feed function

Format

G135.2 IP___ F___ ;

Explanation The velocity at the end point of this block is specified directly by the value
after address F. The unit of F is mm/min.
(1) If the feedrate mode of the previous block is also G135.2, the value of
F of the previous block is regarded as the velocity at the start point of
this block. And the velocity is accelerated or decelerated by specified
rate.
(2) If the feedrate mode of the previous block is except G135.2, the
velocity of the start point of this block is regarded as 0 mm/min.

167
1. AXIS CONTROL B–63173EN–1/02

Feedrate f2

f1
f3

f0 x1 x2 x3

Time
G135.2 F f0 ;
Xx1 F f1 ;
Xx2 F f2 ;
Xx3 F f3 ;

NOTE
1 G135.2 belongs to the group 01 G–code.
2 The actual velocity at the end point may be different from F
command. The actual velocity at the end point is calculated
as follows with F command. (In case override is 100%)
Fnew = 120*L/T – F1
F1 : Velocity at the start point (mm/min)
L : Moving distance (0.001mm)
F : Feedrate command (mm/min)
T : The value rounded up 120*L/(F1+F) to the
nearest whole number
3 The feedrate override signals ”*FV0–*FV7” is effective to
G135.2.
4 The value of feedrate override is read in when the block is
read from program memory. (In other words, at the moment
when the previous block starts executing) If override is
changed after the above, new value is ignored.
5 Axes slow down and stop once between the block with rate
feed and the block with other feed.
6 A proper value must be set to the parameter No.1430
(maximum feedrate for each axis). The parameter No.1422
(maximum feedrate) is not used in rate feed.
7 If feedrate command exceeds maximum feedrate in
high–speed response mode, axes are stopped and an
alarm is generated.

168
B–63173EN–1/02 1. AXIS CONTROL

CAUTION
When interlock is turned on/off in the middle of block, the transition of velocity is as follows.
(1)In case interlock is turned on in the middle of block.
– Axes are decelerated by the time constant of acc/dec after interpolation
(2)In case interlock is released after (1) condition.
– Axes are accelerated, by the time constant of acc/dec after interpolation, from the
velocity, at that the axes moved when interlock is turned on. After that, axes are
accelerated or decelerated by specified rate till the end point.

Feedrate

F1

F0

Time

Interlock on Release interlock

G135.2 Ff0 ;
X____ Ff1 ;

Fig. 1.8.1.9(a) Transition of velocity when interlock is turned on/off in case the
time constant of acc/dec after interpolation is ”0ms”.

169
1. AXIS CONTROL B–63173EN–1/02

CAUTION
When operation is interrupted by single block function between the continuous blocks with
G135.2 or stop condition by single block is released, the transition of velocity is as follows.
(1)In case operation is interrupted by single block function
– Axes are decelerated by the time constant of acc/dec after interpolation
(2)In case stop condition by single block function is released
– Axes are accelerated, by the time constant of acc/dec after interpolation, from the last
velocity of the previous block. After that, axes are accelerated or decelerated by specified
rate till the end point.
Feedrate

f2

f1

f0

X1 X2

Time
Stop by single block Release single block

G135.2 Ff0 ;
Xx1 Ff1 ;
Xx2 Ff2 ;

Fig. 1.8.1.9(b) Transition of velocity when single block is applied/released in case the time constant
of acc/dec after interpolation is ”0ms”.

Parameter
1430 Maximum cutting feedrate for each axis

[Data type] 2–word axis

[Unit of data] 1mm/min
[Valid data range] 30–240000
Specify the maximum cutting feedrate for each axis.

170
B–63173EN–1/02 1. AXIS CONTROL

1.8.1.10
G135.3 (Motion
command with
acceleration/deceleration
time constant)

Outline This function enables to specify the time constant of linear type
acceleration/ deceleration to every block respectively. By this function,
longer time constant can be applied to the block that is required gentle
motion. In other hand, shorter time constant can be applied to other
blocks. Then, as compared with former function, total operation time for
positioning can be shortened.

Feedrate

In case of former
function

Time

t1 t1
In case of this function

Time
t1 t1
Shorten
t2

Fig. 1.8.1.10(a)

171
1. AXIS CONTROL B–63173EN–1/02

Moreover, time constant for acceleration and deceleration can be

specified for one motion block respectively. By this, longer time constant
can be applied only to the acceleration or the deceleration of the block that
requires gentle motion. Shorter time constant can be applied to another
part. Then, as compared with former function, total operation time for
positioning can be shortened.

Feedrate

In case of
former function

Time
t1 t1
In case of this function

Time

Shorten
t2 t1

Fig. 1.8.1.10(b)

Format

G135.3 IP__ F__ Q__ R__ ;

IP__: In case absolute command mode, the absolute coordinate of the end
point is specified. And in case incremental command mode,
moving distance is specified. Only one axis command can be
specified in one block.
F__: Feedrate is specified (mm/min)
Q__: Time constant for acceleration is specified. (msec)
R__: Time constant for deceleration is specified. (msec)

172
B–63173EN–1/02 1. AXIS CONTROL

Explanation This function enables to specify time constant of linear acceleration/

deceleration to every block respectively. When this command is
specified, an axis is accelerated to the feedrate F by the time constant
specified by Q at first, and moves at the feedrate F. At the end of block,
an axis is decelerated by the time constant R.
As the feedrate specified by F is effective until next F command is
specified, it is not necessary to give a feedrate command at every block.
If feedrate F is not specified, F is regarded as ”0”.

Feedrate

Time

Q R

Fig. 1.8.1.10(c)

CAUTION
1 The address Q and R must be set in every block. As the
address Q and R are not modal data, an axis move without
acceleration/deceleration (time constant 0) when address
Q and R is not specified.
2 The value of feedrate override (*FV0–*FV7) is read in when
the block is read from program memory. (In other words, at
the moment when the previous block starts executing) If
override is changed after the above, new value is ignored.
3 When the override cancel signals, HOVCn(G227) or
OVC(G0006#4), is turned to high, the feedrate override is
fixed at 100%. But these signals are read in also at the
moment when the block is read from program memory.

NOTE
1 Only one axis can be specified in the block of G135.3
2 G135.3 belongs to the group 01 G code.
3 An axis will stop once after this command.
4 Only feed per minute is allowed.

173
1. AXIS CONTROL B–63173EN–1/02

S Accelerating/decelerating behavior in case override is except 100%.

Even when feedrate override is not 100%, the accelerating/
decelerating rate that is calculated by feedrate F and time constant Q/R
is always applied. In other words, the calculation rate is not affected
by override.
Ex.) Transition of velocity in case override is 50% and 100%

Feedrate
In case override
is 100%
F

In case override is
50%

Time

Q R

Fig. 1.8.1.10(d)

Parameter
1430 Maximum cutting feed for each axis

[Data type] 2–word axis

[Unit of data] 1mm/min
[Valid data range] 30–24000
The maximum feedrate is specified.

NOTE
1 The parameter No.1430 (maximum feedrate for each axis)
must be set the proper value. The parameter No.1422
(maximum feedrate) is not referred in G135.3.
2 When given feedrate exceeds the maximum feedrate in
high speed response function, an alarm is generated and an
axis is stopped.

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

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0–512

174
B–63173EN–1/02 1. AXIS CONTROL

Feedrate

Time
Q

Q–T2 T2/2
T2 T2
T2/2

Fig. 1.8.1.10(e)

NOTE
1 The acceleration time specified by this parameter is fixed
regardless feedrate command. Then, the time of a curved
line part in above figure 1.8.1.10(e) is usually constant
regardless feedrate.
2 The time constant specified by this parameter is used at
both accelerating and decelerating.

#7 #6 #5 #4 #3 #2 #1 #0
8680 HOVZ

[Data type] Bit

HOVZ Specifies whether to enable 0% override during the execution of the time
constant–specified feed function (G135.3) in the high response mode, as
follows:
0 : To disable
1 : To enable

175
1. AXIS CONTROL B–63173EN–1/02

NOTE
When a motion program for time constant–specified feed is
being executed in the high response mode, setting the
override signal (G12) to 0% override (the G12 bits are either
all 0s or all 1s) decelerates the axis of interest to halt as in
interlock.
A value specified before the time constant–specified feed
is executed becomes valid for the override signal, and
switching override signal values during the execution of a
motion command does not change the speed. If the
override signal is set to 0%, however, override is put in effect
even during the execution, thus decelerating the axis to halt.
Once the axis has been decelerated to halt, setting the
override signal to a value other than 0% causes the motion
command to be executed with a speed obtained using the
value specified for the override signal before the execution
of the motion command.

1.8.2
Auxiliary function in
high response mode

Format

Mxx Pn ; (n: M–code group 1–8)

Explanations When a numeral is specified following address M and a number of the

M–code group is specified following address P, code signals and a strobe
signal for the specified M–code group are sent to the machine. The
auxiliary function can be executed independently in each program.
(1) The M–code is outputted by binary code to the PMC address (R area)
which is specified in parameter No.8745. And each M–code group has
the each PMC address (R area) to output the M–code.
(2) The M–code function can not be specified together with other
command. So, the movement block must not be specified in the
M–code block.
(3) The program including the M–code group, which is used in other
executing program, can not be executed.
(4) Up to 8 digits can be specified in the M code. The parameter No. 3030
can specify the maximum digits and if a specified value exceeds the
maximum digits, an alarm may be issued at compile.

176
B–63173EN–1/02 1. AXIS CONTROL

NOTE
If the value of the parameter No.3030 is changed after
compiling the programs, the changed value will not be
affected to the motion program. So, all of the programs must
be compiled again after changing the parameter No.3030.

(5) Only one M code can be specified in one block.

(6) The following M codes with special meaning can not be specified.
M00, M01, M02, M30, M98, M800 – M999, and M90000000 –
M99999999
(7) There is not a distribution end signal (DEN).
(8) The high–speed M/S/T interface is not available.
(9) The setting of M–codes that prevent buffering the following blocks is
not available. If the following program with the empty block is
created, the similar effect can be realized.
Example) The case that the operation for M11 is done the same as the
M–code preventing buffering.
M10 ; M10 ;
M11 ; M11 ;
/9 X100 ; ;
/9 X100 ;

NOTE
This function is not available, when PMC–SB5 is specified.

[Basic procedure]
Below, suppose that R100 is specified as the top of the PMC internal relay
address to be outputted the M–codes. (The 100 is set to the parameter No.
8745.)

NOTE
The 32 bytes PMC internal relay from the top address which
is specified in the parameter No.8745 are used for the
auxiliary function.

(1) Suppose that Mxxx Pn is specified in a program.

(2) Code signal is sent to R(100 + (n–1)*4) – R(103 + (n–1)*4). After the
time specified by the parameter No. 3010 TMF (standard value: 16
msec) is passed, the strobe signal HMFn is set to 1.
(3) When the strobe signal is set to 1, the PMC reads the code signal and
performs the corresponding operation. After the completion of the
operation, the PMC sets completion signal HFINn to 1.
(4) If the completion signal remains 1 for longer than the time specified
in parameter No. 3011 TFIN (standard value: 16 msec), the CNC sets
the strobe signal to 0 and reports that the completion signal has been
received.

177
1. AXIS CONTROL B–63173EN–1/02

(5) When the strobe signal is set to 0, set the completion signal to 0 in the
PMC.
(6) When the completion signal is set to 0, the CNC sets all code signals
to 0 and completes all sequences of the auxiliary function.
(7) The CNC executes the next block.

Signal

Motion program auxiliary

function strobe signal
(each M code group)
HMFn<F0484>
[Classification] Output signal
[Function] These signals report that an auxiliary function is appeared in the motion
program.
HMF 1
1: Motion program auxiliary function strobe signal for M–code group 1.
2: Motion program auxiliary function strobe signal for M–code group 2.
:
:
[Output conditions] These signals are available in the only high response mode.
For the output conditions and procedure, see the description of ”Basic
procedure” above.

Motion program auxiliary

function completion
signal (each M–code
group) HFINn<G0458>
[Classification] Input signal
[Function] These signals reports the completion of a auxiliary function in the motion
program.
HFIN 1
1: Motion program auxiliary function completion signal for M–code group 1
2: Motion program auxiliary function completion signal for M–code group 2.
:
:
[Operation] These signals are available in the only high response mode.
For the control unit operation and procedure when this signal goes ”1”,
see the description of ”Basic procedure” above.
The HFINn signal must remain ”1” for a certain time (TFIN, which is set
by a parameter No. 3011) or longer. Even if the HFINn signal is turned
to 1, when the HFINn signal goes ”0” before TFIN elapses, this HFINn
change is ignored.

178
B–63173EN–1/02 1. AXIS CONTROL

Motion program auxiliary

function code signal
(each M–code group)
[Division] Output signal
[Function] The code signals of a auxiliary function in the motion program are
outputted.
[Output conditions] These signals are available in the only high response mode.
For the output conditions and procedure, see the description of ”Basic
procedure” above.

NOTE
For the address to output these signals, refer to the
explanation of the parameter No.8745.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G458 HFIN8 HFIN7 HFIN6 HFIN5 HFIN4 HFIN3 HFIN2 HFIN1

F484 HMF8 HMF7 HMF6 HMF5 HMF4 HMF3 HMF2 HMF1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8706
HMD

[Data type] Bit

HMD The auxiliary function of the high response function is
0 : Not used.
1 : Used.

8745
The address to output the M code

[Data type] 2–word

[Valid data range] 0 to the number of the available PMC internal relay(R) address
The top of the PMC internal relay address to be used by the auxiliary
function of the high response function is set. (The 32 bytes from the
specified address are used in this function.)

NOTE
The area managed by system program can not be specified.

179
1. AXIS CONTROL B–63173EN–1/02

If the setting value of this parameter is xxx, the area which is used to
output the auxiliary function code signal of the motion program by each
M–code group is shown below.

Rxxx+0
The code signal output area for M code
which is specified P1

Rxxx+4
The code signal output area for M code
which is specified P2
Rxxx+8
The code signal output area for M code
which is specified P3

Rxxx+12
The code signal output area for M code
which is specified P4
Rxxx+16
The code signal output area for M code
which is specified P5
Rxxx+20
The code signal output area for M code
which is specified P6
Rxxx+24
The code signal output area for M code
which is specified P7
Rxxx+28
The code signal output area for M code
which is specified P8

3010 Time lag in strobe signal HMFn

[Data type] Word

[Unit of data] ms
[Valid data range] 16 to 32767
The time required sending the strobe signal HMFn after the M code are
sent.

3011 Acceptable width of M function completion signal (HFINn)

[Data type] Word

[Unit of data] ms
[Valid data range] 16 to 32767
Set the minimum signal width of the valid M function completion signal
(HFINn).

180
B–63173EN–1/02 1. AXIS CONTROL

3030 Allowable number of digits for the M code

[Data type] Byte

[Valid data range] 1 to 8
Set the allowable number of digits for the M code.

1.8.2.1 When a program is executed in high response mode, that program can be
M99 in high response executed from the top again by M99 command. Then the same part of a
program can be executed repeatedly.
function
When a program is being executed repeatedly by M99 command,
skipping the block of M99 by optional block skip function can terminate
this repeated execution.

Format
M99 Pn (n: M code group 1–8)

The command ”M99 Pn” returns the read pointer of the program to the
top. Then the same part of the program can be executed repeatedly.

NOTE
1 When M99 is commanded, M–code group has to be
specified by Pn like other M–code in high response mode.
However, M99 does not output the signals, such as motion
program auxiliary function code, motion program auxiliary
function strobe signal (HMFn) and motion program auxiliary
function completion signal (HFINn).
2 When a M–code group is specified in a program, the same
M–code group can not be specified in other program at the
same time.
3 Motion command can not be specified in the block with M99.
M99 has to be commanded alone in a block.
4 When the read pointer of a program is returned to the top
by M99, the mode of G–code is initialized as follows.
Group 01 : G00
Group 03 : G91

Example This example shows the case that the repeated execution by M99 is
terminated by optional block skip signal.

O8000 G91 G01 X100000 F1000;

X–90000;
/M99 P1;
%

181
1. AXIS CONTROL B–63173EN–1/02

D After the X–axis make a reciprocating motion, the program returns

from the block with ”/M99” to the top block with ”O8000”. Then, the
program is executed again from the top.
D In order to terminate the program, turn the optional block skip signal
”BDT1 (G44.0)” to ”1”. By this operation, the block with ”/M99” is
skipped and the program is ended.

NOTE
1 The optional block skip signal is judged during executing the
block before the block with ”/”. So set the optional block
signal to ”1” during executing two blocks before the block
with ”/”, or the program may be executed one more time.
2 While the program included the block with ”M99” is being
executed, the diagnostic data No.895 (executing block
number) may show ”0” when the block just before ”M99” is
executed.
The block with ”M99” is not counted as the executed block
number.

1.8.2.2 In high response mode, the signals of the built–in I/O (Y1000–Y1002)
Direct signal output can be controlled directly by the M–code command of CNC.
function in high D This function enables to turn on/off signals at high speed, because
response function signals can be input/output without passing through PMC .
D As for on/off timing of direct signals, there are two types of controlling
methods. One is immediate output type. Another type is output after
pulse distribution end. The preferable method can be selected by the
command.
For example, this function can be used as the following Fig.1.8.2.3(a).
1) When the axis moved by G01 reaches near the point B, this function
turns on a direct signal. Then, another program is started, and the axis
of another path is started moving.
2) When the axis stops at the point C, this function turns on another direct
signal. Then, the program to terminate the operation is started.

182
B–63173EN–1/02 1. AXIS CONTROL

An axis is moved from A to B by way of C.

A B C

1) This function turns on a direct 2) This function turns on

signal near the point B. another direct signal after
the axis stops at the point
C.

Another program is started. The program to terminate the

operation is started.

Fig. 1.8.2.2 (a)

Format As for on/off timing of signals, there are two types of controlling methods.
One is immediate output type. Another type is output after pulse
distribution end.

D Immediate output type In this type, regardless of the command of the previous block specified
just before the block with the M–code for direct signal output, a direct
signal output immediately when the block with the M–code for direct
signal output is executed. The format is shown below.
To turn on a signal

Mm Pn Q1 ;
m : the value of the parameters No.7410–No.7412.
n : the group to specify M–code 1–8
Q1 : specify to turn on a signal in ”immediate output type”
Ex.) M40 P1 Q1 ;

To turn off a signal

Mm Pn Q0 ;
m : the value of the parameters No.7410–No.7412.
n : the group to specify M–code 1–8
Q0 : specify to turn off a signal in ”immediate output type”
Ex.) M40 P1 Q0 ;

D When several blocks with the above command are specified

consecutively after a motion command, the specified direct signals
corresponding to M–code are output immediately even if this motion
command is not finished.
Example)
When the following program is executed after compiling, the
blocks with M40, M41 and M42 start executing even if the motion
command just before these blocks is not finished. And the signals
Y1000#0, #1 and #2 are turned on.

183
1. AXIS CONTROL B–63173EN–1/02

Parameter No.7410=40
setting No.7415=1000
No.7420=3
O8000;
G90G01X10000F1000;
M40P1Q1;
M41P1Q1;
M42P1Q1;
%

When it is required to turn on the direct output signals after the motion
command is finished, insert the block ”G04 P0;” between the block with
”G01” and the block with ”M40”.
D Output after pulse In this type, when the block with a motion command is specified just
distribution end type before the block with the M–code for direct signal output, the signal is
output after the motion command is finished. The format is shown below.
To turn on a signal

Mm Pn Q3 ;
m : the value of the parameters No.7410–No.7412.
n : the group to specify M–code 1–8
Q3 : specify to turn on a signal in ”output after pulse distribution type”
Ex.) M40 P1 Q3 ;

To turn off a signal

Mm Pn Q2 ;
m : the value of the parameters No.7410–No.7412.
n : the group to specify M–code 1–8
Q2 : specify to turn off a signal in ”output after pulse distribution type”
Ex.) M40 P1 Q2 ;

D When several blocks with the above command are specified

consecutively after a motion command, all the specified direct output
signals corresponding to M–code are output at a time after this motion
command is finished.
Example)
When the following program is executed after compiling, the
blocks with M40, M41 and M42 start executing after the pulse
distribution of X axis is finished.
And the signals Y1000#0, #1 and #2 are turned on at a time.

Parameter No.7410=40
setting No.7415=1000
No.7420=3
O8000;
G90G01X10000F1000;
M40P1Q3;
M41P1Q3;
M42P1Q3;
Y100000;
%

D When the command of the previous block is ordinary M–code, the

signal is not output until the MFINn(G0458) correspond to the
ordinary M–code is returned.

184
B–63173EN–1/02 1. AXIS CONTROL

Example)
When the following program is executed after compiling, the
signal Y1000#0, #1 and #2 are output after MFIN1 (G0458#0)
correspond to M10 is returned.

O8000;
M10P1;
M40P1Q3;
M41P1Q3;
M42P1Q3;
%

D The timing of direct signal output is varied according to the type of

motion command specified before/after M–code for direct signal
output.
(1) In case the previous motion command is decelerated and stopped.
When M–code for direct signal output is specified after the block with
”G01” and the next block has ”G00” command, the signal is output at
the time when the axis comes to in–position status after deceleration.
Example)
When the M–code for direct signal output is specified between the
block with ”G01” and the block with ”G00” like shown in the
following figure, the output timing of the signals is shown in the
Fig. 1.8.2.2(b).

O8000;
G91G01X1000F1000;
M40P1Q3; (M–code direct output command)
G00X1000;
%

Velocity

Motion command Motion command after

before M–code direct M–code direct output
output command command
(G01 command in the (G00 command in the
example program) example program)

Time
Signal is output here

Fig.1.8.2.2(b)
(2) In case an axis is not decelerated between two motion commands
When M–code for direct signal output is specified after the block with
”G01” and the next block is also the block with ”G01”, the direct
output signal is output after the pulse distribution of the previous block
is finished.

185
1. AXIS CONTROL B–63173EN–1/02

Example)
When the M–code for direct signal output is specified between two
blocks with ”G01” like shown in the following figure, the output
timing of the signals is shown in the Fig.1.8.2.2(c).

O8000;
G91G01X1000F1000;
M40P1Q3; (M–code direct output command)
G01X1000;
%

Velocity
Signal is output

Motion command Motion command

before M–code direct before M–code direct
output command output command
(G01 command in the (G01 command in the
example program) example program)

Time

Fig.1.8.2.2(c)

D Setting of M–code and The M–code number and signal address for this M–code for direct signal
output signal output can be set by parameters.
The address of output signal can be assigned by the parameter
No.7415–7417 (Output address 1–3 of M–code for direct signal output)
corresponding to the parameter No.7410–7412 (M–code number for
direct signal output).
The number of output bits can be set by the parameter No.7420–7422
(number of bits for M–code for direct signal output).
The above parameters have to be set the value before compiling. If the
values of these parameters are changed, all programs have to be compiled
again.

Item Parameter number

M–code number 1 – 3 No.7410 – No.7412

Address of direct signal 1 – 3 No.7415 – No.7417

Number of bits 1 – 3 No.7420 – No.7422

Examples)
In case No.7410=10, No.7415=1000, No.7420=8,
Y1000#0 is turned on by M10.
Y1000#1 is turned on by M11.
:
Y1000#7 is turned on by M17.
Note) Except in high response mode, above parameters are ineffective
and direct signal output can not be used.

186
B–63173EN–1/02 1. AXIS CONTROL

Example

An axis is moved from A to B by way of C.

A B C

The signal Y1000.0 is turned The signal Y1000.1 is

1) on when the axis reaches 2) turned on after the axis
near the point B. reaches the point C.
(Output after pulse distribution (Immediate output type)
end type)

3) 4)

One program starts another program by The program to terminate the operation
turning on Y1000.0. And another axis is is executed by turning on Y1000.1.
moved. Y1000.0 should be turned off Y1000.1 should be turned off when the
when the operation is finished. operation is finished.

Fig.1.8.2.2(d)
In case another axis is started moving near the point B in the operation of
moving from the point A to the point C, and another program to terminate
the operation is started after the axis stops at the point C, as shown in the
above Fig.1.8.2.2(d), programs are as follows .

Parameter No.7410=40
setting No.7415=1000
No.7420=2
The coordinate of the point
Point A: X0, Point B: X10000, Point C: X11000
Program to operate the part 1) 2).
O8000;
G91G01X10000F1000;
M40P1Q3; (Turn on Y1000#0 after the pulse distribution of X axis is
finished)
G91G01X1000F1000;
G04P0;
M41P3Q1; (Turn on Y1000#1)
%
Program to operate the part 3) (Started by turning on Y1000#0)
O8001;
G91G01Y10000F2000;
M40P2Q2; (Turn off Y1000#0 after the pulse distribution of Y axis is
finished)
%
Program to operate the part 4) (Started by turning on Y1000#1)
O8002;
G91G01Y–10000F2000;
G04P0;
M41P4Q0; (Turn off Y1000#1)
%

187
1. AXIS CONTROL B–63173EN–1/02

Note D When a direct signal is turned on and also off within a program, the
M–code group number (n: given by address P) of each command has
to be the same value. When a turning–on–command and a
turning–off–command are given in different programs respectively,
each M–code group number has to be specified different values.
Ex) When a direct signal is turned on in a program and turned off in
another program like the following example program, each
M–code group number (n) has to be set different value.

O8000
G90G01X10000F1000;
M40P1Q3; (Turn on a signal after pulse distribution of X axis is finished.)
%
O8001
G90G01Y10000F1000;
M40P2Q2; (Turn off a signal after pulse distribution of X axis is finished.)
%

D When several blocks with M–code for direct signal output are
specified consecutively between blocks without this command such
as a motion command, empty block (only ”;”) or so on, a command
type of M–code for direct signal output has to be the same. If different
command type is specified, compile error 1028 will be generated.

Ex) The following program generates compile error 1028.

O8000;
G90G01X0F1000;
M40P1Q3; (”Output after pulse distribution end” type)
M41P1Q1; (”immediate output” type)
G90G01X10000F1000;
–––––––––
Ex) The following program generates no compile error.
O8000;
G90G01X0F1000;
M40P1Q1; (”immediate output ” type)
M41P1Q1; (”immediate output” type)
G90G01X10000F1000;
–––––––––

D In case that several blocks with M–code for direct signal output are
specified consecutively between blocks without this command such
as a motion command, empty block (only ”;”) or so on, if both
a–turning–on command and a turning–off–command for the same
signal are specified, the latter command is effective. The former
command is ignored.
Ex) In the following sample program, the latter command to turn off
a signal is effective. So Y1000#0 is not turned on.

Parameter No.7410=40
setting No.7415=1000
No.7420=1
O8000;
G90G01X10000F1000;
M40P1Q3; (This command is ignored)
M40P1Q2; (This command is effective)
Y100000;
%

188
B–63173EN–1/02 1. AXIS CONTROL

D Once the direct signal is changed its status by M–code for direct signal
output, the status of the direct signal is kept even after the program is
finished. Besides this status cannot be initialized by reset operation.
In order to initialize the direct signal, the block to initialize the status
of the direct signal should be specified at the top of a program. Or a
program for initializing should be executed beforehand.
Ex) In the following sample program, Y1000#0, #1 and #2 are
turned off at the top of the program for initializing. Upon
completion of X–axis pulse distribution, Y1000#0, #1, and #2
are turned on. After this program is finished, Y1000#0, #1 and
#2 are kept as they are.

Parameter No.7410=40
setting No.7415=1000
No.7420=3
O8000;
M40P1Q0;
M41P1Q0; Turn off for initializing
M42P1Q0;
G90G01X10000F1000;
M40P1Q3;
M41P1Q3;
M42P1Q3;
Y100000;
%

Parameter
7410 M–code 1 for direct signal output function

7411 M–code 2 for direct signal output function

7412 M–code 3 for direct signal output function

[Data type] Word

[Valid data range] The number of the M–code for direct signal output is specified.
The M–code with special meaning like below are not used.
M00,M01,M02,M30,M98,M99,M800 to M999 and
M90000000 to M99999999
These M–codes can be used only in high response mode.

7415 Output address 1 for M–code for direct signal output function

7416 Output address 2 for M–code for direct signal output function

7417 Output address 3 for M–code for direct signal output function

[Data type] Word

[Valid data range] The Y address of PMC to output direct signals are specified.
From 1000 to 1002 (Y address of built–in I/O)
It is not necessary to specify the character ”Y”. Only numerical value
should be set here. The correspondence between the M–code and the
direct signals are decided like below.
No.7415 corresponds to No.7410.
No.7416 corresponds to No.7411.
No.7417 corresponds to No.7412.

189
1. AXIS CONTROL B–63173EN–1/02

Note) When this parameter is set, the power must be turned off before
operation is continued.
These parameters are effective when direct signal output function
is used in high response mode.

7420 Number of output bits 1 for direct signal output

7421 Number of output bits 2 for direct signal output

7422 Number of output bits 3 for direct signal output

[Data type] Byte

[Valid data range] 1–8
Set the number of output bits on Y address.
Ex) When the output address is Y1001 and the number of output bits is
3, then Y1001#0 to #2 are used for direct signal output.
The correspondence between M–code and these parameters are
shown below.
No.7420 corresponds to No.7410
No.7421 corresponds to No.7411
No.7422 corresponds to No.7412
If this parameter is set to ”0”, the M–code corresponded to the parameter
is not used for direct signal output.
Note) When this parameter is set, the power must be turned off before
operation is continued.
These parameters are effective only in case of direct signal output
function.

CAUTION
S As the output signals on the built–in I/O are used, the
address and the bit of the direct signal must not overlap with
the other usage of PMC application. The signals that are
already used for other purpose cannot be assigned here.
S The bits other than the direct signal in the address assigned
for the direct signal must not be used for other usage.

Compile error The following description is related to the compile error added for direct
signal output. As for the other compile error, please refer to the ”Compile
error code list” in the section 1.8 ”High speed response function”.
(1) Compile error 1029 is generated when the address ”Q” is not specified
in the block of M–code for direct signal output.
Ex) In case that the parameters are set as follows,
No.7410=40, No.7415=1000, No.7420=3,
compile error 1029 is generated when the following program is
compiled.
O8000;
M40P1;
%

190
B–63173EN–1/02 1. AXIS CONTROL

(2) Compile error 1028 is generated when the value of the ”Q” command
is other than 0, 1, 2 or 3.
Ex) In case that the parameters are set as follows,
No.7410=40, No.7415=1000, No.7420=3
compile error 1028 is generated when the following program is
compiled.
O8000;
M40P1Q4;
%
(3) Compile error 1028 is generated, when the value of the ”Q” command
is 2 or 3 and the value of the ”Q” command in the previous block is
0 or 1 in the block of M–code for direct signal output.
Ex) In case that the parameters are set as follows,
No.7410=40, No.7415=1000, No.7420=3
compile error 1028 is generated when the following program is
compiled.
O8000;
M40P1Q1;
M40P1Q3;
%
D The above compile error can be avoided by inserting the block
other than M–code for direct signal output between two blocks of
M–code for direct signal output. Although an empty block (only
”;”) is inserted, this compile error is avoided.
D Compile error code list
Number Contents

1028 Incorrect ”Q” is specified in the block of direct signal output.

1029 ”Q” is not specified in the block of direct signal output.

Alarm, diagnosis In the following case, an alarm is generated and CNC comes to emergency
stop state when the power is turned on. The cause is displayed in
diagnostic data.
(1) The edition of the PMC control software is not the one to support the
function that allows CNC to access the Y address directly.
(2) In case that both ”direct signal output function” and ”pulse signal
output function” use the same bit of the same Y address on the built–in
I/O.
D Alarm
Number Message Contents

5800 THE The function to be executed is unavail-

COMBINATION able because the combination of the sys-
OF THE SYSTEM tem is improper. As for the detail, refer to
IS IMPROPER. the diagnosis screen. The data No.50 of
the diagnostic data shows the improper
system software. The data No.60 shows
the function that cannot be used together.

191
1. AXIS CONTROL B–63173EN–1/02

D The detail of an alarm 5800 is displayed in the data No.50 and No.60
of the diagnostic screen.
The detail of an alarm 5800

#7 #6 #5 #4 #3 #2 #1 #0
Diagnosis 50 PMC

The software to generate an alarm 5800 is informed.

PMC The PMC control software is not proper.
Use the edition 03 or later of the ROM series 407B.

#7 #6 #5 #4 #3 #2 #1 #0
Diagnosis 60 HSO

The function to generate an alarm 5800 is informed.

HSO As the specified Y address and bit on the built–in I/O overlaps with the
”pulse signal output function”, direct signal output function can not be
used.

1.8.3 When high speed response function is used, this function enables to use
Custom Macro in the macro sentence and macro system variable in motion program. The
following macro sentence can be used.
High Response Mode
S Arithmetic command
S Unconditional branch command (GO TO statement)
S Conditional branch command (IF statement)
S Reiterating command (WHILE statement)
S Quotation of variable

NOTE
The following functions apply to the variables that are
described in the Subsection 1.8.3.5 System variables.

1.8.3.1 The following arithmetic commands can be used. (i, j, k: System variable,
Macro statement n: Integer)

Arithmetic command
Function Format
Definition #i = #j, #i = n
Addition #i =#j + #k, #i = #j + n
Subtraction #i =#j – #k, #i = #j – n
Multiplication #i =#j*#k, #i = #j*n
Division #i = #j / #k, #i = #j / n
Absolute value #i =ABS[#j]

192
B–63173EN–1/02 1. AXIS CONTROL

Function Format
Logical or #i =#j OR #k, #i =#j OR n
Exclusive logical or #i =#j XOR #k, #i =#j XOR n
Logical and #i =#j AND #k, #i =#j AND n

NOTE
1 The arithmetic commands except the above can not be
used.
2 The figures below the decimal place are omitted when the
decimal part remains as a result of division.
3 ”–” cannot be placed just before ”ABS”.
Ex.) The command such as ”#i = –ABS[#j]” is not permitted.
4 A constant cannot be placed in the square brackets ”[ ]” of
ABS command.
5 An operator can not be used in the left side of an equation
and the first term of the right side of equation.
Ex.) The command such as ”–#i= 100” cannot be used.

D Unconditional branch The program branches to the block with sequence number n
(GOTO statement) unconditionally.
If sequence number except 0–89999 is specified, compile error 128 is
generated.
Ex.) (n: 0–89999)
GOTO n;
:
:
Nn ..... ;
D Conditional branch An equation of condition is placed after ”IF”. Put an equation of condition
(IF statement) in square brackets ”[” and ”]”. If the condition is true, then the program
branches to the block with sequence number n. If the condition is false,
then the next block is executed.
The following operators as an equation of condition can be used
Operator Meaning
EQ Equal to (=)
NE Not equal to (0)
GT Greater than (>)
GE Greater than or equal to (y)
LT Less than (<)
LE Less than or equal to (x)

193
1. AXIS CONTROL B–63173EN–1/02

Example)
IF [#i EQ #j] GOTO n;
(1) If the specified conditional
(2) expression is satisfied (#i = #j),
this program branches to the
Processing1 (1) block with sequence number
n, and the processing2 is
Nn executed.

Processing2
(2) If the specified condition is
not satisfied (#i 0 #j), the
processing1 is executed.

NOTE
Arithmetic and logic operation can not be performed in an
equation of condition.
Example)
IF[#i EQ #i + 1] ..... NG
IF[#i EQ – #i ] ........ OK
IF[#i EQ #j] ........... OK

D Repetition (While Specify a conditional expression after WHILE. While the specified
Statement) condition is satisfied, the program from DO to END is executed. If the
specified condition is not satisfied, program execution proceeds to the
block after END.
The same format as for the IF statement applies.
Example)
WHILE [#i EQ #j] DO1 ;
(1) While the specified condition
(2) is satisfied (#i = #j), the
processing1 from DO to END
Processing1 (1) is executed.

END1 ;
(2) If the specified condition is
Processing2 not satisfied (#i 0 #j), the
processing2 is executed.

194
B–63173EN–1/02 1. AXIS CONTROL

D Nesting
1 The identification numbers (1 to 3) can be used as many times as
required.
WHILE […] DO1;
Processing
END1;
:
WHILE […] DO1;
Processing
END1;
2 DO loops can be nested to a maximum depth of three levels.
WHILE […] DO1;
:
WHILE […] DO2;
:
WHILE […] DO3;
Processing
END3;
:
END2;
:
END1;
3 Control can be transferred to the outside of a loop.
WHILE […] DO1;
:
IF […] GOTO n;
:
END1;
:
Nn…;

195
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 DO ranges cannot overlap.
If the following program is specified, the compile error 0124
occurs when the compile is done.
WHILE […] DO1;
Processing

WHILE […] DO2;

END1;
Processing
END2;
2 Branches must not be made to a location within a loop.
IF […] GOTO n;
:
WHILE [D] DO1;
:
NnD;
:
END1;
3 Arithmetic and logic operation can not be specified in the
right of an equation of condition.
Example)
WHILE[#i EQ #i+1] …NG
WHILE[#i EQ #j] …OK
4 When DOn is specified without specifying the WHILE
statement, the compile error 0124 occurs.

1.8.3.2 In order to refer to the value of a variable in a motion program, specify

Referring to variables a word address followed by the variable number. The value of a macro
variable can be referred just to specify the position, the distance or the feed
rate.
Example)
G90 G00 X#i ; …OK
G91 G01 X#i F#j ;…OK

196
B–63173EN–1/02 1. AXIS CONTROL

CAUTION
As for the variables from #1245 to #1959 in addition to the
variables, which are described in the ”1.8.3.5 SYSTEM
Variables”, the value of the variable can be referred to, too.
But the value of the system variables from #1245 to #1959
is referred only when the programs are compiled. So, if the
value of the macro variable is changed after compiling the
programs, the changed value of the macro variable will not
be reflected to the executing motion program.

NOTE
1 The value of a macro variable can not be referred just to
specify the G code, M code, and number of M code group.
Example) G#i ; …NG
M#i P1 ; …NG
M100 P#i ; …NG
2 An expression as following is not available.
Example) X[#i + #j ]

1.8.3.3 Local variables from #1 to #33 are not available.

Local variables

1.8.3.4 Common variables from #100 to #199, from #500 to #699 are not
Common variables available.

1.8.3.5 The following system variables are available in the motion program.
System variables Variable number Function

#5021 to #5028 Current position (Machine coordinate system)

#5041 to #5048 Current position (Workpiece coordinate system)

#5061 to #5068 Skip position

#5101 to #5108 Deviated servo position

#1000000 to #1000296 Variable timer variable (T0 to T299)

#1010000 to #1010036 Keep relay variable (K0 to K39)

#1020000 to #1020196 Counter variable (C0 to C199)

#1051000 to #1051007 Built–in DI variable (X1000 to X1007)

#1200000 to #1207996 Data table variable (D0 to D7999)

#1300000 to #1302996 Internal relay variable (R0 to R2999)

197
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 The usable area of the PMC data depends on the PMC type.
2 The value of the above variables is referred when the
motion program is executed.
3 When this access function is used, the four bytes from a
specified address are accessed.
Example) When #1300001 is specified, the four bytes from
the #1300001 are accessed. If #1207999 is
specified, the error will occur because the area
from D8000 to D8002 are not available.
4 When the data table variable (D0 to D7999) and the internal
relay variable (R0 to R2999) are specified for the position
value, the unit of the command is least input increment.
When these data are specified for the feed rate, the unit is
mm/min.
5 Musk the variables from #1051008 to #1051010, when
#1051007 is specified to read the X1007 in the built–in DI.
Because the variables from #1051008 to #1051010 are not
available.
6 The following system variables are the write protected
variables. If the command to write to these system variables
is specified, the compile error 0116 occurs at compile.
#5021 to #5028 : Current position (Machine coordinate
system)
#5041 to #5048 : Current position (Workpiece coordinate
system)
#5061 to #5068 : Skip position (Workpiece coordinate
system)
#5101 to #5108 : Deviated servo position
#1051000 to #1051007 : Built in DI (X1000 to X1007)

198
B–63173EN–1/02 1. AXIS CONTROL

WARNING
Incorrect data may be read if data being written by a ladder program is read by an NC program,
or if data being written by an NC program is read by a ladder program. When data is exchanged
between a ladder program and an NC program, read/write timing must be set carefully.
Generally, in case of reading the PMC data in a motion program, the value must be fixed before
the previous block with axis moving command starts executing. And, the ladder program must
not change the value until the block referring this data starts to execute.
Example)
:
G91 G00 X10000 ; ……… (1)
G91 G00 X20000 ; ……… (2)
#1200004 = #1200004 + 1 ; ……… (3)
G91 G00 X#1200000 ; ……… (4)
:
When the above motion program is executing, the value of PMC data that is used in the block
(4) must be fixed by the time the block (2) starts to execute. In the following term, the ladder
program must not change the value of the PMC data that is used in the block (4).
Executing the block(1)
Executing the block(2)

Executing the
block(3)
Executing the block(4)

#12000000
(D0000AD0003)
The value can The value is prohibited changing
be changed

Fig. 18.3.5 Executing blocks and the prohibition term to change the value of the variable

1.8.3.6 The total number of blocks that can be specified in all programs is
Number of blocks extended up to about 6000 from 1000 in the system that custom macro
function in the high response mode is available.

NOTE
1 The part program memory is also necessary to create the
programs. Please select the proper part program storage
length that is necessary to create the programs.
2 The number of available blocks is the roughly estimated
value. So, there are some cases that this number is under
the above value according to the programs. Especially, a
block of the four basic arithmetic functions is twice the size
of the axis moving block.

199
1. AXIS CONTROL B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8706
HMC

[Data type] Bit

HMC The macro statement in high response function is
0 : Not available
1 : Available

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

Limitations S Bracket nesting

Brackets can be used to a depth of one level for every macro statement.
The operation can not be specified between bracket ’[’ and bracket ’]’.
Example)
#j = #[#i] …OK
#j = ABS[#i] …OK
#j = #[#[#i]] …NG
#j = ABS[#[#i]] …NG
#j =#[#i+1] …NG
Brackets (’[’ and ’]’) can not be specified in the conditional expression
of WHILE, IF statements as follows.
Example)
IF [#[#i] EQ 1] GOTO100 …NG
WHILE [#[#i] EQ 1] DO1 …NG
GOTO #i …NG
S Referring variables
If the variable is specified after F or address word, brackets (’[’ and ’]’)
can not be specified.
Example)
G00 X #i …OK
G00 X #[#i] …NG
The variables can not be referred as the number after GOTO, DO and
END.
Example)
GOTO#i …NG
IF [.....] GOTO #i …NG
WHILE [...] DO#i …NG
END#i …NG

200
B–63173EN–1/02 1. AXIS CONTROL

S Number of the terms for the operation

The number of the terms for the operation is up to two per a block. The
operation can not be specified for a conditional expression of WHILE
statement or IF statement. The operation can not be specified for the
block that the ABS operation is specified.
Example)
#i = #i + #j …OK
#i = #i * #j …OK
#i = #i * #j / #k …NG
IF [#i EQ #i +1] GOTO100 …NG
WHILE [#i EQ #i +1] DO1 …NG
#i = ABS[#i] …OK
#i = ABS[#i + #j] …NG
#i = ABS[#i] + ABS[#j] …NG
S Modal G code and F command
The modal G code (group 01 and group 03) and F command must be
specified in the axis moving block after the block of the sequence
number, END statement and WHILE statement. The sequence number
can be specified up to 1000 in a program.
(Allowable sequence number : 0–89999 )
Example)
N100 … ;
:
G91 G01 X1000 F1500 ; …OK ← the first axis moving block after
’N100’
N100 … ;
:
X100 ; …NG ← the first axis moving block after ’N100’
S Sequence number
The same sequence number can not be specified two or more times in
a program.
Example)
O8000 G90 G00 X0 ;
N1 G90 G00 X10000 ;
N2 G90 G00 Y10000 ; It is not allowed
IF [#1200000 EQ 10 ] GOTO1 ; because the ’N1’ is
N1; specified at two
% blocks.
S Combination with the optional block skip
The optional block skip and the macro sentence can not be specified
at the same block.
Example)
/ IF [.....] GOTO..... ; …NG
Optional block skip numbers cannot be referred by using variables.
Example)
/#1000000
S Single block stop
The macro statements (arithmetic and logic operations, conditional
branch(IF statement), unconditional branch(GOTO statement) and
repetition(WHILE statement) ) can not stop by the single block.

201
1. AXIS CONTROL B–63173EN–1/02

1.8.4 The following format of bit–specified access is usable for custom macro
Bit–Specified Access to system variables for PMC data in the high response mode.
System Variables
Bit–specified access format:
#variable–number.bit–number
(where bit number: 0 to 7)
Example) If the R0000 bit is 1:
#1300000.1

NOTE
1 Only bit numbers 0 to 7 can be specified. If any other bit
number is specified, compiler error 1064 occurs.
2 If bit–specified access is to be performed, do not specify a
variable as a variable number or bit number. Otherwise,
compiler error 1066 (meaning that an attempt to use an
indirect command with a bit specification macro variable
was made) occurs.
Example) #[#1300000.2] .0 ... Impossible
#1300000.#1300004 ... Impossible
#[#1300000].0 ... Possible

Usable system variables Listed below are the system variables for which bit specification is
supported.
Variable number Function Access
attribute (*1)
#1000000 to #1000299 Variable–timer variables (T0 to R/W
T299)
#1010000 to #1010039 Keep relay variables (K0 to K39) R/W
#1020000 to #1020199 Counter variables (C0 to C199) R/W
#1050000 to #1050127 External I/O (X0000 to X0127) R
#1051000 to #1051003, Built–in I/O (X1000 to X1003 and R
#1051007 X1007)
#1060000 to #1060127 External I/O (Y0000 to Y0127) R
#1061000 to #1061002 Built–in I/O (Y1000 to Y1002) R/W*2
#1200000 to #1207999 Data table variables (D0 to R/W
D7999)
#1300000 to #1302999 Relay variables (R0 to R2999) R/W
#1400000 to #1400511 PMC G addresses (G0 to G511) R/W
#1500000 to #1500511 PMC F addresses (F0 to F511) R

*1 R: Readable. W: Writable.
*2 Before writing, specify the Y addresses of the write destinations in
parameter Nos. 7415 to 7417.

202
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 The usable PMC data range varies from one PMC model to
another.
2 Do not perform bit–specified access for any variable other
than listed above. Otherwise, compiler error 0125 occurs.
3 The bit specification value of the variables listed above is
referenced when a motion program is executed. As for the
timing when data can be changed on the PMC ladder side,
read the following warning.
4 Do not issue a command for assigning a bit specification
number to the following system variables. Otherwise,
compile error 0116 occurs on the command.
#1050000 to #1050127: External I/O (X0 to X0127)
#1051000 to #1051004 and #1051007: Built–in I/O
(X1000 to X1007)
#1060000 to #1060127: External I/O (Y0000 to Y0127)
#1500000 to #1500511: PMC F address (F0 to F511)
5 Be careful not to perform a PMC ladder–triggered write and
a variable–triggered write to the PMC data area
simultaneously (double writing).

Operation commands Listed below are the operation commands for which the system variables
are usable.
(i, j, k: System variables (including bit specification). n: 0 or 1)
Function Format
Definition #i=#j, #i=n
Logical OR #i=#j OR #k, #i=#j OR n
Exclusive OR #i=#j XOR #k, #i=#j XOR n
Logical AND #i=#j AND #k, #i=#j AND n

NOTE
1 The bit specification–type system variable shall take either
0 or 1. Any value other than 0 is assumed as 1.
2 No system variable is usable for any command other than
listed above. If an attempt is made to use a bit
specification–type system variable with any command other
than listed above, compiler error 1065 occurs.

203
1. AXIS CONTROL B–63173EN–1/02

D Conditional branch (IF A conditional expansion shall follow IF. Enclose the conditional
statement) expansion in brackets [ and ].
If the conditional expansion is satisfied, a branch is made to sequence
number n. If not, program control goes to the next block.
Listed below are the operators that can be used in conditional expansions.
Operator Meaning
EQ Equal (+)
NE Unequal (0)

Example of using IF)

IF [#i EQ #j] GOTO n;
(1) If the condition is satisfied (#i
(2) = #j), a branch is made to Nn
to perform processing 2.
Processing1 (1)

Nn (2) If the condition is not satisfied

(#i ( #j), program control goes
Processing2 to processing 1.

NOTE
1 Do not use any operator other than those listed above with
the bit specification–type system variables. Otherwise,
compiler error 1065 occurs.
2 No operation can be specified within a conditional
expansion.
Example)
IF[#i EQ 1] ........ Possible
IF[#i 1 EQ #j.2 ] ........ Possible
IF[#i.1 EQ #j.1 OR #j.3] ........ Impossible

D Repetition (WHILE A conditional expansion shall follow WHILE.

statement) Program steps between DO and END are executed while the conditional
expansion is satisfied.
If the conditional expansion is not satisfied, program control goes to the
block next to END.
The operators usable with a conditional branch (IF statement) can be used
also in the conditional expression for the WHILE statement.
Example of using WHILE)
WHILE [#i.b EQ 1] DO1 ;
(1) Processing 1 between DO1
(2) and END1 is repeated while
the condition is satisfied (#i.b
Processing1 (1) = 1).

END1 ;
(2) Processing 2 is executed if the
Processing2 condition is not satisfied (#i.b
= 0).

204
B–63173EN–1/02 1. AXIS CONTROL

D Multiplexing
1 Identifiers (1 to 3) can be used any number of times.
WHILE […] DO1;
Processing
END1;
’
WHILE […] DO1;
Processing
END1;
2 WHILE–DO loops can be nested up to 3 levels.
WHILE […] DO1;
:
WHILE […] DO2;
:
WHILE […] DO3;
Processing
END3;
:
END2;
:
END1;
3 A loop can be exited.
WHILE […] DO1;
:
IF […] GOTO n;
:
END1;
:
Nn…;

D Referencing variables Variables in which a variable number follows an address word cannot be
referenced by any bit specification–type system variable.
Example)
G90 G00 X#i.b ; …Impossible
G91 G01 X#i.b F#j.b ; …Impossible

205
1. AXIS CONTROL B–63173EN–1/02

WARNING
D About the timing when signals are transferred between macro variables and PMC ladder
programs
Incorrect data may be read when a motion program tries to read the data that a ladder program
is writing or a ladder program tries to read the data that a motion program is writing. When
transferring data between ladder and motion programs, be sure to time the reading and writing
strictly.
Generally, in a motion program that references PMC data, be sure to fix the PMC data before
the motion block immediately preceding the block that references the data is started. Do not
allow the ladder program to change the PMC data after the block is executed but before the
motion block is started.
Use M codes if it is necessary to keep the timing strictly.
Example)
Example of an ordinary motion program Example of a motion program in which the correct timing
: is observed just before a bit specification variable is ref-
N10 G91 G00 X10000 ; À erenced.
N20 G91 G00 X20000 ; Á :
N30 IF[#1200000.1 EQ 1]GOTO 50 ; Â N10 G91 G00 X10000 ; À
N20 G91 G00 X20000 ; Á
N40 G91 G00 X#1201000 ; Ã
N25 M100G04 I
N50 G91 G00 X#1201004 Ä N30 IF[#1200000.1 EQ 1]GOTO 50 ; Ã
: N40 G91 G00 X#1201000 ; Ã
N50 G91 G00 X#1201004 Ä
:

If the motion programs given above are being executed, it is necessary to fix the bit values of
the PMC data used in block  just before the execution of block Á begins. Do not allow the
ladder program to change the PMC data to be used, in the period shown in Fig. 1.8.4.

Program in which the correct timing is observed just

Ordinary motion program before a bit specification variable is referenced
Block I is running.
Block À is running.
Block  is running.
Block Á is running. Block À is running.

Block Âis running. Block Á is running.

Block à is running.

#12000000.1 Block Ä is running.

Block à is running.
(D0000.1)

Block Ä is running.

Values can No value can

be changed. be changed. #12000000.1 Values can
(D0000.1) be changed.
FIN

Fig. 1.8.4 Block execution and a period during which no variable value can be changed

206
B–63173EN–1/02 1. AXIS CONTROL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8706 HMC

[Data type] Bit

HMC Specifies whether to make macro statements usable with the high
response function, as follows:
0 : Not to make usable
1 : To make usable

NOTE
The setting of the parameter becomes valid only after the
power is turned off and on again.

1.8.5
Sub–Program Call for
High–Speed Response
Function

1.8.5.1 In case of high–speed response function, fixed sequence or repetitive

Outline patterns in motion program can be registered in the CNC memory as
sub–programs beforehand. This sub–program can be called repeatedly in
case of need. So motion programs can be simplified by using
sub–program.
A sub–program can be called from a main–program. Moreover a called
sub–program can call other sub–program.

D Main–program and In high–speed response mode, the programs with program number O8000
sub–program in to O8031 are defined as a main program. This main program can call
high–speed response sub–program. But a sub–program can not call a main–program. (If call,
function an alarm 1020 occurs.)
You can make sub–programs with the consecutive program number from
a number specified by a parameter. Also the maximum number of
sub–program is specified by a parameter.

207
1. AXIS CONTROL B–63173EN–1/02

1.8.5.2
How to give a command

D Sub–program As other program, a program number, Oxxxx, is placed the top of

configuration sub–program and M99 to return to a main–program is placed the end.

Example) a sub–program

Oxxxx ; Sub–program number( In case of ISO code,

the colon ”:” can be used instead of ”O”.)
.
.
.
.
M99 ; Program end

D Sub–program call Sub–program can be called by specifying M98 and a sub–program

number P.
Optional block skip function can be applied to the block with M98
(sub–program call).

Example)
1 In case a sub–program is called:
M98 Ppppp ;
↑
Sub–program number
Repeating number can not be specified.
Use ”WHILE” statement to call a sub–program
repeatedly.
In case of program number 8 digits, calling format is the
same.
2 In case optional block skip function is used:
/1 M98 P7000;
When optional block skip signals BDT1 is set to 1
before the CNC start reading a block containing /1, the
block is ignored.

208
B–63173EN–1/02 1. AXIS CONTROL

D Sub–program call A sub–program can call another sub–program. Sub–program call can be
nesting nested to a depth of four levels including sub–program call from
main–program.

Main–program Sub–program Sub–program Sub–program Sub–program

O8001 ; O7000 ; O7001 ; O7002 ; O7003 ;

M98P7000 ; M98P7001 ; M98P7002 ; M98P7003 ;

% M99 ; M99 ; M99 ; M99 ;

(1 level nesting) (2 level nesting) (3 level nesting) (4 level nesting)

NOTE
1 A sub–program can not start alone directly. A sub–program
must be called from a main–program (O8000 to O8031).
2 A sub–program can not call a main–program. (If call, an
alarm 1020 occurs.) It is only a sub–program that a program
can call.

D Return form a If M99 is executed in a sub–program, control returns to the program that
sub–program calls this sub–program. Then the block next to M98 is executed. In
high–speed response mode, sub–program return with return block
command (M99 Ppppp) can not be specified. M99 must be commanded
alone.

D Modal G code in case In high–speed response function, all programs are compiled before
sub–program call execution. When a sub–program is compiled, the value of modal G code
can not be fixed because a program that calls this sub–program is not
identified. In order to fix a modal value, give the command of the group
01 G code (G00/G01), the group 03 G code (G90/G91) and F in the
following case. If not give, an alarm 1063 occurs in compiling.
D The first motion command in a sub–program (If there is no motion
command in a sub–program, it is not necessary to set modal data.)
D The first motion command after return from a sub–program (If there
is no motion command hereafter, it is not necessary to set modal data.)
When a main–program (O8000 to O8031) is started execution, the value
of modal G code is always as follows.
Group 01: G00
Group 03: G91

209
1. AXIS CONTROL B–63173EN–1/02

Restriction
D Execution of plural In high–speed response mode, plural programs can be executed at a time.
programs But, when the same axis or M–code with the same M–code group number
simultaneously is specified in plural programs executed at the same time, an alarm 1001
occurs.
When sub–program call is executed, the conflict between ”the axes and
the M–code group number included in a main–program and
sub–programs” and ”those included in other main program group” are
checked. If the conflict is detected when a program is executed, an alarm
1001 occurs.

Example)

Path 1
Main program1 Sub–program 11 Sub–program 12

Command axis Command axis Command axis

(X,Y) (A) (B)
(1) (2) (3)
M98P___ M98P___

(5) (4)

M99 M99

Path 2
Main program 2 Sub–program 21

Command axis Command axis

(X,V) (C)
(11) (12)
M98P___

(13)
M99

Axis group of path 1 Axis group of path 2

(1) X, Y (11) X, V
(2) X, Y, A (12) X, V, C
(3) X, Y, A, B (13) X, V
(4) X, Y, A
(5) X, Y

In the above condition, when the main–program 2 is started execution in

path 2 while the subprogram 12 (Only B axis command is included) is
being executed in path 1, an alarm 1001 occurs. Because X axis is
conflicted between 2 groups.

210
B–63173EN–1/02 1. AXIS CONTROL

It is not permitted to call a sub–program with the same program number

from two or more programs at a time. If a sub–program is called from two
or more program at a time, an alarm 1021 occurs.

Example)
Path 1
Main–program
Command axis
(X, Y)
(1)
M98P___
Sub–program

(4) Command axis

(A)
(2)
M98P___
Path 2
Main program (3)
Command axis M99
(U, V)
(11)
M98P___

(12)

When a sub–program is called in path 2 while the sub–program with the

same program number is being executed in path 1, an alarm 1021 occurs.

211
1. AXIS CONTROL B–63173EN–1/02

NOTE
The following period is regarded as a sub–program is under execution.
(1)Start execution of sub–program
Immediately after the block just before the block with M98 is started execution in the program
that call a sub–program.
(2)End execution of sub–program
When all axis command and M–code command are completed in a sub–program after M99
is executed.
Example)
Main–program Sub–program
O8000 G91 G00 X10000 ; ...(1)
#1200000 = #1200000 +1 ; ...(2)
M98 P7000 ; ...(3) O7000 G91 G00 Y10000 ; ...(11)
G91 G00 X10000 ; ...(4) M99 ; ...(12)
% %
In case above main–program O8000 is executed, the period shown in the following figure
is regarded as a sub–program O7000 is being executed.

Motion command (1) Motion command (4)

Motion
command (11) Execution of block (4)

Execution of block (1)

Execution of block (2)

Execution of block (3)

Execution of block (11)

Execution of block (12)

Execution of sub–program O7000

212
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 In case you compile main programs and sub–programs at
a time, a compile error 1824 occurs when those all program
numbers are included in the area forbidden
editing/displaying that is designated by the following
parameters.
Parameter Program forbidden editing/
displaying
No.3202#0(NE8) =1 O8000 to O8999
No.3202#4(NE9) =1 O9000 to O9999
No.3204#3(P8E) =1 O8000000 to O89999999
No.3204#4(P9E) =1 O9000000 to O99999999

Example) In case O8900 to O9099 are designated as

sub–program numbers, (Parameter
No.8691=8900 and No.8692=200)
In case both the parameter No.3202#0(NE8)
and the parameter No.3202#4(NE9) are set to
”1”, a compile error 1824 occurs when all
programs are compiled at a time.
2 If you want to forbid editing/displaying a part of
sub–programs, you can set as follows.
Example) In case O8900 to O8999 are forbidden
editing/displaying, and O9000 to O9099 are
available editing/displaying.
(Parameter No.8691=8900 ,No8692=200,
No. 3202#0(NE8) =1 and No.3202#4(NE9) =0)
In this case, all programs containing program forbidden
editing/displaying are recompiled at a time by all compile
operation.
3 In case the programs that have compile error are forbidden
editing/displaying program by the following parameter,
compile error block cannot be displayed.
Parameter Program forbidden editing/
displaying
No.3202#0(NE8) =1 O8000 to O8999
No.3202#4(NE9) =1 O9000 to O9999
No.3204#3(P8E) =1 O8000000 to O89999999
No.3204#4(P9E) =1 O9000000 to O99999999

213
1. AXIS CONTROL B–63173EN–1/02

8691 Top number of sub–program number

[Data type] 2–word

[Valid data range] 1 to 9999 In case program number O4 digits
1 to 99999999 In case program number O8 digits
But 8000 to 8031 assigned to main program can not be specified.

NOTE
When this parameter is set, the power must be turned off
before operation is continued.
Also be sure to recompile programs after the power on.

8692 Total number of sub–program

[Data type] Word

[Valid data range] 1 to 250

NOTE
1 When this parameter is set, the power must be turned off
before operation is continued.
Also be sure to recompile programs after the power on.
2 Part program storage is required for making program.
Registered total program number included in basic function
is 63. So specify enough capacity of part program storage
and total program number according to your program.
3 The area that includes main program number (O8000 to
O8031) can not be specified as the area of sub–program.
If such is set, sub–program calling function can not be used.
Ex) The following setting (Specify O7900 to O8099 as
sub–program number) is forbidden.
Parameter No. 8691 = 7900
Parameter No. 8692 = 200
4 When these parameter, No.8691 and No.8692, are not set
correctly, sub–program calling function can not be used.

Main programs and sub–programs are protected from editing/displaying

by setting the following parameters.
Parameter No.3202#0 (NE8), #4 (NE9),
parameter No.3204#3 (P8E), #4 (P9E)
S In case sub–program numbers are within 8032 to 8999
(The area of sub–program number is specified by the parameter
No.8691 and No.8692)
If NE8=1, a compile error 1824 occurs at compiling.
S In case sub–program numbers are within 8032 to 9999.
If NE8=1 and NE9=1, a compile error 1824 occurs at compiling.

214
B–63173EN–1/02 1. AXIS CONTROL

S In case sub–program numbers are within 80000000 to 89999999 If

NE8=1 and P8E=1, a compile error 1824 occurs at compiling.
S In case sub–program numbers are within 90000000 to 99999999.
If NE8=1 and P9E=1, a compile error 1824 occurs at compiling.
In case you start to compile only one program by an external signal,
a compile error 1824 occurs if the program is protected by the above
setting.

1.8.6
Distance/Angle–Yet–to
–Move Read Function

1.8.6.1 In the high response mode, it may be necessary to know where the current
Overview block will reach during the execution of a motion program. Using the
PMC window data read function enables you to obtain the absolute
position and the distance/angle–yet–to–move so that where the current
block will reach can be found out.

1.8.6.2 (1) G00 (positioning)

Distance/angle–yet–to– Incremental command: Result of subtracting the distance/angle
moved to reach the current position from the specified distance/angle
move of various motion
to move
commands Absolute command: Result of subtracting the current position from
the specified position
(2) G01 (linear interpolation)
Incremental command: Result of subtracting the distance/angle
moved to reach the current position from the specified distance/angle
to move
Absolute command: Result of subtracting the current position from
the specified position
(3) G04 (dwell)
”0” is obtained while dwelling.
(4) G28 (reference position return)
Result of subtracting the current position from the reference position
(5) G31 (skip)
Before a skip occurs, the same results as in G01 are obtained.
After a skip has occurred, the value needed to move through the servo
error distance/angle (trace–back distance/angle) accumulated during
the skip is obtained if it is necessary to make adjustments related to the
trace–back distance/angle.
(6) G92 (workpiece coordinate system setup)
”0” is obtained while a workpiece coordinate system is being set up.

215
1. AXIS CONTROL B–63173EN–1/02

(7) G135.1 (continuous feed)

Incremental command: Distance/angle moved (overrun distance/
angle) before the axis stops if the feed–axis
direction select signal is 1, or distance/angle
yet to move before the axis stops if the
feed–axis direction select signal is 0
Absolute command: Distance/angle moved to reach the
specified stop position no matter regardless
of whether the feed–axis direction select
signal is 1 or 0
(8) G135.2 (rate feed)
Incremental command: Result of subtracting the distance/angle
moved to reach the current position from
the specified distance/angle to move
Absolute command: Result of subtracting the current position
from the specified position
(9) G135.3 (time constant–specified feed)
Incremental command: Result of subtracting the distance/angle
moved to reach the current position from
the specified distance/angle to move
Absolute command: Result of subtracting the current position
from the specified position

1.8.6.3 The PMC window function is used to read data. Refer to ”FANUC
PMC window data read PMC–MODEL SB5/SB6 (Ladder Language) Programming Manual”
(B–61863E (edition 14 or later)) for explanations about the structure of
function
input/output data.

[Procedure]To obtain the end point of a block, follow the procedure

below.
<1> Read one byte of data from the R (internal relay)
specified with parameter No. 8693.
<2> Using the PMC window read function, read the
absolute position and the distance/angle yet to move.
<3> Read one byte of data from the R (internal relay)
specified with parameter No. 8693.
<4> Check to see if the value read at step <1> is even. If
it is odd, retry from step <1>. If it is even, make
comparison between the values obtained at steps <1>
and <3>. If they are unequal, retry from step <1>. If
they are equal, calculate the sum of the absolute
position and the distance/angle yet to move obtained
at step <2> to obtain the end position of the block
being currently executed.

216
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 The PMC window read function is asynchronous to NC operations. If the above procedure is
not observed, the simultaneity of the absolute position and the distance/angle yet to move that
are read even continuously by a ladder program may not be guaranteed depending on the
timing of the reading. To put it another way, even if these two pieces of data are continuously
read to obtain the end–point position, the obtained end–point position may not equal to the
actual end–point position (specified speed/60000 mm).
2 Be sure to execute the steps of the above procedure continuously. When using the PMC
window function to read the absolute position and distance/angle yet to move by following the
procedure, be sure to specify the input data attribute as one axis. If it is specified as all axes,
it is more likely that a mismatch may occur at step <4>.
3 In the normal mode, the PMC window data read function can read the distance/angle yet to
move with a resolution half as high as the least input increment. In the high response mode,
the data is read with the same resolution as the least input increment.
4 In the high response mode, the absolute position and distance/angle yet to move that are
obtained include a delay in acceleration/deceleration; no servo error distance/angle is
included.
Assuming that the trapezoid shown in Fig. 1.8.6.3 is moved with one block, for example, the
shaded portion in the figure is read as the distance/angle yet to move after the time T has
elapsed since the beginning of motion.

Speed

Time

Value reflected to T Distance/angle yet

the coordinate data to move

Fig. 1.8.6.3

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8681 HRWR

[Data type] Bit

HRWR Specifies whether to use one byte of data from the R (internal relay) of the
PMC as the counter for updating the absolute position and distance/angle
yet to move when a motion program is running in the high response mode,
as follows:
0 : Not to use
1 : To use

217
1. AXIS CONTROL B–63173EN–1/02

NOTE
Once this parameter has been re–set, it is necessary to turn
the power off and on again.

8693

Byte number for one byte of data from the R (internal relay) used as the counter for
updating the absolute position and distance/angle yet to move when a motion
program is running in the high response mode

[Data type] Word

[Unit of data]
[Valid data range] Usable range of data in the R (internal relay) of the PMC

NOTE
1 Once this parameter has been re–set, it is necessary to turn
the power off and on again.
2 If bit 1 of parameter No. 8681 (HRWR) is set to 1, never write
data to the R (internal relay) of the PMC specified with this
parameter.

1.8.7 There are two ways to move the axis. One is by a motion command to the
Simple Synchronous axis as usual. Another is to synchronize with the other axis. Either of these
two ways can be selected by the signal sent from the machine.
Control In synchronous operation, only the master axis can be specified motion
commands and the slave axis is just moved by synchronizing with the
master axis.
There are a little difference of the specification of the simple synchronous
control function between in normal mode and in high response mode. The
specification of simple synchronous control function in high response
mode is described below.

Synchronization error The difference of the servo positional deviation between the master axis
check based on and the slave axis is monitored during synchronous control. If the
positional deviation difference exceeds a limit set in parameter No. 8313 (if only one
master/slave axis pair is in synchronization) or No. 8323 (if more than one
master/slave axis pair is in synchronization), an alarm will occur. And the
motion program is stopped and the motion program alarm signal is set to
”1”.

Synchronization error The difference of the machine coordinates between the master axis and the
check based on machine slave axes can be monitored. If the difference is greater than or equal to
coordinates a preset value, the machine will be stopped. This monitoring of the
difference can be always performed. So, even if the synchronization
control signal is erroneously set to 0 and synchronization control is
disabled, an alarm will occur when the large difference is detected. As the
machine is stopped, this function can prevent the machine damage.
If the detected difference is greater than or equal to the maximum error
set in parameter No. 8314, servo alarm 407 is output.

218
B–63173EN–1/02 1. AXIS CONTROL

WARNING
1 When the synchronization error check function is used, set
the same values to the reference positions of both master
and slave axes.
2 In order to clear the alarm, at first, the signals to select the
slave axis for simple synchronous control (G140) must be
set to ”0”. Next, the mode must be changed to the normal
mode, then follow the procedure for clearing an alarm.
3 If the servo alarm 407 occurs, do the operation described at
above item 2, increase the setting value of the parameter
No. 8314 (the maximum synchronization error), then press
the reset key. Next, perform handle or other manual
operations to adjust the axes to the same machine
coordinates. Then, restore the original value in the
parameter No. 8314.

NOTE
If the synchronization error check function is not used, set
the parameter No. 8314 to 0.

Synchronization The positions of the master and slave axes are not kept always during the
compensation function system power down. Such difference can be compensated. After
performing a follow–up of the absolute position detector at power on, the
slave axis is adjusted to meet the position of the master axis by
compensation pulses to the slave axis.
This function is enabled only when the axes of synchronization control
support the absolute–position detection function.
This function, however, cannot be applied to rotation axes.

WARNING
1 The synchronization compensation function is enabled
after reference position returns is performed. Even if the
parameter is set, the function is not executed before
reference position returns are performed.
2 The synchronization compensation function is not executed
when there exist some servo alarm.

219
1. AXIS CONTROL B–63173EN–1/02

CAUTION
The synchronization deviation is treated as a position error
on the slave axis during stopping. The position error is
displayed as diagnostic data number 300 in the detect unit.
If the error exceeds the value set in parameter No. 8315 (if
only one pair is specified) or No. 8325 (if two or more pairs
are specified), the servo alarm 410 is triggered. Clear the
alarm by the following procedure, when this alarm occurs.
(1)The signals for selecting the manual feed axis for simple
synchronous control (G140) are set to ”0” to release the
synchronization control.
(2)Change the mode from the high response mode to the
normal mode.
(3)The alarm is cleared by pressing the <RESET> key. As
the position error for the slave axis remains even after the
alarm is cleared, however, the positions must be
adjusted.
(4)Change the mode to the high response mode again.

NOTE
1 In order to use the synchronization compensation function,
it is necessary to set the bit 7 ”SOF” of parameter No. 8301
(if only one pair is specified) or bit 7 ”SOFx” of parameter No.
8303 (if two or more pair are specified) to 1.
2 The synchronization compensation function is also enabled
when emergency stop is canceled.

Automatic setting of grid This function is not available in the high response mode.
positioning

220
B–63173EN–1/02 1. AXIS CONTROL

Torque difference alarm If the master and slave axes are operated independently while simple
detection synchronous control is applied, the machine may be damaged. To prevent
this, the torque command difference between the synchronizing axes is
monitored. If the abnormal difference is found, an alarm will occurs.
[System configuration]

Master axis
+ Position gain
torque command

kp Velocity
Master axis control
position –
command
Master axis position
feedback

+ Torque command
difference The absolute value is
compared with the
threshold value.
+ Position gain
– Alarm detection
Velocity
kp control
Slave axis position Slave axis
command torque command
–

Slave axis position

feedback

[How to use]
Determine the threshold parameter by using the following procedure.
1 Set up the following parameters:
Parameter No. 2031 = 0 : Disable torque difference alarm detection.
Bit 0 of parameter No. 8950 = 1 : Display the memory screen.
Parameter No. 8960 : Specify the following values as data addresses.
1304 if the servo axis numbers for two axes in synchronous control
are 1 and 2
1312 if the servo axis numbers for two axes in synchronous control
are 3 and 4
1800 if the servo axis numbers for two axes in synchronous control
are 5 and 6
1808 if the servo axis numbers for two axes in synchronous control
are 7 and 8
Parameter No. 2115 : Display, on the memory screen, the absolute
value of the torque difference between the two axes that are in
synchronous control. This parameter No. must be set to the same value
for both axes.
Value: 22160
2 Display the memory screen by the following operation.
<SYSTEM> function key → soft key → [MEMORY] soft key
The absolute value of the torque difference between the two
synchronous axes is displayed as No.1C0 on the memory screen.

221
1. AXIS CONTROL B–63173EN–1/02

3 Read the maximum torque difference by absolute value during

ordinary operation, and convert it to decimal. The threshold parameter
should be specified that value with some margin.
If it is difficult to read the torque difference by absolute value on the
memory screen, it can be observed by using an oscilloscope by means
of the following procedure:
4 Set parameter No. 2115 to 22160.
5 Connect a check board, and observe a signal at CH7 while the rotary
switch on the check board is set to 1.
6 Convert the observed value, using the formula 1 Volt = 410 (specified
threshold value). Read the maximum value during ordinary operation,
and allow an appropriate margin.
[Timing chart]

SA<F000#6> 1

Alarm detection Enabled

Disabled

Value in parameter No. 8317 (if only one axis pair is in synchronous
control) or No. 8327 (if two or more axis pair are in synchronouscon-
trol), or 512 ms (if neither parameter is set).

If the servo preparation completed signal SA <F000#6> is 0, torque

difference alarm detection is not performed.

WARNING
1 The interlock signal for each axis *ITn (G130) for slave axis
is not available during simple synchronous control.
2 The axis moving signal MVn(F102) for slave axis is not
available during simple synchronous control.
3 The motion program reset signal for the slave axis is not
available, when the alarm for slave axis does not occur
during simple synchronous control.

NOTE
1 The motion program using signal HEXn(F229) for the slave
axis is set to ”1” during simple synchronous control.
2 The type and time constant of the acceleration/deceleration
for the slave axis are the same as them for the master axis.
3 Bit 7 of parameter No. 3105 (SMF) is not available. In high
response mode, whether this parameter is ”1” or not, the
motion of a slave axis is considered to the actual speed
display.
4 The motion program including the command of the slave
axis can not be executed during simple synchronous
control.

222
B–63173EN–1/02 1. AXIS CONTROL

Signal

Signals for selecting the

manual feed axis for
simple synchronous
control
SYNCJ1 to SYNCJ8
<G140>
[Classification] Input signal
[Function] The simple synchronous control is performed in high response mode.
The signal is provided for each controlled axis. The number at the end of
the signal name represents the number of the controlled axis.
SYNCJ 1
1: The 1st axis becomes the slave axis for synchronous control.
2: The 2nd axis becomes the slave axis for synchronous control.
:
:
[Operation] When the signal is set to 1, the control unit operates as described below:
– In high response mode, when the move command is specified to the
master axis, the control unit supplies this move command to both the
master and slave axes of synchronous control.
The relation between the master and slave axis should be specified with
a parameter beforehand.

WARNING
Immediately after setting this signal to ”1”, the simple
synchronous control for the specified slave axis is
performed. ( When the slave axis is commanded to
synchronize by setting this signal to ”1” during the master
axis is moving, the synchronous control is performed
immediately. So, this control does not wait for the end of the
executing block.)

223
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 To perform the simple synchronous control in high response
mode, the above signals for selecting the manual feed axis
for simple synchronous control should be set to ”1”. So, the
signals to select the slave axis for simple synchronous
control (G138) for AUTO or MDI operation are not available
in high response mode.
2 Clear the alarm by following procedure, when the servo
alarm occurs during the simple synchronous control.
(1)Set the signals for selecting the manual feed axis for
simple synchronous control (G140) to ”0” to release the
synchronization.
(2)Change the mode to the normal mode.
(3)The alarm is cleared by pressing the <RESET> key after
clearing the cause of the occurring alarm.
(4)Adjust the positions between the master axis and the
slave axis.
(5)Set the signals for selecting the manual feed axis for
simple synchronous control (G140) to ”1”.
(6)Change the mode to high response mode again.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G140 SYNJ8 SYNJ7 SYNJ6 SYNJ5 SYNJ4 SYNJ3 SYNJ2 SYNJ1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8301 SOF

[Data type] Bit

SOF The synchronization compensation function under simple synchronous
control (one master/slave axis pair) is:
0 : Not used.
1 : Used.

#7 #6 #5 #4 #3 #2 #1 #0
8303
SFX

[Data type] Bit axis

SFX Specify whether to enable synchronization compensation during simple
synchronous control (two or more master/slave axis pairs)
0 : Disabled
1 : Enabled

224
B–63173EN–1/02 1. AXIS CONTROL

8311 Axis number of master axis in synchronous control

[Data type] Byte axis

[Valid data range] 0 to 7
Give a relation between a master and slave axis for simple synchronous
control. Set a master axis number to the parameter of a slave axis side. Up
to 4 pairs can be specified.
Example1: When using the first axis (X–axis) as the master axis, and the
third axis (Z–axis) as the slave axis, set parameter No. 8311
as follows:
Parameter No. 8311 X (first axis) = 0
Parameter No. 8311 Y (second axis) = 0
Parameter No. 8311 Z (third axis) = 1
Parameter No. 8311 A (fourth axis) = 0
Example2: If there are three master/slave axis pairs under simple
synchronous control:
To specify the:
master axis as the 1st axis, and the slave axis as the 6th axis
master axis as the 2nd axis, and the slave axis as the 5th axis
master axis as the 3rd axis, and the slave axis as the 4th axis,
set the following:
Parameter No. 8311 X (1st axis) = 0
Y (2nd axis) = 0
Z (3rd axis) = 0
(4th axis) = 3
(5th axis) = 2
(6th axis) = 1

NOTE
Specifying the third axis (Z–axis) as the master axis, and the
first axis (X–axis) as the slave axis is not allowed. The
master axis number must always be smaller than the slave
axis number.
It is impossible to specify more than one slave axis for a
master axis.

8313 Limit of the difference between the amount of positioning deviation of the master
and slave axes (one axis pair under synchronous control)

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies the limit of the positional deviation difference
between the master and slave axes. If the positional deviation difference
exceeds the limit, an alarm occurs and the motion program is stopped.

225
1. AXIS CONTROL B–63173EN–1/02

8314 Allowable error in synchronization error check

[Data type] Word axis

[Unit of data] 0.001 mm
[Valid data range] 0 to 32767
This parameter sets the allowable error when a synchronization error
check is performed. When a synchronization error check is enabled, the
control unit monitors the mechanical coordinates of the master axis and
slave axis. If a synchronization error is equal to or greater than the value
set in this parameter, servo alarm No. 407 is generated, and the machine
will be stopped. Set this parameter only to the master axis.

8315 Maximum compensation value for synchronization compensation (one axis pair in
synchronous control)

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter sets the maximum compensation value for
synchronization. When a compensation value is greater than the value set
in this parameter, servo alarm No. 410 is issued. Set this parameter only
to the master axis.

8317 Torque difference alarm detection timer (one axis pair in synchronous control)

[Data type] Word

[Unit of data] ms
[Valid data range] 0 to 4000 (if 0 is specified, the system assumes 512 ms.)
This parameter specifies the time from the servo preparation completion
signal SA <F000#6> becoming 1 to the torque difference alarm detection
function starting to check for a torque difference alarm condition. The
specified value is rounded up to the nearest multiple of 16 ms.
(Example) If 100 is specified, 112 ms is assumed.

8323
Limit of the positional deviation difference between the master and slave axes (two
or more axis pairs under synchronous control)

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies the limit of the positional deviation difference
between the master and slave axes. If the positional deviation difference
exceeds this limit, an alarm occurs and the motion program is stopped.
This parameter must be set for the master axis. If 0 is specified, a
positional deviation difference check is not performed.

226
B–63173EN–1/02 1. AXIS CONTROL

8325
Maximum compensation to be applied during synchronization matching (two or
more axis pair under synchronous control)

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies the maximum compensation to be applied
during synchronous compensation. If the compensation exceeds the set
value, a servo alarm (No. 410) is generated. This parameter must be set
for the master axis. This setting becomes effective when the parameter
SFX (bit 7 of parameter No. 8303) is set to 1.

8327
Torque difference alarm detection timer (two or more axis pairs under synchronous
control)

[Data type] Word axis

[Unit of data] mses
[Valid data range] 0 to 4000 (if 0 is specified, the system assumes 512 ms.)
This parameter specifies the time from the servo preparation completed
signal SA <F000#6> becoming 1 to the torque difference alarm detection
function starting to check for a torque difference alarm condition. The
specified value is rounded up to the nearest multiple of 16 ms.
(Example) If 100 is specified, 112 ms is assumed.

Alarm and message

Number Message Description

407 SERVO ALARM:EXCESS The following error occurred during

ERROR simple synchronous control:
The difference in position error be-
tween the master and slave axes ex-
ceeded the value set with the parame-
ter No. 8314.
410 SERVO ALARM:n AXIS The following errors occurred :
EXCESS ERR 1 For the n axis, the positionaldevi-
ation observed when the axis is
stopped has exceeded the value
set in parameter No. 1829.
2 In simple synchronous control, the
compensation used duringsynch-
ronous compensation hasexceed-
ed the value set inparameter No.
8315 or 8325. This alarm occurs
only for the slave axis.
420 SERVO ALARM:n AXIS A torque command issued for the mas-
SYNC TORQUE ter or slave axis is greater than the val-
ue specified in parameter No. 2031.
This alarm condition occurs only for the
master axis.

227
1. AXIS CONTROL B–63173EN–1/02

Diagnostic data
Number Display Description

540 SYNCHRO ERROR The data represents the difference of

position error between the master and
slave axes during synchronous control.
(One axis pair under synchronous con-
trol)
541 SYNCHRO ERROR The positional difference between the
master and slave axes undersynchro-
nous control is displayed. (Two or more
axis pairs under synchronous control)

CAUTION
If the control of two or more axis pairs is specified in
parameter No. 8311, the parameters to perform setting for
only one axis pair and the display diagnostic information
about only one axis pair are invalid.
And if control of only one axis pair is specified, the
parameters to perform setting for only one axis pair and the
display diagnostic information about only one axis pair are
valid (except for common parameter Nos. 8311 and 8314).

1.8.8 Following acceleration/deceleration control types are available in high

Acceleration/ response mode.
Deceleration Control in 1 Rapid traverse:
Linear acceleration/deceleration
High Response Mode
Bell–shaped acceleration/deceleration
2 Cutting feed:
Linear acceleration/deceleration after interpolation
Bell–shaped acceleration/deceleration after interpolation

NOTE
The parameters of the acceleration/deceleration time
constant in the high response mode are different from the
parameters in the normal mode.

228
B–63173EN–1/02 1. AXIS CONTROL

1.8.8.1 Rapid traverse acceleration/deceleration smoothly increases or decreases

Rapid traverse linear the rapid traverse rate, in order to reduce the stress and strain imposed on
the machine due to the change of the acceleration.
acceleration/deceleration,
rapid traverse
bell–shaped acceleration/ Feedrate
deceleration FR : Rapid traverse rate
FR TR: Time constant used in linear
acceleration/deceleration in
rapid traverse for each axis

0 Time

TR TR

<Rapid traverse linear acceleration/deceleration>

Feedrate
FR : Rapid traverse rate
T1, T2: Time constant used in
FR bell–shaped acceleration/
deceleration in rapid
traverse for each axis

0 Time

T1+T2 T1+T2

<Rapid traverse bell–shaped acceleration/deceleration>

Parameter
1636
Time constant T for linear acceleration/deceleration for each axis during the rapid
traverse in the high response mode, or time constant T1 for bell–shaped accelera-
tion/deceleration for each axis during rapid traverse in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000

1637
Time constant T2 for bell–shaped acceleration/deceleration for each axis during
rapid traverse in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 512

229
1. AXIS CONTROL B–63173EN–1/02

NOTE
When parameter No. 1637 is set to 0, linear
acceleration/deceleration is applied in rapid traverse. In this
case, parameter No.1636 stands for a time constant used
for linear acceleration/deceleration in rapid traverse.

Feed rate

Rapid traverse
rate

T1 Time
T2/2
T2/2 T2

1.8.8.2 Cutting feed acceleration/deceleration smoothly increases or decreases

Linear acceleration/ the cutting feed rate, in order to reduce the stress and strain imposed on
the machine due to the change in the acceleration.
deceleration after cutting
feed interpolation,
bell–shaped NOTE
acceleration/ For the cutting feed, following acceleration/deceleration
deceleration after cutting control types are available in high response mode.
feed interpolation S Linear acceleration/deceleration after interpolation
S Bell–shaped acceleration/deceleration after
interpolation
(Bit 0 (CTLx) and bit 1 (CTBx) of parameter No. 1610 are not
available.)

230
B–63173EN–1/02 1. AXIS CONTROL

Feedrate
F: Cutting feed rate
F T: Time constant used in linear
acceleration/deceleration after
cutting feed interpolation for
each axis

0 Time

T T

<Linear acceleration/deceleration after cutting feed interpolation>

Feedrate
F: Cutting feed rate
T1, T2: Time constant used in
F bell–Shaped acceleration/
deceleration after cutting
feed interpolation for each
axis

0 Time

T1+T2 T1+T2

<Bell–shaped acceleration/deceleration after cutting feed interpolation>

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1605 TCE

[Data type] Bit

TCE The function of the expansion of time constant is
0 : Not available.
1 : Available (maximum time constant depends on number of control
axes).

1635
Time constant of linear acceleration/deceleration for each axis during the cutting
feed in the high response mode, or time constant T1 for bell–shaped acceleration/
deceleration for each axis during the cutting feed in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] When parameter No.1605#1(TCE) is 0.
0 to 1000
When parameter No.1605#1(TCE) is 1.
0 to 1000 (Number of control axes: 5– 8)
0 to 2000 (Number of control axes: 3– 4)
0 to 4000 (Number of control axes: 1– 2)

231
1. AXIS CONTROL B–63173EN–1/02

1638
Time constant T2 for bell–shaped acceleration/deceleration for each axis during the
cutting feed in the high response mode

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 512

NOTE
1 When parameter No. 1638 (When time constant T2 for
bell–shaped acceleration/ deceleration for each axis during
the cutting feed in the high response mode) is set to 0, linear
acceleration/deceleration after cutting feed interpolation is
applied.
2 The total value which can be set in these parameters
(No.1635 and No.1638) is 1000msec or less, when
parameter No.1605#1(TCE) is 0.
When parameter No.1605#1(TCE) is 1, the total value
which can be set in these parameters is shown below.
0 to 1000 (Number of control axes: 5– 8)
0 to 2000 (Number of control axes: 3– 4)
0 to 4000 (Number of control axes: 1– 2)

Feedrate

Cutting
feedrate

T1 Time
T2/2
T2/2 T2

232
B–63173EN–1/02 1. AXIS CONTROL

1.9
ELECTRONIC CAM
FUNCTION (Power
Mate i–H)

1.9.1 The Electronic CAM function is the one which electronically create a
Outline motion of the cam follower going back and forth synchronizing with the
motion of the cam shaft.
The shapes of cams are beforehand registered in Power Mate i–H as Fig.
1.9.1 shows. Power Mate i–H reads the data and moves the cam follower
synchronizing with the motion of the cam shaft.
If this function is used, it is not necessary to mechanically set a cam shaft,
a gear, a clutch, a cam, and so on. It causes the following merits;
S The work efficiency increases greatly.
S The machine becomes compact and the cost decreases.
S It is not necessary to care about wear and the lifetimes of a cam shaft,
a gear, a clutch and so on.
S The performance of the whole system increases because there is no
error from mechanical precision.

233
1. AXIS CONTROL B–63173EN–1/02

Cam1 Cam2 Cam3 Phase of Displacement Displacement Displacement

cam shaft of cam 1 of cam 2 of cam 3
Cam shaft
0 0 1 0

1 0 2 0

2 0 4 0
. . . .
. . . .
. . . .

90 1 94 50
91 2 97 55

92 5 99 60
93 10 100 62
0_ 90_ 180_ 270_ 360_
Phase of . . . .
cam shaft . . . .
. . . .

180 85 95 100

181 87 93 99

Displacement 182 88 90 98
of cam 1
183 89 85 97
. . . .
. . . .
. . . .

Displacement 270 80 0 60
of cam 2
271 78 0 55

272 75 0 50
. . . .
. . . .
Displacement . . . .
of cam 3
358 0 0 0

359 0 0 0

Fig. 1.9.1 The image of Electronic CAM

Specification (1) The following three kinds of cam shafts are available;
S A cam shaft which is controlled externally (not controlled by Power
Mate i–H), but to which the rotary serial absolute pulse coder (made
by FANUC) is attached
S A servo axis which is controlled by Power Mate i–H
S A hypothetical axis (which does not exist physically) which is
controlled by Power Mate i–H
(2) The maximum number of cam followers is four. However, it is three
if the cam shaft is a servo axis.
(3) The cam shape data, which are composed of the absolute coordinates
of cam followers corresponding to the phase of the cam shaft, are made
on the personal computer.
The data are transferred and memorized into Power Mate i–H via the
RS–232C. The data can also be made by using Macro Executor.

234
B–63173EN–1/02 1. AXIS CONTROL

(4) The Electronic CAM function is divided broadly into two categories;
Cam shaft phase calibration: The phases of cam followers are
(phase calibration) related to the phase of the cam shaft.
Electronic CAM running: The cam followers are controlled
synchronizing with the phase of the
cam shaft.
These two functions are collectively called ”the Electronic CAM
function” in the description below

Restrictions Using the electronic cam function disables the following:

S Inch/metric conversion
S Mirror image
S Tool length compensation
S Multipath control
S High response function
S Multiaxis synchronization control

The features of (1) The start is commanded by using G code or the input signal. After that,
Electronic CAM running the motion is repeated specified times or until end command(by input
signal) is input.
(2) Please start it when both the cam shaft and cam followers are not
moving. It is impossible to make a cam follower start synchronizing
with the cam shaft which is already rotating.
(3) If the rotating speed of the cam shaft is changed, that of the cam
follower is also changed accompanying with it. So the relation of
phases among them is not changed.
(4) When the cam shaft rotates in the forward or reverse direction, cam
followers also rotate in the forward or reverse direction synchronizing
with it.
(5) If reset or emergency stop is executed during Electronic CAM
running, the phase calibration must be done again.
(6) Using a cam shaft as a hypothetical axis makes it possible to check the
motion of a follower axis without actually moving the cam shaft.
Below are the details.

The number of (1) An absolute pulse coder which is attached to a cam shaft controlled
controlled axes externally (that is, not controlled by Power Mate i–H) is counted as 1
controlled axis. And a hypothetical axis is also counted as 1.
(2) The number of cam shaft must be 1.
(3) The maximum number of cam followers depends on the type of the
cam shaft.
The type of the cam shaft The maximum number of cam followers

Controlled externally 4

A servo axis 3

A hypothetical axis 4

235
1. AXIS CONTROL B–63173EN–1/02

(4) Although the number of cam followers cannot exceed 4, the two axes,
the master and the slave in ”Simple synchronous control function” or
”Tandem control function”, are regarded collectively as 1 axis.

The cam shaft The axis number of the cam shaft is set to the parameter No.8086. This
axis should be the rotation axis and the following setting of parameters
is necessary. If the wrong values are set to these parameters, the alarm
No.5246 occurs.
(1) No.1006#0(ROTx) = 1 (The rotation axis is set.)
(2) No.1008#0(ROAx) = 1 (The roll over function of a rotation axis is
valid.)
The roll over function is necessary because the absolute coordinate is
used as the phase of the cam shaft.
(3) No.1260 (Amount of a movement per rotation of a rotation axis.)
Set the number of pulses per one rotation of the cam shaft.
The following three kinds of cam shafts are available;
(1) A cam shaft which is controlled externally (not controlled by Power
Mate i–H), but to which the rotary serial absolute pulse coder(made
by FANUC) is attached (This type is called ”the external axis + APC”
hereafter.)
(2) A servo axis which is controlled by Power Mate i–H
(This type is called ”the servo axis” hereafter.)
(3) A hypothetical axis(which does not exist physically) which is
controlled by Power Mate i–H
(This type is called ”the hypothetical axis” hereafter.)
The way of setting parameters and notes about each type are described
bellow. As to existing parameters and signals, refer to the other part of the
manuals of Power Mate i–D/H.

NOTE
As to the absolute pulse coder, only the rotary serial pulse
coder made by FANUC is available. A/B phase pulse coder,
Linear scale I/F reference mark cannot be used.

D The external axis + APC (1) Basically, the parameter setting is the same as the cam followers.
Although a servo motor is not connected, set the value ”61” as the
motor type and execute the automatic setting of the servo parameters.
The parameter No.2020 = 61 (Motor type)
The parameter No.2000#1(DGPRM) = 0
(When the power is turned on, the standard values for the motor are
automatically set to the digital servo parameters.)
(2) The absolute pulse coder which is attached to the external axis is
regarded as the separated type pulse coder.
The parameter No.1815#5(APCx) = 1
(An absolute pulse coder is used as a position detector.)
The parameter No.1815#1(OPTx) = 1
(A separate pulse coder is used as a position detector.)

236
B–63173EN–1/02 1. AXIS CONTROL

(3) A servo motor and an amplifier are not connected to the absolute pulse
coder, so the serial pulse coder dummy function should be used.
The parameter No.2009#0(DMYx) = 1
(Serial pulse coder dummy function is valid.)
(4) The servo motor should be turned off.
Servo off signal SVF1–SVF8<G126> = 1
Follow–up signal *FLWU<G007#5> = 0
(Follow–up is performed when the servo is off.)
The parameter No.1819#0(FUPx) = 0
(The follow–up signal *FLWU determines whether follow–up is
performed or not when the servo is off. When *FLWU is 0,
follow–up is performed.)
(5) Once turn off the power at this point.
(6) Relate the absolute pulse coder to the machine position.
Move the cam shaft to the reference point.
Set the parameter No.1815#4(APZx) = 1, and once turn off the power.
D The servo axis (1) There is no special limitation. So treat it as the ordinary axis.
(2) In the phase calibration, any of automatic operation, manual operation
and PMC axis control is available when the cam shaft is moved to the
start point of Electronic CAM running.
(3) Only the PMC axis control is available when the cam shaft is moved
during Electronic CAM running by G code.
(4) Any of automatic operation, manual operation and PMC axis control
is available when the cam shaft is moved during Electronic CAM
running by the input signal.
D The hypothetical axis (1) If the actual axis is not necessary, a hypothetical axis can be used.
(2) Basically, the parameter setting is the same as the cam followers.
Although a servo motor is not connected, set the value ”61” as the
motor type and execute the automatic setting of the servo parameters.
The parameter No.2020 = 61 (Motor type)
The parameter No.2000#1(DGPRM) = 0
(When the power is turned on, the standard values for the motor are
automatically set to the digital servo parameters.)
(3) A servo motor and an amplifier are not connected to the hypothetical
axis, so the serial pulse coder feedback dummy function should be
used.
The parameter No.2009#0(DMYx) = 1
(serial pulse coder feedback dummy function is valid.)
(4) The servo motor should be turned off.
Servo off signal SVF1–SVF8<G126> = 1
Follow–up signal *FLWU<G007#5> = 1

WARNING
Moving a hypothetical axis in a follow–up state is
dangerous, because a coordinate trace–back will occur at
the end of motion, resulting in an unintended behavior of the
follower axis. Be sure to get out of the follow–up state
before moving the hypothetical axis.

237
1. AXIS CONTROL B–63173EN–1/02

(5) In the phase calibration, any of automatic operation, manual operation

and PMC axis control is available when the cam shaft is moved to the
start point of Electronic CAM running.
(6) Only the PMC axis control is available when the cam shaft is moved
during Electronic CAM running by G code.
(7) Any of automatic operation, manual operation and PMC axis control
is available when the cam shaft is moved during Electronic CAM
running by the input signal.
Making the cam shape The cam shape data are made by using a personal computer or the Macro
data Executor.

D Making the cam shape The data are made by using a personal computer according to the
data by using a personal following format.
computer The cam shape data are composed of the absolute coordinates of cam
followers in the binary format corresponding to the phase number of the
cam shaft. The cam shape data can be made up to 2048 points. There are
three types in those data;
Name Data type Data range Data range
(decimal system) (hexadecimal system)

Phase number of 4 bytes 0 to 2047 o to 7FFh

the cam shaft

Absolute coordinateof 4 bytes –99999999 to 99999999 0h to FFFFFFFFh

a cam follower

Check sum 1 byte 0 to 255 0 to FFh

A negative number in the absolute coordinate of a cam follower is

expressed in twos complement. The maximum absolute value of the data
is 5F5E0FFh in the hexadecimal system (99999999 in the decimal
system).
The number of pulses per rotation of the cam shaft and the number of
points of the cam shape data are set to the parameters No.1260 and
No.8088. By this setting, the amount of the movement of the cam shaft
per point of the data (pitch) is determined.
Example) The number of pulses per rotation of the cam shaft :
1,000,000 pulses
The number of points of the cam shape data : 1,000 points
In that case, the amount of the movement of the cam shaft
per point of the data (pitch) is
1,000,000B1000=1000 pulses
The phase number of the cam shaft is the one as follows;
It is 0 when the cam shaft is on the origin
It is 1 when the cam shaft goes to the point 1–pitch far from the origin.
It is 2 when the cam shaft goes to the point 2–pitches far from the
origin.
: :
If the cam shaft reaches to the n’th point (n=the number of points of the
cam shape data), it means that the cam shaft makes just one rotation. So
the phases of the cam shaft in the origin and in the n’th point are the same.
Example) Suppose the cam is in the shape as the figure below shows. In
this case;

238
B–63173EN–1/02 1. AXIS CONTROL

S The absolute coordinate of the cam follower when the

phase of the cam shaft is 0_, and the one when it is 360_
are the same.
S The absolute coordinates of the cam follower
corresponding to the phase numbers of the cam shaft 0–5
(the coordinates in F in the figure) are set as the cam shape
data.
S The number of points of the cam shape data is 6.

0_ 180_ 360_
Phase of the
cam shaft

displacement F
of the cam F
F
follower
F
F F
F
phase
number of 0 1 2 3 4 5 0
the cam
shaft

The cam shape data are made in the following format. The values are set
as binary data (expressed in the hexadecimal system).
ƠHeaderơ
LF G05 P22001 LF

ƠThe cam shape dataơ

M (0) S1 (0) S2 (0) S3 (0) S4 (0) C (0)

M (1) S1 (1) S2 (1) S3 (1) S4 (1) C (1)

M (2) S1 (2) S2 (2) S3 (2) S4 (2) C (2)

: :
: :

M (n) S1 (n) S2 (n) S3 (n) S4 (n) C (n)

(”n” is the number which equals the value that is

set to the parameter No.8088 if 1 is added to it.)
ƠFooterơ
LF M02 LF

M (x): The phase number of the cam shaft in the x’th data table
S1/2/3/4(x): The absolute coordinates of the cam followers 1/2/3/4 when
the phase number of the cam shaft is M (x).
C (x): The check sum in the x’th data table
M (x), S1 (x), S2 (x), S3 (x) and S4 (x) are put in order of higher bytes. If
the number of cam followers is less than 4, the data are moved to the
higher bytes to fill a space. For example, if the number of cam followers
is 3, S4 does not exist and the next of S3 is C.

239
1. AXIS CONTROL B–63173EN–1/02

How to calculate the check sum is as follows. (It is calculated in each data
table.)
(1) Separate ”the phase number of the cam shaft”(M(x)) into byte unit
data.
(For example, if the number is 7FFh, separate it into two numbers, 7h
and FFh.)
(2) Similarly, separate ”the absolute coordinates of the cam followers”(S1
(x), S2 (x), S3 (x), S4 (x)) into byte unit data.
(3) Add all the results of (1) and (2).
(4) Pick up the lowest byte in the result of (3). It is called the check sum
(C (x)).
(For example, if the result of (3) is 4321h, the check sum is 21.)
In order to transfer the cam shape data which are made in this format
to Power Mate i–H, the header and the footer are necessary;
The header: [LF],G05,P22001,[LF]
The footer : [LF],M02,[LF]
If these are transformed into binary data (expressed in the hexadecimal
system), they are;
The header: 0A, 47, 30, 35, 50, 32, 32, 30, 30, 31, 0A
The footer : 0A, 4D, 30, 32, 0A
Example) Suppose that the number of points of the cam shape data is
three and that the number of cam followers is four.
S The data in case the phase number of the cam shaft is 0;
The absolute coordinate of the cam follower 1: 0.000 (00000000H)
The absolute coordinate of the cam follower 2:
2.539 (000009EBH)
The absolute coordinate of the cam follower 3:
7.461 (00001D25H)
The absolute coordinate of the cam follower 4 :
10.000 (00002710H)
The sum of the data which are separated into byte unit
= (00+00+00+00)+(00+00+00+00)+(00+00+09+EB)
+(00+00+1D+25)+(00+00+27+10)
= 16D
The check sum : 6D
S The data in case the phase number of the cam shaft is 1;
The absolute coordinate of the cam follower 1:
7.351 (00001CB7H)
The absolute coordinate of the cam follower 2 :
5.963 (0000174BH)
The absolute coordinate of the cam follower 3 :
1.237 (000004D5H)
The absolute coordinate of the cam follower 4 :
2.589 (00000A1DH)
The sum of the data which are separated into byte unit
= (00+00+00+01)+(00+00+1C+B7)+(00+00+17+4B)
+(00+00+04+D5)+(00+00+0A+1D)
= 236
The check sum : 36

240
B–63173EN–1/02 1. AXIS CONTROL

S The data in case the phase number of the cam shaft is 2;

The absolute coordinate of the cam follower 1 :
6.239 (0000185FH)
The absolute coordinate of the cam follower 2 :
4.573 (000011DDH)
The absolute coordinate of the cam follower 3 :
3.694 (00000E6EH)
The absolute coordinate of the cam follower 4 :
1.604 (00000644H)
The sum of the data which are separated into byte unit
= (00+00+00+02)+(00+00+18+5F)+(00+00+11+DD)
+(00+00+0E+6E)+(00+00+06+44)
= 22D
The check sum : 2D
In this example, the data to be transferred are as follows.
(Header) [LF] G05 P22001 [LF]
(The cam shape data)
The phase of Cam follower Cam follower Cam follower Cam follower The check
the cam shaft 1 2 3 4 sum
00000000H, 00000000H, 000009EBH, 00001D25H, 00002710H, 6DH
00000001H, 00001CB7H, 0000174BH, 000004D5H, 00000A1DH, 36H
00000002H, 0000185FH, 000011DDH, 00000E6EH, 00000644H, 2DH

(Footer) [LF] M02 [LF]

If these are transformed into binary data (expressed in the hexadecimal
system), they are;
+0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F
+00 0A 47 30 35 50 32 32 30 30 31 0A 00 00 00 00 00
+10 00 00 00 00 00 09 EB 00 00 1D 25 00 00 27 10 6D
+20 00 00 00 01 00 00 1C B7 00 00 17 4B 00 00 04 D5
+30 00 00 0A 1D 36 00 00 00 02 00 00 18 5F 00 00 11
+40 DD 00 00 0E 6E 00 00 06 44 2D 0A 4D 30 32 0A

D Making the cam shape If the algorithm to make the cam shape data is known, the data can be
data by using macro registered in P code variables by using macro executor. P code variables
executor can be used from #20000, and the data is the word type(the integer type).
And set the precise number of P code variables to be used considering the
number of points of the cam shape data (the parameter No.8088) and the
number of cam followers (the parameter No.8087).
[The setting of compile parameters]
No.9002#3 = 1 (P code variables from #20000 are the integer type.)
No.9044 (Set the value which satisfies the following inequality:
(the number of P code variables to be used) x
(prm No.9044) 30 )

241
1. AXIS CONTROL B–63173EN–1/02

Set the number of valid data(the whole number of word of the data, the
phase number of the cam shaft, and the absolute coordinate of cam
followers) to #20000 and #20001. Set the data which is in the format that
is explained in the item ”Making the cam shape data by using a personal
computer” to #20002 to. It is not necessary to set the header, the footer
and the check sum. Note that P code variable is word type, so set the lower
byte first and then set the higher byte.
The cam shape data which are registered in P code variables are input to
the region of part program storage length in Power Mate i–H. It is
necessary to use the option of part program storage length of 160m or
more. How long out of part program storage length is used for the cam
shape data depends on the compile parameter No.9044.
Suppose that the number of cam followers is four and that the number of
points of the cam shape data is ten. In that case, the relation between P
code variables and the contents of the data is as follows. Note that the data
are shifted to the smaller P code variables to fill a space if the number of
cam followers is less than four.

P code variables Contents Symbol

#20000/#20001 Number of valid data (the number of words) (Low/High) __

#20002/#20003 Phase number of the cam shaft in the origin of the data table (Low/High) M (0) [L/H]
#20004/#20005 Absolute coordinate of the cam follower 1 when the phase No. of the cam shaft is S1 (0) [L/H]
M (0) (Low/High)
#20006/#20007 Absolute coordinate of the cam follower 2 when the phase No. of the cam shaft is S2 (0) [L/H]
M (0) (Low/High)
#20008/#20009 Absolute coordinate of the cam follower 3 when the phase No. of the cam shaft is S3 (0) [L/H]
M (0) (Low/High)
#20010/#20011 Absolute coordinate of the cam follower 4 when the phase No. of the cam shaft is S4 (0) [L/H]
M (0) (Low/High)
#20012/#20013 Phase number of the cam shaft in the first data table (Low/High) M (1) [L/H]
#20014/#20015 Absolute coordinate of the cam follower 1 when the phase No. of the cam shaft is S1 (1) [L/H]
M (1) (Low/High)
#20016/#20017 Absolute coordinate of the cam follower 2 when the phase No. of the cam shaft is S2 (1) [L/H]
M (1) (Low/High)
#20018/#20019 Absolute coordinate of the cam follower 3 when the phase No. of the cam shaft is S3 (1) [L/H]
M (1) (Low/High)
#20020/#20021 Absolute coordinate of the cam follower 4 when the phase No. of the cam shaft is S4 (1) [L/H]
M (1) (Low/High)
: : :
#20092/#20093 Phase number of the cam shaft in the ninth data table (Low/High) M (9) [L/H]
#20094/#20095 Absolute coordinate of the cam follower 1 when the phase No. of the cam shaft is S1 (9) [L/H]
M (9) (Low/High)
#20096/#20097 Absolute coordinate of the cam follower 2 when the phase No. of the cam shaft is S2 (9) [L/H]
M (9) (Low/High)
#20098/#20099 Absolute coordinate of the cam follower 3 when the phase No. of the cam shaft is S3 (9) [L/H]
M (9) (Low/High)
#20100/#20101 Absolute coordinate of the cam follower 4 when the phase No. of the cam shaft is S4 (9) [L/H]
M (9) (Low/High)

242
B–63173EN–1/02 1. AXIS CONTROL

NOTE
The cam shape data can be made by using a personal
computer with HSSB.
Also in this case, the data must be registered in P code
variables, and the option

Registering the cam The cam shape data made on the personal computer are transferred via
shape data made on the RS–232–C and registered into Power Mate i–H on the following
personal computer procedure.
Before registration, be sure to set the parameters about reader/puncher
interface. The code in inputting data should be ASCII (the parameter
No.0101#3 ASI=1).
[The procedure for registering]
(1) In AUTO operation mode, set ”1” to the selection signal for
registration mode of the cam shape data DNCI(G043#5). The state
will become the registration mode of the cam shape data (RMT). Then
the confirm signal for registration mode of the cam shape data
MRMT(F003#4) becomes ”1”. After that, start the auto operation.
(2) Transfer the cam shape data from the personal computer.
(3) The registration starts and the characters ”INPUT” turn on and off on
the CRT/MDI of Power Mate i–H
(4) If the characters ”INPUT” disappear and no alarm occurs, it means that
the registration ends normally.
(5) After the footer ”M02” of the cam shape data is read, the state is in FIN
waiting.
Then turn on the FIN signal by PMC.
In Power Mate i–H, DC1(11H) and DC3(13H) are used as the control code
of RS–232–C in registering binary data. So the setting of the flow control
on the personal computer should be Xon/Xoff.
The number of bytes to be registered is determined by the number of
points of the cam shape data (the parameter No.8088) and the number of
cam followers (the parameter No.8087). If the number of bytes of the cam
shape data is larger than the number of bytes to be registered, the
alarms(No.087,No.5010) occur. Reversely, if the former is less than the
latter, Power Mate i–H keeps waiting data. In either case, the number of
points of the cam shape data or the number of cam followers is incorrect.
So they must be corrected.
If the check sum is incorrect, the alarm No.5247 occurs. This alarm also
occurs if the number of cam followers (the parameter No.8087) is
incorrect. In those cases, correct the cam shape data or the parameter
No.8087.
The transferred cam shape data are input to the region of part program
storage length in Power Mate i–H. It is necessary to use the option of part
program storage length of 160m or more.
100m out of part program storage length is used for the cam shape data.
Note that the cam shape data are registered in P code variables if the Macro
Executor option is ON. In this case, set the compile parameter like the item
”Making the cam shape data by using macro executor”. The region which
correspons to P code variables out of 160m is used for the cam shape data.

243
1. AXIS CONTROL B–63173EN–1/02

The cam shaft phase The phase calibration is the function to relate the phase between the cam
calibration (phase shaft and the cam followers by moving the cam followers to the positions
calibration) which correspond to the phase of the cam shaft in starting point of
Electronic CAM running.
The phase calibration is executed by means of G code in program
operation or the input signal.
And it can be executed in each cam follower.
Before the phase calibration, be sure to register the cam shape data (see
the item ”Registering the cam shape data made on the personal
computer”). Else, the alarm No.5249 occurs.
The setting data about the cam shaft and the cam followers are set to the
parameters No.8086 and No.8087.

CAUTION
Interlock(high–speed, all axes, each axis, and each
direction) is not available for the cam followers during the
phase calibration.

D The cam shaft phase The cam shaft is moved to the starting position of Electronic CAM
calibration (phase running. It is not necessary for the starting position to be where the phase
calibration) by using G is 0_.
code Be sure to keep the cam shaft stopped during the phase calibration.
Execute the following program in AUTO operation mode.

G140 IP__ ;
IP__: specifies the cam follower for which the phase calibration is
executed. ”0” should be specified after the axis name of the
cam follower.

Example) If the phase calibration for the cam followers 1,2,3,4(the axis
names are X,Y,Z,A respectively) is executed, the command
is as follows;
G140 X0 Y0 Z0 A0 ;
Then the cam follower moves to the position which corresponds to the
phase of the cam shaft at the rapid traverse rate of parameter No.1420.
Rapid traverse override and acceleration/deceleration(linear or
bell–shaped) are available.
When the phase calibration is completed, the phase calibration
completion signal ECMCP*(F223) becomes ”1”.
If the Electronic CAM function completion signal ECMEND(G239#1)
is turned into ”1” from ”0” during the phase calibration, the execution is
interrupted.
If the cam shaft or the cam follower moves independently after the phase
calibration, the phase calibration completion signal ECMCP*(F223)
becomes ”0”.
D The cam shaft phase The cam shaft is moved to the starting position of Electronic CAM
calibration (phase running. It is not necessary for the starting position to be where the phase
calibration) by using the is 0_.
input signal Be sure to keep the cam shaft stopped during the phase calibration.

244
B–63173EN–1/02 1. AXIS CONTROL

Set ”1” to the cam follower selection signal ELCAM*(G238) about the
cam follower for which the phase calibration should be executed. And
turn the phase calibration start signal ECMCST (G239#7) into ”1” from
”0”.
The procedure after the start is the same as the case of G code.

The execution of Before executing Electronic CAM running, be sure to execute the phase
Electronic CAM running calibration as to the cam follower for which Electronic CAM running is
executed (see the item ”The cam shaft phase calibration (phase
calibration)”). If Electronic CAM running is executed when the phase
calibration completion signal ECMCP*(F223) as to the cam follower for
which Electronic CAM running is executed is not ”1”, then the alarm
No.5249 occurs.
The Electronic CAM running is executed by means of G code in program
operation or the input signal.
Using a cam shaft as a hypothetical axis makes it possible to check the
motion of a follower axis without actually moving the cam shaft.
However, performing an electronic cam operation with a hypothetical
axis results in a difference occurring between the machine coordinates and
absolute coordinates of the cam shaft. To eliminate the difference, re–set
up the coordinate systems or follow the procedure below after the end of
the electronic cam operation.
In case that the cam shaft is ”the external axis + APC”
→ Once turn off the power.
In case that the cam shaft is ”the servo axis”
→ Execute the reference position return.

CAUTION
Interlock(high–speed, all axes, each axis, and each
direction) is not available for the cam followers during
Electronic CAM running.

245
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 Execute Electronic CAM running with both the cam shaft and the cam followers stopped. It is
impossible to synchronize a cam follower with the cam shaft which is moving.
2 Although it is possible to use the cutting acceleration/deceleration(exponential, linear, or
bell–shaped) during Electronic CAM running, do not use it because the error occurs in the
shape of the cam.
3 If the shape of the cam is complicated like the following figure, the cam follower may not be able
to follow the cam shaft because of the servo delay and so on when the speed of the cam shaft
is high.

Electronic
CAM running

The shape of the cam The shape of the cam

which is made after Electronic CAM running

D The execution of Set ”1” to the cam follower selection signal ELCAM*(G238) about the
Electronic CAM running cam follower for which Electronic CAM running is executed. And
by using G code execute the following program in AUTO operation mode.

G05 P23001 L__ ;

L__: Specifies the repeat time of the execution(1 to 99999999). If
the cam shaft makes 1 rotation in the forward direction from
the starting position of Electronic CAM running, +1 is counted.
If it makes 1 rotation in the reverse direction, –1 is counted.
When the count reaches "L, the running stops. If ”0” is speci-
fied, the running is executed continuously.

When this program is commanded, Electronic CAM running executing

signal ECMEXE (F224#0) turns to ”1”. After that, rotate the cam shaft.
Then the cam followers move synchronizing with the motion of the cam
shaft according to the cam shape data.
After the start of the execution, it stops when the cam shaft has rotated the
times specified by L or when the Electronic CAM function completion
signal ECMEND(G239#1) is turned into ”1” from ”0”.
The interspace between the absolute coordinates of the cam follower
which are given by the cam shape data is calculated from the neighboring
data so that the motion may be smooth.
So the machine is not given a shock.
If the rotating speed of the cam shaft is changed, that of the cam follower
is also changed accompanying with it. So the relation of phases between
them is not changed.
When the cam shaft rotates in the forward or reverse direction, cam
followers also rotate in the forward or reverse direction synchronizing
with it.

246
B–63173EN–1/02 1. AXIS CONTROL

If reset or emergency stop is executed during Electronic CAM running,

the phase calibration must be done again.
D The execution of Set ”1” to the cam follower selection signal ELCAM*(G238) about the
Electronic CAM running cam follower for which Electronic CAM running is executed. And turn
by using the input signal the Electronic CAM running start signal ECMCST(G239#0) into ”1”
from ”0”.
The procedure after the start is the same as the case of G code except the
description about the repeat time. In this case, the repeat time cannot be
specified. The motion stops when the Electronic CAM function
completion signal ECMEND(G239#1) is turned into ”1” from ”0”.

CAUTION
1 The amount of the movement by means of Electronic CAM
running or the phase calibration by the input signal(they are
collectively called ”the Electronic CAM function by the input
signal”) is added to the coordinate(the position where the
block ends) for the buffering(read–ahead) when the
Electronic CAM function is finished executing. So if the
buffering for the automatic operation is done before the
Electronic CAM function ends, the program is not executed
as is specified.
Be sure to consider masking the buffering by M code, or
inserting a block where no movement is commanded, and
so on so that the buffering for the automatic operation may
be done after the Electronic CAM function ends.
Example) O0001 ;
N10 M50 ;
N20 G90 G01 X100.0 Y100.0 Z100.0 ;
N30 M02 ;
Suppose that this program is executed and the Electronic
CAM function by using the input signal is carried out in the
N10 block. In this case, the buffering in N20 block may be
done before the Electronic CAM function ends, and so the
amount of the movement by the Electronic CAM function
may not be considered. Then the N20 block is not executed
as is commanded.
Examples of measures)
S Make M50 in the N10 block not buffer the next block.
(Set parameters No.3411 to 3420.)
S Insert a dwell command between the N10 block and
the N20 block.
2 An automatic operation cannot be started while a cam
follower is moving by means of the Electronic CAM function
by the input signal.

247
1. AXIS CONTROL B–63173EN–1/02

Signal

Cam follower selection

signals ELCAM1 to
ELCAM4<G238>
[Classification] Input signal
[Function] These signals select the cam followers.
They are provided for each cam follower. The signal number corresponds
to the cam follower number.
ELCAM 1
1. ... The selection signal for the cam follower 1
2. ... The selection signal for the cam follower 2
3. ... The selection signal for the cam follower 3
4. ... The selection signal for the cam follower 4

[Operation] When the signal turns to ”1”, the control unit operates as follows.
S The phase calibration or Electronic CAM running by the input signal
is executed.
When the signal turns to ”0”, the control unit operates as follows.
S The phase calibration or Electronic CAM running by the input signal
is not executed.

NOTE
The parameter No.8087 determines which axis is the cam
follower.

Phase calibration start

signal
ECMCST<G239#7>
[Classification] Input signal
[Function] This signal starts the phase calibration.
[Operation] When the signal turns to ”1” from ”0”, the cam follower, which is selected
by the cam follower selection signal ELCAM(G238), moves to the
position which corresponds to the phase of the cam shaft at the rapid
traverse rate.
If it is necessary to stop the phase calibration, turn the Electronic CAM
function completion signal ECMEND(G239#1) into ”1” from ”0”.

NOTE
The function which is equal to this signal can be executed
also by using G code in the program operation.

248
B–63173EN–1/02 1. AXIS CONTROL

Phase calibration
completion signals
ECMCP1 to
ECMCP4<F223>
[Classification] Output signal
[Function] These signals report that the phase calibration is completed.
They are provided for each cam follower. The signal number corresponds
to the cam follower number.
ECMCP 1
1. ... The completion signal for the cam follower 1
2. ... The completion signal for the cam follower 2
3. ... The completion signal for the cam follower 3
4. ... The completion signal for the cam follower 4
[Output condition] The signals turn to ”1” when;
S The phase calibration is completed.
The signals turn to ”0” when;
S The phase calibration is not completed.
S The cam shaft or the cam followers move after the phase calibration
is completed
S The Electronic CAM running is executed.

Electronic CAM running

start signal
ECMST<G239#0>
[Classification] Input signal
[Function] This signal starts the Electronic CAM running.
[Operation] When the signal turns to ”1” from ”0”, the Electronic CAM running is
executed as to the cam follower which is selected by the cam follower
selection signal ELCAM(G238). (The running is repeated continuously.)
If it is necessary to stop the Electronic CAM running, turn the Electronic
CAM function completion signal ECMEND into ”1” from ”0”.

NOTE
The function which is equal to this signal can be executed
also by using G code in the program operation.

249
1. AXIS CONTROL B–63173EN–1/02

Electronic CAM running

executing signal
ECMEXE<F224#0>
[Classification] Output signal
[Function] This signal reports that Electronic CAM running is under execution.
After this signal turns to ”1”, rotate the cam shaft.
[Output condition] The signal turns to ”1” when;
S Electronic CAM running is under execution.
The signal turns to ”0” when;
S Electronic CAM running is not under execution. (or when it is
completed.)

Electronic CAM function

completion signal
ECMEND<G239#1>
[Classification] Input signal
[Function] This signal completes the Electronic CAM function.
[Operation] When the signal turns to ”1” from ”0” during execution of the Electronic
CAM function, the execution stops.

Time chart

ECMCST

Phase calibration

ECMCP*

ECMST

ECMEXE

Electronic CAM
running
(cam shaft rotation)

ECMEND

250
B–63173EN–1/02 1. AXIS CONTROL

Selection signal for

registration mode of the
cam shape data
DNCI<G043#5>
[Classification] Input signal
[Function] This signal selects the registration mode of the cam shape data (RMT).
To select the registration mode of the cam shape data (RMT), it is
necessary to select the AUTO operation mode and turn the selection
signal for registration mode of the cam shape data into ”1”
simultaneously.
[Operation] When the signal turns to ”1”, the control unit operates as follows:
S If the AUTO operation mode has not been selected, the signal is
ignored, and nothing happens.
S If the AUTO operation mode has been selected, the registration mode
of the cam shape data (RMT) is selected, and the registration of the
cam shape data becomes possible. In this case, the confirm signal for
registration mode of the cam shape data (MRMT) bccomes ”1”.

Confirm signal for

registration mode of the
cam shape data
MRMT<F003#4>
[Classification] Output signal
[Function] This signal reports that the registration mode of the cam shape data (RMT)
is selected.
[Output condition] The signal turns to ”1” when;
S The registration mode of the cam shape data (RMT) is selected.
The signal turns to ”0” when;
S The registration mode of the cam shape data (RMT) is not selected.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G043 DNCI

G238 ELCAM4 ELCAM3 ELCAM2 ELCAM1

G239 RCMCST ECMEND ECMST

F003 ERMT

F223 ECMCP4 ECMCP3 ECMCP2 ECMCP1

F224 ECMEXE

251
1. AXIS CONTROL B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8081 ECM

[Data type] Bit axis

ECM The Electronic CAM function is
0 : Not available
1 : Available

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

8086 The axis number of the cam shaft in the Electronic CAM function

[Data type] Byte

[Data range] 1 to the number of controlled axes
Set the axis number of the cam shaft in the Electronic CAM function.
[Example] Set 5 if the cam shaft is the fifth axis.

NOTE
It is impossible to set the same axis number as the cam
follower.

8087 Selection of the cam follower in the Electronic CAM function

[Data type] Byte axis

[Data range] 0,1 to the number of controlled axes
It selects the cam followers controlled in the Electronic CAM function.
Set the axis number of the cam shaft(the value of the parameter No.8086)
to the part of the cam follower. The maximum number of cam followers
is four. The selected cam followers are regarded as the first, the second,
the third and the fourth cam followers in order.
[Example] If the cam shaft is the fifth axis, and the first, the second, and
the seventh axes are the cam followers, set the values as
follows.
The parameter No.8087
(The 1st axis) = 5 (the 1st cam follower)
(The 2nd axis) = 5 (the 2nd cam follower)
(The 3rd axis) = 0
(The 4th axis) = 0
(The 5th axis) = 0 (the cam shaft)
(The 6th axis) = 0
(The 7th axis) = 5 (the 3rd cam follower)
(The 8th axis) = 0

252
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 It is impossible to select the same cam follower as the cam
shaft.
2 Set 0 to the part of the axis which is not a cam follower.

8088 The number of points of the cam shape data

[Data type] Word

[Data range] 3 to 2048
Set the number of points of the cam shape data in the Electronic CAM
function.

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

Related parameters (See

the parameter manual for
details.) #7 #6 #5 #4 #3 #2 #1 #0
1006 ROTx

[Data type] Bit axis

ROTx Either the linear axis or the rotation axis is set.
0 : Linear axis
1 : Rotation axis

NOTE
1 The cam shaft must be a rotation axis.
2 The cam followers must be linear axes.
3 When this parameter has been set, the power must be
turned off before the operation is continued.

#7 #6 #5 #4 #3 #2 #1 #0
1008 RRLx ROAx

[Data type] Bit axis

ROAx The roll over function of a rotation axis is
0 : Invalid
1 : Valid
RRLx Relative coordinates are
0 : Not rounded by the amount of the movement per one rotation
1 : Rounded by the amount of the movement per one rotation

253
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 Make the roll over function valid in the cam shaft.
2 When this parameter has been set, the power must be
turned off before the operation is continued.

#7 #6 #5 #4 #3 #2 #1 #0
1815 APCx APZx OPTx

[Data type] Bit axis

OPTx As a position detector, a separate pulse coder is
0 : Not used.
1 : Used.
APZx In case the absolute position detector is used, the machine position and
the detector
0 : Have not been related.
1 : Have been related.
APCx Position detector is
0 : Other than absolute position detector.
1 : Absolute position detector (absolute pulse coder).

NOTE
1 If the cam shaft is controlled externally, set 1 to OPTx and
APCx. And after moving the cam shaft to the reference
point, set 1 to APZx.
2 When this parameter has been set, the power must be
turned off before the operation is continued.

#7 #6 #5 #4 #3 #2 #1 #0
1819 FUPx

[Data type] Bit axis

FUPx Whether the follow–up is performed or not when the servo is off is set for
each axis.
0 : The follow–up signal, *FLWU, determines whether follow–up is
performed or not.
When *FLWU is 0, follow–up is performed.
When *FLWU is 1, follow–up is not performed.
1 : Follow–up is not performed.

NOTE
If the cam shaft is controlled externally, set 0 to FUPx.

254
B–63173EN–1/02 1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
2009 DMYx

[Data type] Bit axis

DMYx The serial pulse coder dummy function is:
0 : Invalid
1 : Valid

NOTE
1 If the cam shaft is controlled externally or is the hypothetical
axis, set 1 to DMYx.
2 When this parameter has been set, the power must be
turned off before the operation is continued.

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

[Data type] 2–word axis

[Unit of data] Detection unit
[Data range] 1000 to 99999999
Set the amount of a shift per one rotation for a rotation axis.

NOTE
1 Set the number of pulses per rotation of the cam shaft to this
parameter.
2 When this parameter has been set, the power must be
turned off before the operation is continued.

1420 Rapid traverse rate for each axis

[Data type] 2–word axis

[Unit of data] Increment system Unit of data Valid data range
[Data range] Millimeter machine 1mm/min 30 to 240000
Inch machine 0.1inch/mon 30 to 96000
Rotation axis 1deg/min 30 to 240000

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

NOTE
The phase calibration is executed at this feedrate.

255
1. AXIS CONTROL B–63173EN–1/02

Alarm and message

Number Message Description

5246 ELECTRONIC CAM The setting of the following parameters

PARAMETER ILLEGAL about Electronic CAM are illegal.
Correct the setting values.
No.8086 (The axis number of the
cam shaft)
No.8087 (The selection of the cam
follower)
No.8088 (The number of points of the
cam shape data)
No.1006#0 (Setting of the rotation
axis)
No.1008#0 (Setting of the roll over
function)
No.1260 (Amount of a shift per
rotation of a rotation axis)
5247 CAM DATA ILLEGAL S The check sum in the cam data is il-
legal.
S The phase number of the cam shaft
in the cam data is illegal.
S The transmission of cam data is
failed.
5248 CAM DATA S The registration area cannot be get
AREAINSUFFICIENT for the cam data because the option
of part program storage length of
160m or more is not used.
S The registration area is out of space
because the cam data is too big.
5249 ELECTRONIC CAM CAN The phase calibration or Electronic
NOT EXECUTE CAM running can not be executed for
the following reasons.
S The phase calibration is executed
without registering the cam data.
S Electronic CAM running is executed
although the phase calibration has
not been completed.
S The Electronic CAM function is
executed while the axis is moved by
the other function.

256
B–63173EN–1/02 1. AXIS CONTROL

1.9.2
Electronic Cam
Function
(B–Specification)

Overview The cam shape data of the conventional electric cam function
(A–specification) has been confined to the operation of reciprocating
follower axes (cams). An improvement was made to support
non–reciprocating cam operations. The new specification is called the
B–specification. The B–specification supports both reciprocating and
non–reciprocating cam operations. Using non–reciprocating cam
operations makes it possible to run a belt conveyer in synchronization
with cam shaft phases.
The A–specification (conventional specification) supports only
reciprocating cam operations, that is, operations in which the cam shaft
makes a one turn to return to the initial place as shown in Fig. 1.9.2 (a).
To the contrary, the B–specification (new specification) supports both
reciprocating cam operations and non–reciprocating cam operations (in
which the cam shaft does not return to the initial place after it has made
one turn) as shown in Fig. 1.9.2 (b).

The start and end points of Follower axis displacement

cam shape data coincide with
each other.

Cam shaft phase

Fig. 1.9.2 (a) A–specification

The start and end points of The start and end points of cam
cam shape data coincide shape data do not coincide with
with each other. each other.

Fig. 1.9.2 (b) B–specification

257
1. AXIS CONTROL B–63173EN–1/02

Differences between the The B–specification (new specification) differs from the A–specification
A– and B–specifications (conventional specification) in the following points. Take it for granted
that anything not written below is common to both specifications.
(1) Using bit 2 of parameter No. 8081 (TYB) can switch between the A–
and B–specifications.
(2) With the A–specification, it is unnecessary to specify the end point of
cam shape data (displacement of the follower axis after the cam shaft
has made one turn) because it coincides with the start point. With the
B–specification, however, it is necessary to specify the end point. For
the B–specification, therefore, it is necessary to specify one more
point, compared with the A–specification. Up to 2048 points can be
set up.
Example 2–1) Creating cam shape data by dividing one cam shaft
turn into six pieces on the assumption that the
follower axis rotates 360_ when the cam shaft makes
one turn and that the follower axis displacement at a
phase angle of 0_ (start point) coincides with that at
a phase angle of 360_ (end point)
[A–specification]
Let us set up the displacement (F in the figure) of the
follower axis for each of cam shaft phase numbers 0
to 5. In this case, six cam shape data items are
involved.

0_ 180_ 360_
Cam shaft
phase

F
|
F
Follower axis F
displacement
F F
F
Cam shaft
phase 0 1 2 3 4 5 0
number

258
B–63173EN–1/02 1. AXIS CONTROL

[B–specification]
Let us set up the displacement (F in the figure) of the
follower axis for each of cam shaft phase numbers 0
to 6. In this case, seven cam shape data items are
involved. The B–specification uses one more data
point, compared with the A–specification.

0_ 180_ 360_
Cam shaft
phase

F
|
F
Follower axis F
displacement
F F
F
Cam shaft
phase 0 1 2 3 4 5 0
number

Example 2–2) Creating cam shape data by dividing one cam shaft
turn into six pieces on the assumption that the
follower axis rotates 360_ when the cam shaft makes
one turn and that the follower axis displacement at a
phase angle of 0_ (start point) does not coincide with
that at a phase angle of 360_ (end point)
[A–specification]
The A–specification does not support the case of this
example.
[B–specification]
Let us set up the displacement (F in the figure) of the
follower axis for each of cam shaft phase numbers 0
to 6. In this case, seven cam shape data items are
involved.

0_ 180_ 360_
Cam shaft
phase F
F
F

Follower axis F
displacement F
F
F
Cam shaft
phase 0 1 2 3 4 5 0
number

(3) Cautions common to both A– and B–specifications

Create as many cam shape data items as the number of follower axis
displacements involved when the cam shaft makes one turn. To be
specific, it is necessary to create N data items even when the follower
axis repeats the same operation N times when the cam shaft makes one
turn.

259
1. AXIS CONTROL B–63173EN–1/02

(4) Caution common to both A– and B–specifications with a cam shape

for which the start–point displacement of the follower axis coincides
with the end–point displacement
Be sure to specify the follower axis as a linear axis (bit 0 of parameter
No. 1006 (ROT) = 0). Otherwise, no normal operation is performed.
(5) Caution for the B–specification with a cam shape for which the
start–point displacement of the follower axis does not coincide with
the end–point displacement
S Be sure to specify the follower axis as a rotary axis (bit 0 of
parameter No. 1006 (ROT) = 1) and set roll–over (bit 0 of
parameter No. 1008 (ROA) = 1) for the follower axis. Also specify
the end–point displacement multiplied by n (where n = 1, 2, 3, ...)
as the angle to move (parameter No. 1260) when the rotary axis
makes one turn. If these settings are incorrect, no normal operation
is performed.
S As in Example 2–2, specify that the displacement of the follower
axis is 0 at the start point and the largest at the end point. Do not
specify a negative displacement.
S No normal operation may be performed if the follower axis moves
at or faster than the speed obtained by:
3750 ”end–point displacement [deg]” [deg/min]

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8081 TYB

[Data type] Bit axis

TYB Specifies the specification to which the electric cam function complies, as
follows:
0 : A–specification
1 : B–specification

NOTE
Once this parameter has been re–set, it is necessary to turn
the power off and on again.

Related parameters
(Refer to the applicable
parameter manual for
details.) #7 #6 #5 #4 #3 #2 #1 #0
1006 ROTx

[Data type] Bit axis

ROTx Specifies whether the follower axis of interest is a liner or rotary axis, as
follows:
0 : Linear axis
1 : Rotary axis

260
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 Be sure to specify the cam shaft as a rotary axis.
2 If the cam shape is such that the start and end points of the
follower axis have the same displacement, be sure to
specify the follower axis as a linear axis.
3 With the B–specification, if the cam shape is such that the
start and end points of the follower axis have different
displacements, be sure to specify the follower axis as a
rotary axis.
4 Once this parameter has been re–set, it is necessary to turn
the power off and on again.

#7 #6 #5 #4 #3 #2 #1 #0
1008 RRLx ROAx

[Data type] Bit axis

ROAx Specifies whether to enable the roll–over function of the rotary axis, as
follows:
0 : To disable
1 : To enabled
RRLx Specifies whether to round off the relative coordinates to the
distance/angle to move per turn of the rotary axis, as follows:
0 : Not to round off
1 : To round off

NOTE
1 Be sure to enable roll–over for the cam shaft.
2 With the B–specification, if the cam shape is such that the
start and end points of the follower axis have different
displacements, enable the roll–over function for the follower
axis.
3 Once this parameter has been re–set, it is necessary to turn
the power off and on again.

1260 Distance/angle to move per turn of the rotary axis

[Data type] 2–word axis

[Unit of data] Detection unit
[Valid data range] 1000 to 99999999
This parameter specifies a distance/angle to move per turn of the rotary
axis.

261
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 Use this parameter to specify the number of pulses for each
turn of the cam axis.
2 With the B–specification, if the cam shape is such that the
start and end points of the follower axis have different
displacements, specify the end–point displacement
multiplied by n (where n = 1, 2, 3, ...) in this parameter.
3 Once this parameter has been re–set, it is necessary to turn
the power off and on again.

1.9.3 ”Electronic CAM function” has been enhanced as follows.

Enhancement of (1) Extension of maximum point number of CAM profile data
Electronic CAM In the conventional specification, the maximum point number of
CAM profile data is fixed at 2048. This specification has been
Function
improved so that the maximum point number is variable according to
tape storage length and follower axes number.
(2) A CAM follower links with or unlinks from a CAM shaft on the fly
In the conventional specification, a CAM follower must be
synchronized with a CAM shaft during electronic CAM operation.
This has been improved so that a CAM follower can join in or cut off
synchronization with a CAM shaft on the fly.
(3) Switch a CAM shaft from ”External axis + absolute pulse coder” to
”hypothetical axis”.
A CAM shaft can not be switched from ”external axis +absolute pulse
coder (external synchronization)” to ”hypothetical axis (internal
synchronization)” during electronic CAM operation because the
CAM follower gets a shock. This has been improved so that smooth
switching is realized by adapting the velocity just before switching as
the starting velocity of hypothetical axis.

CAUTION
When ”a servo axis” is assigned to a CAM–shaft, it is not
permitted to switch to hypothetical axis.

(*) Hereafter, ”External axis + Absolute pulse coder” is abbreviated to

”External axis”.

262
B–63173EN–1/02 1. AXIS CONTROL

(2),(3) can be applied to the application shown in the Fig.1.9.3(a).

CAM
follower
position CAM shaft
phase

Switch to hypothetical
Starting external axis stopping external axis axis

External axis/ Stopping

hypothetical hypothetical axis
axis

Follower #1 Starting Stopping

#1 #1

Starting Stopping
Follower #2 #2 #2

Starting Stopping
Follower #3
#3 #3

External synchronization by external axis

Internal synchronization by
hypothetical axis

Fig. 1.9.3(a) Example applied enhancement (2)(3)

In the Fig.1.9.3(a), the horizontal axis corresponds to the phase of a CAM
shaft and the vertical axis corresponds to the position of each CAM
follower. The external axis is performed to–and–fro linear motion by the
CAM shaft.
As shown in the Fig. 1.9.3(a), the external axis is started from the certain
point at first. Then the follower axes #1, #2 and #3 are started one by one
from the designated points. And electronic CAM operation with an
external axis as a CAM shaft (external synchronization) is performed.
When the operation is completed, the external axis will stop at the certain
point and a CAM shaft is switched to a hypothetical axis at the same time
so that the CAM follower axes stop at the certain point smoothly. The
hypothetical axis starts moving automatically with keeping the velocity
of the external axis. Then electronic CAM operation with a hypothetical
axis as a CAM shaft (internal synchronization) is performed.
After that, each follower axis will stop at each designated point one by
one.

263
1. AXIS CONTROL B–63173EN–1/02

Detail explanation

Extension of maximum S The maximum point number of CAM profile data depends on the tape
point number of CAM storage length and the number of the follower axes as shown in Table
profile data 1.9.3. Please note that the tape storage length 160m or 320m is
necessary.
S It depends on the parameter No.8081#3[EXD] whether the enhanced
specification is selected or the conventional specification (fixed 2048
at maximum). The point number is set by the parameter No.8088 as
before.
Table 1.9.3 Maximum point number used for CAM profile data

Tape storage Follower axis Maximum point Number of used P–code variable
length number number (In case of using Macro Executor)

160m 1 axis 7499 points 30000 pieces (No.9044=1000)

2 axes 4999 points 30000 pieces (No.9044=1000)

3 axes 3749 points 30000 pieces (No.9044=1000)

4 axes 2999 points 30000 pieces (No.9044=1000)

320m 1 axis 14999 points 60000 pieces (No.9044=2000)

2 axes 9999 points 60000 pieces (No.9044=2000)

3 axes 7499 points 60000 pieces (No.9044=2000)

4 axes 5999 points 60000 pieces (No.9044=2000)

CAUTION
When the specification is switched between enhanced one
and conventional one or the maximum point number is
changed, the tape storage memory must be deleted. Then,
before this, it is necessary to backup part programs. In order
to delete the tape storage memory, power is turned on with
pushing the <DELETE> key.

CAM follower links with The following improvement has been applied so that a CAM follower can
or unlinks from CAM join in or cut off synchronization with a CAM shaft on the fly.
shaft on the fly S Electronic CAM operation can be started without a CAM shaft phase
calibration
In the conventional specification, it is necessary to adjust the relation
of phase between a CAM shaft and a CAM follower before the CAM
operation is started. So the CAM follower can not join in the CAM
operation on the fly because it is not possible to adjust the phase during
the CAM operation. This specification has been improved so that the
electronic CAM operation can be started without the adjustment of
CAM phase. When using this specification, you must pay attention the
relation of axes. Because the CAM operation can be started even if the
relation between axes is not correct. It can be selected by the parameter
No.8082#1[NCP] whether the adjustment of a CAM follower is
required or not before CAM operation is started.

264
B–63173EN–1/02 1. AXIS CONTROL

S CAM follower can be linked or unlinked by the CAM follower

selection signal ELCAM*[G238].
Prepare the way to watch the position of a CAM shaft with the position
switch signal. If the CAM shaft comes to the position where the CAM
follower is started, turn CAM follower selection signal
ELCAM*[G238] to ”1” to start the CAM follower. But if the signal
is not switched timely, the machine is given a shock. To reduce a
shock, there is the parameter No.8090 to set the tolerance of the
velocity difference of the CAM follower.
If the CAM follower is required to stop, watch the position of the CAM
shaft in the same way as above. When the position of the CAM shaft
comes to a proper point, turn CAM follower selection signal
ELCAM*[G238] to ”0” to stop. In this time, the parameter No.8090
is also effective.
The detail of the parameter No.8090 to set the tolerance of the velocity
difference of a CAM follower is described in the pages that follow.
This parameter is only effective at rising edge or falling edge of CAM
follower selection signal ELCAM*[G238]. The way to start or to stop
is different. Then two types of way are described respectively.
[In case of start]
Suppose that the relation between the position of the CAM follower and
the phase of the CAM shaft is shown in the following figure and the CAM
follower points A, B, C correspond to the CAM shaft points P, P’, P”.
Suppose that there is no delay to get the CAM shaft position to simplify
the explanation.

CAM
follower
position CAM shaft
position
B
F

CAM shape

L C
F
L' A
F F F
P' P'' P

CAM shat revolving Distance correspond to the

direction tolerance of the velocity
difference of CAM follower

CAM folower selection 1

signal ELCAM*
0
Start
CAM folower motion
Stop

Waiting for start

265
1. AXIS CONTROL B–63173EN–1/02

At first, the CAM follower stops at the point A. If CAM follower selection
signal ELCAM*[G238] is turned to ”1” to start when the CAM shaft
comes to the point P, the CAM follower can synchronize with the CAM
shaft without a shock.
If ELCAM* is turned to ”1” when the CAM shaft comes to the point P’
where the CAM follower should not start, the moving distance of the
CAM follower is L because the CAM follower will move from A to B.
If the CAM follower starts moving without any compensation, the CAM
follower is given a big shock. To reduce this shock, the parameter
No.8090 to set the tolerance of the velocity difference of the CAM
follower is prepared.
Suppose that the value S is set in this parameter. Then if the velocity
difference is greater than S, the CAM follower is not started and keeps
waiting. If the velocity difference to the point C is S (L’=S), the CAM
follower can move at velocity S when the CAM shaft comes to the point
P”. When the CAM follower moves from A to B, the velocity difference
is L and greater than S. In this case, the CAM follower is not moved. If
the CAM shaft passes the point P”, the CAM follower moves to C and
synchronizes with the CAM shaft.
[In case of stop]
Suppose that the relation between the position of the CAM follower and
the phase of the CAM shaft is shown in the following figure and the CAM
follower points A, B, C correspond to the CAM shaft points P, P’, P”.
Suppose that there is no delay to get the CAM shaft position to simplify
the explanation.

CAM
follower
Velocity of CAM follower position CAM shaft
at the position B B position
F

VB CAM shape

F C
VC A
F F F
P' P'' P

CAM shat revolving Velocity correspond to the

direction tolerance of the velocity
difference of CAM follower

CAM folower selection 1

signal ELCAM*
0
Synchronizing
CAM folower motion Stop

Waiting for start

266
B–63173EN–1/02 1. AXIS CONTROL

If CAM follower selection signal ELCAM*[G238] is turned to ”0” when

the CAM shaft comes to the point P, the CAM follower, that is
synchronizing with the CAM shaft, can stop at the point A without any
shock.
But if ELCAM* is turned to ”0” when the CAM shaft comes to the point
P’, the CAM follower stops at the point B. In this case, as the velocity is
changed from VB to 0 in a moment, the difference of velocity is VB. If
the CAM follower stops moving without any compensation, the CAM
follower is given a big shock. To reduce this shock, the parameter
No.8090 to set the tolerance of the velocity difference of the CAM
follower is prepared. If the value S is set to this parameter, the CAM
follower does not stop and keeps synchronizing while the velocity
difference is greater than S.
Suppose that it is the point C where the velocity difference VC is S
(VC=S). Even if ELCAM*[G238] is turned to 0 to stop the CAM follower
at the point B, the CAM follower does not stop because the velocity
difference VB is greater than S. The CAM follower stops at the point C,
when the CAM shaft comes to the point P” and the velocity difference is
less than S.

Switch a CAM shaft from A CAM shaft can be switched from ”external axis (external
”external axis” to synchronization)” to ”hypothetical axis (internal synchronization)”
”hypothetical axis” during electronic CAM operation. It can be continued the CAM
follower’s motion after the external axis will stop. CAM shaft changing
signal ECMCHG [G239#2] is prepared for this purpose. If this signal is
turned to ”1”, the velocity of the CAM shaft (external axis) is kept at a
point of time and the internal pulses starts outputting at the same velocity
as before. The internal pulses are outputting while this signal is ”1”. The
internal synchronization in which the internal pulses are treated as the
CAM shaft is started.
The internal pulses will stop outputting when electronic CAM operation
is finished and CAM shaft changing signal ECMCHG [G239#2] is turned
to ”0”.

CAUTION
1 Be sure to finish electronic CAM operation before CAM shaft
changing signal is turned to ”0”.
2 Internal pulses is kept outputting until CAM shaft changing
signal is turned to ”0” or electronic CAM operation is
finished.
3 In case that a servo axis is assigned to a CAM shaft, CAM
shaft changing signal cannot be used. If used, a servo axis
moves like a hypothetical axis.

NOTE
1 Feedrate override can not be applied to internal pulses.
2 It is not possible to change from internal synchronization to
external synchronization.

267
1. AXIS CONTROL B–63173EN–1/02

Example How to use the items in Items ”CAM follower links with or unlinks from
CAM shaft on the fly” and ”Switch a CAM shaft from external axis to
hypothetical axis” concretely is described with the application example
shown in the following figure.

CAM
follower
position CAM shaft
phase

Switch to hypothetical
Starting external axis stopping external axis axis

External axis/ Stopping

hypothetical axis hypothetical axis

Follower #1 Starting Stopping

#1 #1

Starting Stopping
Follower #2 #2 #2

Starting Stopping
Follower #3
#3 #3

External synchronization by external axis

Internal synchronization by
hypothetical axis

Fig.1.9.3(b) Application example for the items in ”CAM follower links with or unlinks from CAM shaft on the fly”
and ”Switch a CAM shaft from external axis to hypothetical axis”
In the Fig. 1.9.3(b), the horizontal axis corresponds to the phase of a CAM
shaft and the vertical axis corresponds to the position of a CAM follower.
The external axis is performed to–and–fro linear motion by the CAM
shaft.
As shown in the Fig. 1.9.3(b), the external axis is started from the certain
point at first. Then the follower axes #1, #2 and #3 are started one by one
from the designated points. And electronic CAM operation with an
external axis as a CAM shaft (external synchronization) is performed.
When the operation is completed, the external axis will stop at the certain
point and a CAM shaft axis is switched to a hypothetical axis at the same
time so that the CAM follower axes stop at the certain point smoothly. The
hypothetical axis starts moving automatically with keeping the velocity
of the external axis. Then electronic CAM operation with a hypothetical
axis as a CAM shaft (internal synchronization) is performed.
After that, each follower axis will stop at each designated point one by
one.

268
B–63173EN–1/02 1. AXIS CONTROL

The way to realize above is described in the pages that follow.

D Watching the position of Use the position switch signal to watch the position of a CAM shaft. The
a CAM shaft position switch signal function watches the machine coordinate at every
certain period and outputs the signal when the coordinate is in the area that
is set by the parameters. Control the CAM follower #1, #2, #3 to start or
stop by this signal. Please refer to the Item “Position Switch” for more
detail.
It is necessary to set the same value both in the absolute coordinate and
the machine coordinate in advance, because the machine coordinate is
watched by the position switch function. As the output time of the
position switch has a scatter and delay from 24msec to 32msec, set the
position switch area considering this fact. For instance, the output of the
position switch signal has delay from 8degree to 12degree when the
velocity of a CAM shaft is 60min–1. Therefore set the value of the
parameter of the position switch area before the actual start or stop point
by from 8degree to 12degree.

Ex.) In case that a CAM shaft rotates at 60min–1 and a CAM follower starts when the CAM shaft
comes to the area from 250degree to 270degree,
Area before 8–12degree from 250degree → 238–242degree
Area before 8–12degree from 270degree → 258–262degree
Then, the area involving above two is
238–262degree
These value is set as the area of position switch signal output to the parameters.

CAM follower
position

CAM shat
position

CAM shaft revolving

direction CAM follower start area

Set the area of the position switch signal output before

CAM follower start area by 8–12degree.
Setting area to output
position switch signal

When the position switch area is set to cross the 0degree point of the CAM
shaft, the position switch signal does not output. For instance, it is the case
that the area is set from 350degree to 10degree.
There is another method to watch the position of a CAM shaft, such as
PMC functional instruction (WINDR, PSGN2). But the position switch
is better and recommended.

269
1. AXIS CONTROL B–63173EN–1/02

D Start external Start the external synchronization by the following way.

synchronization 1 Set the parameter so that electronic CAM operation can be started
without phase calibration.
The parameter No.8082#1=1
2 Set the tolerance of the velocity difference of the CAM follower at
start/stop synchronization. The value to set the parameter No.8090
should be more than calculated by the following expression.
The velocity of the CAM follower at start/stop
synchronization [mm/min]
7.5
3 Settle a CAM shaft (external axis) and the CAM followers to the
designated positions.
(Start position of each axis in the Fig. 1.9.3(b).)
4 Turn both follow–up signal *FLWU[G007#5] and CAM shaft
changing signal ECMCHG[G239#2] to ”0”.
5 Start electronic CAM operation.
S Set CAM follower selection signal for each follower axis
ELCAM*[G238] to ”0”.
S Phase calibration is not needed.
S Start electronic CAM operation by G–code or signal while the
external axis stops.
S Electronic CAM operation executing signal ECMEXE[F224#0]
becomes to ”1”.
6 Start the motion of the external axis.
7 Start the CAM follower by watching the position of the external axis.
S Watch the position of the external axis by the position switch
signal. Turn CAM follower selection signal ELCAM*[G238] for
each axis to ”1” when the external axis comes to the point where
each follower should start.
Start Start Start Start
external → follower #1 → follower #2 → follower #3
axis ELCAM1=1 ELCAM2=1 ELCAM3=1
S If the velocity difference of the CAM follower (moving distance)
is larger than the value of the parameter No.8090 (the tolerance of
the velocity difference of the CAM follower at start/stop
synchronization in electronic CAM function), the CAM follower
is waiting. If the velocity difference is smaller than the tolerance,
the CAM follower will start. Please refer more detail in the item
”CAM follower links with or unlinks from CAM shaft on the fly”.
Consider that there exists the scatter and delay about from 24msec
to 32msec to output the position switch signal.
D Synchronizing operation After the CAM followers start moving, the CAM followers synchronize
with the CAM shaft (external axis) according to the CAM profile data.
(External synchronization)

270
B–63173EN–1/02 1. AXIS CONTROL

D Stop external axis (From Stop the CAM shaft (external axis) by the following way and switch to
external synchronization the internal synchronization (hypothetical axis).
to internal 1 Watch the position of the external axis. When the external axis comes
synchronization) to the designated point, stop the external axis. At the same time, turn
both follow–up signal *FLWU[G007#5] and CAM shaft changing
signal ECMCHG[G239#2] to ”1”.
2 After above, internal pulses start outputting with keeping the velocity
of the external axis at the time when CAM shaft changing signal is
turned to ”1”. The CAM followers start synchronization with internal
pulses (internal synchronization).
D Stop internal Stop the internal synchronization by the following way.
synchronization 1 Watch the position of the CAM shaft (hypothetical axis). Turn CAM
follower selection signal ELCAM*[G238] for each axis to ”0” when
the hypothetical axis comes to the point where each follower should
stop.
Stop follower #2 → Stop follower #1 Stop follower #3
→
ELCAM2=0 ELCAM1=0 ELCAM3=0
S If the velocity difference of the CAM follower (moving distance)
is larger than the value of the parameter No.8090 (the tolerance of
the velocity difference of the CAM follower at start/stop
synchronization in electronic CAM function), the CAM follower
is waiting. If the velocity difference is smaller than the tolerance,
the CAM follower will stop. Please refer more detail in the item
”CAM follower links with or unlinks from CAM shaft on the fly”.
Consider that there exists the scatter and delay about from 24msec
to 32msec to output the position switch signal.
2 Electronic CAM operation is finished.
Turn electronic CAM function completion signal ECMEND[G239#1]
to ”1” or activate the reset signal.
3 Perform follow–up and reflect the difference of CAM shaft (external
axis) to the machine coordinate.
Turn both the follow–up signal *FLWU[G007#5] and CAM shaft
changing signal ECMCHG[G239#2] to ”0”.
4 Perform the coordinate preset (G92) so that the machine coordinate of
CAM shaft (external axis) has the same value of the absolute
coordinate.
For instance, execute the following part program.
G92 C#5021 ; (In case that CAM shaft is the first axis and its name
is C)
#5021 is the macro system variable and to treat the machine coordinate
of the first axis. Please refer to the ”FANUC Power Mate i–D/H
OPERATOR’S MANUAL” for more detail of the system variable.

271
1. AXIS CONTROL B–63173EN–1/02

Signal

CAM follower selection

signals ELCAM1 to
ELCAM4<G238>
[Classification] Input signal
[Function] These signals select the CAM followers.
They are provided for each CAM follower. The signal number
corresponds to the CAM follower number.
ELCAM*
1. ... The selection signal for the CAM follower 1
2. ... The selection signal for the CAM follower 2
3. ... The selection signal for the CAM follower 3
4. ... The selection signal for the CAM follower 4
[Operation] In case that the parameter No.8082#1[NCP]=0
When the signals turn to ”1”, the control unit operates as follows.
S The phase calibration or electronic CAM operation by the input signal
is executed.
When the signals turn to ”0”, the control unit operates as follows.
S The phase calibration or electronic CAM operation by the input signal
is not executed.
In case that the parameter No.8082#1[NCP]=1
When the signals turn to ”1”, the control unit operates as follows.
S Synchronizes the CAM follower corresponded to the signal with
CAM shaft. If the velocity difference at starting synchronization is
more than the tolerance of the velocity difference of the CAM follower
(the parameter No.8090), CAM follower waits for starting.
When the signals turn to ”0”, the control unit operates as follows.
S Synchronization of CAM follower corresponded to the signal is not
performed. If the velocity difference at completing synchronization
is more than the tolerance of the velocity difference of the CAM
follower (the parameter No.8090), CAM follower waits for stopping.

NOTE
The parameter No.8087 determines which axis is the CAM
follower.

272
B–63173EN–1/02 1. AXIS CONTROL

CAM shaft changing

signal
ECMCHG<G239#2>
[Classification] Input signal
[Function] Change from the external synchronization (electronic CAM operation
with external axis as CAM shaft) to the internal synchronization
(electronic CAM operation with hypothetical axis as CAM shaft) while
electronic CAM operation is performed.
[Operation] When this signal turns to ”1”, the control unit operates as follows.
S Change from the external synchronization to the internal
synchronization.
If this signal is turned to ”1”, the velocity of external axis is kept at a
point of time and the internal pulses starts outputting at the same
velocity as before. The internal pulses are outputting while this signal
is ”1”. The internal synchronization in which the internal pulses are
treated as the CAM shaft is started.
When this signal turns to ”0”, the control unit operates as follows.
S Stop outputting internal pulses.

CAUTION
1 Be sure to finish electronic CAM operation before CAM shaft
changing signal is turned to ”0”.
2 Internal pulses is kept outputting until CAM shaft changing
signal is turned to ”0” or electronic CAM operation is
finished.
3 In case that a servo axis is assigned to a CAM shaft, CAM
shaft changing signal cannot be used. If used, a servo axis
moves like a hypothetical axis.

NOTE
1 Feedrate override can not be applied to internal pulses.
2 It is not possible to change from internal synchronization to
external synchronization.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8081 EXD

[Data type] Bit

EXD In electronic CAM function, extension of maximum point number of the
CAM shape data is
0 : Not applied.
1 : Applied.

273
1. AXIS CONTROL B–63173EN–1/02

NOTICE
When this parameter is changed, the tape storage memory
must be deleted. Then, before this, it is necessary to backup
part programs. In order to delete the tape storage memory,
power is turned on with pushing the <DELETE> key.

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

#7 #6 #5 #4 #3 #2 #1 #0
8082 NCP

[Data type] Bit

NCP In electronic CAM function, phase calibration is
0 : Used.
1 : Not used.

NOTE
If this parameter is ”1”, a CAM follower can link with or unlink
from a CAM shaft on the fly on the electronic CAM operation.

8088 The number of points of the CAM shape data in electronic CAM function

[Data type] Word

[Data range] 3 to 2048 (In case that point number is not extended.)
3 to 14999 (In case that point number is extended.)

NOTICE
When this parameter is changed, the tape storage memory
must be deleted. Then, before this, it is necessary to backup
part programs. In order to delete the tape storage memory,
power is turned on with pushing the <DELETE> key.

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

274
B–63173EN–1/02 1. AXIS CONTROL

8090 Tolerance of the velocity difference of each CAM follower at start/stop synchroniza-
tion in electronic CAM function

[Data type] 2–word axis

[Unit of data] Detection unit
[Data range] 0 to 99999999
Set the tolerance of the velocity difference of each CAM follower when
a CAM follower can link with or unlink from a CAM shaft on the fly on
the electronic CAM operation in electronic CAM function.
Please refer to the Item “CAM follower links with or unlinks from CAM
shaft on the fly” for more detail.
The value to set the parameter No.8090 should be more than calculated
by the following expression.
The velocity of the CAM follower at start/stop
synchronization [mm/min]
7.5
[Ex.]
In case that the velocity of CAM follower at starting/stopping
synchronization is 360mm/min.
360 / 7.5 = 48
Then, set the value more than 48.

NOTE
This parameter is effective when phase calibration is not
used (the parameter No.8082#1[NCP]=1).

8091 Permissible fluctuation in master coordinate value at electronic cam phase syn-
chronization

[Data type] Word

[Unit of data] Least input increment
[Valid data range] 0 to 65535
Set a permissible fluctuation in coordinate value of the cam shaft that does
not turn off the phase synchronization completion signal after the
completion of electronic cam phase synchronization.

NOTE
1 Set this parameter considering the range in which the
coordinate value may fluctuate when the cam shaft is
stopped.
2 If 0 is set, the conventional specification applies.

275
1. AXIS CONTROL B–63173EN–1/02

8092 Permissible fluctuation in slave coordinate value at electronic cam phase synchro-
nization

[Data type] Word axis

[Unit of data] Least input increment
[Valid data range] 0 to 65535
Set a permissible fluctuation in coordinate value of the follow–up axis
that does not turn off the phase synchronization completion signal after
the completion of electronic cam phase synchronization.

NOTE
1 Set this parameter considering the range in which the
coordinate value of the electronic cam follow–up axis may
change after the completion of phase synchronization.
2 If 0 is set, the conventional specification applies.

1.9.4
Combined Use of the
Electronic CAM Mode
and Simple
Synchronous Control
in the Electronic CAM
Function
Overview S When the electronic CAM function (phase synchronization and
electronic CAM operation) is activated, the electronic CAM mode is
entered and other operations such as JOG cannot be performed for the
follow–up axis.
S It is possible to perform simple synchronous control in which the
follow–up axis of the electronic CAM function is used as the master
axis. As with normal simple synchronous control, up to four sets, each
of which consists of a master axis and slave axis, can be specified.

CAM shaft

Electronic CAM function

Follow–up axis 1 Follow–up axis 2 Follow–up axis 3 Follow–up axis 4

Simple synchronous control

Slave 1 Slave 2 Slave 3 Slave 4

276
B–63173EN–1/02 1. AXIS CONTROL

Electronic CAM mode

Description S When the electronic CAM function is activated, the electronic CAM
mode is entered and the electronic CAM mode activation signal
(ECMMOD<F224#7>) is set to 1.
S In the electronic CAM mode, other operations such as JOG cannot be
performed for the follow–up axis.
S When the electronic CAM mode is entered through the activation of
the electronic CAM function by a signal, the electronic CAM function
by a G code cannot be activated, and vice versa. When the electronic
CAM mode is entered through activation of the electronic CAM
function by a G code, alarm No. 5249 occurs.
S When a reset or mode change is made, the electronic CAM mode is
canceled and the electronic CAM mode activation signal
(ECMMOD<F224#7>) is set to 0. When electronic CAM operation
is activated in the AUTO mode, however, the electronic CAM mode
is canceled upon completion of electronic CAM operation.
S The electronic CAM mode activation signal is not set to 0 even when
the electronic CAM signal function completion signal
(ECMEND<G239#1>) is set to 1.
S When using simple synchronous control in which the follow–up axis
is used as the master axis, other operations such as JOG cannot be
performed for the slave axis. This does not depend on the state of the
simple synchronization axis selection signal <G188> or simple
synchronization manual feed signal <G140>.

Signals

Electronic CAM mode

activation signal
ECMMOD<F224#7>
[Classification] Output signal
[Function] Indicates that the electronic CAM mode is entered.
[Output condition] This signal is set to 1 when:
S The electronic CAM mode is entered.
This signal is set to 0 when:
S The electronic CAM mode is not entered.

NOTE
In the electronic CAM mode, other operations such as JOG
cannot be performed for the follow–up axis and the slave axis
in simple synchronous control in which the follow–up axis is
used as the master axis. To perform other operations, cancel
the electronic CAM mode by making a reset or mode change.
When automatic CAM operation is performed in the AUTO
mode, however, the electronic CAM mode is canceled upon
completion of electronic CAM operation.

277
1. AXIS CONTROL B–63173EN–1/02

Time Chart

ECMCST
(Phase synchronization
start signal)

Phase synchronization

ECMCP*
(Phase synchronization
completion signal)

ECMST
(Electronic CAM operation
start signal)

ECMEXE
(Electronic CAM operation
progress signal)

Electronic CAM operation

(CAM shaft rotation)

ECMEND
(Electronic CAM function
end signal)

ECMMOD
(Electronic CAM mode
activation signal)

Reset or mode
change

Combined use of the The following describes simple synchronous control in which the
electronic CAM function follow–up axis is used as the master axis.
and simple synchronous
control
Setting of Simple Parameter settings are quite the same as those of normal simple
synchronous control synchronous control.
Description S The slave axis is also assumed to be the follow–up axis.
In normal simple synchronous control, synchronization is made when
the simple synchronous axis selection signal <G138> or simple
synchronization manual feed axis selection signal <G140> is on.
When the simple synchronous axis selection signal <G138> or simple
synchronization manual feed axis selection signal <G140> is off,
synchronization is not made and the slave axis can be moved
independently. When the follow–up axis of the electronic CAM
function is used as the master axis, the slave axis is also assumed to
be the follow–up axis at the time of execution of the electronic CAM
function (phase synchronization or electronic CAM operation).
Therefore, the slave axis cannot be moved independently even when
the simple synchronous axis selection signal <G138> or simple
synchronization manual feed axis selection signal <G140> is off.

278
B–63173EN–1/02 1. AXIS CONTROL

S In the electronic CAM mode, other operations cannot be performed for

the slave axis.
In the electronic CAM mode, other operations such as JOG cannot be
performed for the slave axis as well as the follow–up axis (master
axis).
S The signal that synchronizes the slave axis with the follow–up axis is
determined by the method of activating the electronic CAM function.
Whether the slave axis is synchronized with the follow–up axis in the
electronic CAM mode is determined as usual by the simple
synchronous axis selection signal <G138> or simple synchronization
manual feed axis selection signal <G140>. However, which signal to
use is determined by the method of activating the electronic CAM
function.
Activation by a G code → The simple synchronous axis selection
signal <G138> is enabled.
Activation by a signal → The simple synchronization manual
feed axis selection signal <G140> is
enabled.

NOTE
1 In the electronic CAM mode, other operations such as JOG
cannot be performed for the follow–up axis and slave axis
in simple synchronization.
2 Whether the slave axis in simple synchronization is
synchronized with the follow–up axis in the electronic CAM
mode is determined as usual by the simple synchronous
axis selection signal <G138> or simple synchronization
manual feed axis selection signal <G140>. However, which
signal to use is determined by the method of activating the
electronic CAM function.

279
1. AXIS CONTROL B–63173EN–1/02

1.10
MULTIAXIS
SYNCHRONOUS
CONTROL (Power
Mate i–H)

1.10.1 The multi axes synchronous function allows axes (child axes) to
synchronously follow up the operation of a reference axis (parent axis)
Overview
with a certain speed ratio (gear ratio).
The features of the multi axes synchronous function are as follows:
D Since the speed ratio (gear ratio) is determined by a ladder or by
specifying an NC statement, operations that frequently change the
gear ratio or the direction of movement can be performed.
D The speed ratio (gear ratio) is set by specifying the amount of a
parent–axis movement and the amount of a child–axis movement
separately rather than specifying a ratio directly, so the problem of
fraction processing does not occur. As a result, the synchronization
relationship does not deviate even after rotation is performed
continuously.
D Axes can have a hierarchical structure not only having a parent–child
relationship but also having grandchildren and further lower levels as
long as the maximum allowable number of axes is not exceeded.
D The parent–child relationship of axes is established by setting
parameters considering safety.
This function not only facilitates simplification of gears and other
mechanism but also allows the speed ratio to be changed freely during
operation, therefore enabling operations that could not be performed with
conventional mechanisms.
Fig. 1.10.1 shows an example in which the child axis synchronously
follows up the parent axis, and grandchild axes 1 and 2 synchronously
follow up the child axis.

Grandchild
Synchronization axis 1
Synchronization

Grandchild
axis 2
Child axis
Parent axis

Fig. 1.10.1

280
B–63173EN–1/02 1. AXIS CONTROL

1.10.2 To perform synchronous operation, follow the procedure below.

Procedure 1 Set axes related to a synchronous operation.
Make parameter settings such as a relationship between the parent axis
and child axis, and axis attributes.
2 By using NC statements or a ladder, create commands for the
synchronous operation.
3 Execute the program created in step 2.
A multiaxis synchronous operation is performed with the
synchronization relationship set in step 1 and the operation pattern
created in step 2.

1.10.3 A synchronization relationship among axes is set in parameters Nos. 8380

and 8381.
Setting a
For details of the parameters, see the description of the parameters.
Synchronization
Relationship
CAUTION
To ensure safety, do not change these parameters in
automatic operation G10.

The following present some examples for setting the parameters for the
synchronization relationship.

1.10.3.1 Let’s take a look at a simplest synchronization relationship as shown in

Example of a simple Fig. 1.10.3.1.
Let the first axis be the X–axis, and the second axis be the Y–axis.
synchronization
relationship
Parent Child

X Y

Fig. 1.10.3.1

Parent axis parameter (No. 8380):

Set 0 for the X–axis because the parent axis of the X–axis is not present,
and set 1 for the Y–axis because the parent axis of the Y–axis is the X–axis
(the first axis).
Parent category parameter (No. 8381):
Set 100 for the X–axis because the X–axis itself is the parent axis and a
servo axis, and set 1 for the Y–axis because the parent axis of the Y–axis
is the X–axis (the first axis).
The following summarizes the parameter settings explained above:
Parent axis parameter (No. 8380)
X (1st axis) 0

Y (2nd axis) 1

281
1. AXIS CONTROL B–63173EN–1/02

Parent category parameter (No. 8381)

X 100

Y 1

1.10.3.2 Let’s take a look at a complicated synchronization relationship where all

Example of a axes are servo axes as shown in Fig. 1.10.3.2.
complicated
synchronization Parent Child Grandchild Great– Great–great–
relationship (when all
grandchild grandchild
axes are servo axes)
X Y Z U V
A C

Fig. 1.10.3.2

Axis numbers are assumed to be assigned as follows: X = 1, Y = 2, Z =

3, A = 4, B = 5, C = 6, U = 7, and V = 8.
Parent axis parameter (No. 8380):
Set the parent axis parameter for the X–axis to 0 because the X–axis
is the parent axis, and set the parent axis parameter for the Y–axis and
A–axis, which are child axes, to 1.
Set 2 for the Z–axis because the Z–axis is a child axis of the Y–axis,
set 3 for the C–axis and U–axis because these axes are the child axes
of the Z–axis, set 7 for the V–axis because the V–axis is a child axis
of the U–axis, and set 0 for the B–axis because the B–axis is not related
to synchronization.
Parent category parameter (No. 8381):
Set 100 for the X–axis because the X–axis is the parent axis and a servo
axis, set 1 for the other axes except the B–axis because their parent axis
is a servo axis, and set 0 for the B–axis because the B–axis is not related
to synchronization.
The following summarizes the parameter settings explained above:
Parent axis parameter (No. 8380)
X 0

Y 1

Z 2

A 1

B 0

C 3

U 3

V 7

282
B–63173EN–1/02 1. AXIS CONTROL

Parent category parameter (No. 8381)

X 100

Y 1

Z 1

A 1

B 0

C 1

U 1

V 1

1.10.3.3 Let’s take a look at the settings for a synchronization relationship where
Example of a a separate absolute position detector is used as the parent axis as shown
in Fig. 1.10.3.3.
synchronization
This example is the same as the example shown in Fig. 1.10.3.2 except
relationship where a that the parent axis is not a servo axis but is a separate absolute position
separate absolute detector.
position detector is used
as the parent axis
Parent Child Grandchild Great– Great–great–

(separate type) grandchild grandchild

X Y Z U V
A C

Fig. 1.10.3.3

Parent axis parameter (No. 8380):

Same settings as the settings for the example shown in Fig. 1.10.3.2.
Parent category parameter (No. 8381):
Set 400 for the X–axis because the X–axis is the parent axis and a
separate pulse coder, set 4 for the Y–axis and A–axis because the
parent axis of the Y–axis and A–axis is an external APC axis (the
X–axis), set 1 for the other axes because their parent axes are servo
axes, and set 0 for the B–axis because the B–axis is not related to
synchronization.

283
1. AXIS CONTROL B–63173EN–1/02

Parent axis parameter (No. 8380)

X 0

Y 1

Z 2

A 1

B 0

C 3

U 3

V 7

Parent category parameter (No. 8381)

X 400

Y 4

Z 1

A 4

B 0

C 1

U 1

V 1

1.10.3.4 If the inter–unit data sharing function is used, synchronous operation with
Example of a the master device in the master unit set as the parent axis can be
performed.
synchronization
Assume that there are a master and a slave each having two axes (X, Y)
relationship where a assigned axis numbers (X = 1, Y = 2) and that the X–axis in the master
master device in another unit is used as the master device as shown in Fig. 1.10.3.4.
unit is used as the
parent axis

Master device X X
(parent axis)
Y Y

Master unit Slave unit

Fig. 1.10.3.4

This configuration is basically similar to that shown in Fig. 1.10.3.1, but

parameter No. 8381 is set to 1000 because the parent axis of the X–axis
of the slave is a device in another unit.

284
B–63173EN–1/02 1. AXIS CONTROL

Master setting Slave setting

Parent axis number (No. 8380) Parent axis number (No. 8380)
X 0 X 0
Y 1 Y 1

Parent axis category (No. 8381) Parent axis category (No. 8381)

X 100 X 1000
Y 1 Y 1

1.10.3.5 Let’s take a look at the settings for a synchronization relationship where
Example of a a pacemaker is used as the parent axis as shown in Fig. 1.10.3.5.
synchronization
relationship where a Parent Child Grandchild Great– Great–great–
pacemaker is used as Pacemaker
grandchild grandchild
the parent axis
X Y Z U
A C

B V

Fig. 1.10.3.5

Parent axis parameter (No. 8380):

Set 1 for the X–axis of which parent is a pacemaker, set 1 for the Y–,
A–, and B–axes because their parent is the X–axis, set 2 for the Z–axis
because its parent is the Y–axis, and set 3 for the C–, U–, and V–axes
because their parent is the Z–axis.
Parent category parameter (No. 8381):
Set 7 for the X–axis because its parent is a pacemaker, and set 1 for the
other axes because their parent axes are servo axes.
Parent axis parameter (No. 8380)
X 1
Y 1
Z 2
A 1
B 1
C 3
U 3
V 3
Parent category parameter (No. 8381)
X 7
Y 1
Z 1
A 1
B 1
C 1
U 1
V 1

285
1. AXIS CONTROL B–63173EN–1/02

NOTE
An external APC axis and a pacemaker can be set only as
a parent axis. It is impossible to use these devices as child
axes.

1.10.4
Command Types and
Specification Methods

1.10.4.1 There are two types of synchronization command: the mechanical

Command types synchronization command and the start point synchronization command.

Mechanical Immediately after this command is issued, a target axis moves in

synchronization synchronization with the motion of the parent axis.
command Since a movement is made as if the parent axis and child axis were
connected mechanically, this operation is called mechanical
synchronization.

Start point After this command is issued, a target axis starts a synchronous operation
synchronization when a specified position on the parent axis has been achieved.
command Because this command has the feature of specifying the start point of
synchronization, control by this command is called start point
synchronous control.

1.10.4.2 A synchronous operation may be specified in two ways: Using a G code

Specification methods in an NC statement, and using PMC axis control with a ladder.
D When a G code in an NC statement is used for specification, an
operation is performed by an NC program.
Since only one NC program can be executed at the same time, this
method can be used for a synchronous operation having just one pair
of a parent and child.
PMC axis control commands with a ladder is further classified into the
direct specification type and the indirect specification type.
D Direct specification uses the conventional PMC axis control interface
directly.
D Indirect specification eliminates the limitations of the number of
specified items and size by expanding an area which became
insufficient with the conventional interface.
Therefore, PMC axis control specified indirectly in a ladder is considered
to be the specification method used most widely.

286
B–63173EN–1/02 1. AXIS CONTROL

Specification method

PMC axis control (ladder)

G code
(NC
Direct Indirect
statement)
specification specification

Mechanical
f(*1) f(*2) f
synchronization
Type
Start point
f(*1) ∆(*3) f
synchronization

*1 When an NC statement is used for specification, just one

parent–child pair can be specified. For synchronous control with
two or more parent–child pairs, specify the synchronous operation
by using PMC axis control.
*2 When a mechanical synchronization command is specified directly
using PMC axis control, the least command increment of the amount
of a parent–axis movement is 100 times the least input increment
because of the limitation of the interface area.
*3 When a start point synchronization command is specified directly
using PMC axis control, the coordinate value of the start point is
fixed to 0 (origin) in addition to the application of the limitation
explained in *2 above.

1.10.5
Commands Using a G
Code

1.10.5.1 In NC commands, be sure to perform a synchronous operation with

General information incremental feed G91 set.
Synchronous operation commands G145 and G146 described later both
about NC axis
belong to G code group 05 (the same group as for G94 and G95).
synchronization Because these commands are modal commands, when performing a
commands synchronous operation, turn on the synchronization mode signal, then
specify G145 or G146.
On the other hand, to perform feed per revolution or feed per minute, turn
off the synchronization mode signal, then specify G94 or G95.

Code Group Meaning

G94 Feed per minute

G95 Feed per revolution

05
G145 Mechanical synchronization

G146 Start point synchronization

For details, refer to the chapter describing the preparatory function (G

function) in ”Power Mate i–MODEL H Operator’s Manual”.

287
1. AXIS CONTROL B–63173EN–1/02

1.10.5.2 The following shows the format of the mechanical synchronization

Mechanical command in an NC statement:
synchronization [Command format]
command
G145 G91 G01 any–axis__R__ ; (cannot be omitted)
Any axis__: Amount of movement on a target axis
R__: Amount of movement on the parent axis

[Operation]
Immediately after the command is specified, a movement on
the child axis specified in ”any–axis” is made by a specified
distance in synchronization with the parent axis while a
movement on the parent axis is made by the distance
specified in R.

* Do not set 0 as the amount of movement on the parent axis.

* The unit of the amount of movement is the least input incre-
ment.

Example: When making a movement on the X–axis by 80000 pulses (80

mm) while a movement along the parent axis is being made by
100000 pulses (100 mm)
G145 G91 G01 X80. R100.;

1.10.5.3 The following shows the format of the start point synchronization
Start point command in an NC statement:
synchronization [Command format]
command
G145 G91 G01 any–axis__ R__ Q__ ; (only Q can be omitted)
Any axis__: Amount of movement on a target axis
R__ : Amount of movement on the parent axis
Q__ : Machine coordinate on the parent axis at
which the target axis starts synchronization

[Operation]
When the machine coordinate specified in Q has been
achieved on the parent axis, a movement on the child axis
specified in ”any–axis” is made by the specified distance in
synchronization with the parent axis while a movement on
the parent axis is made by the distance specified in R.

* Do not set 0 as the amount of movement on the parent axis.

* The unit of the amount of movement is the least input incre-
ment.

In the following cases, synchronization starts from machine coordinate 0

on the parent axis (origin):
D When Q_ is omitted

288
B–63173EN–1/02 1. AXIS CONTROL

D When a value specified in Q_ is beyond the range (a value exceeding

the rollover range)
Example: When starting synchronization at the point when machine
coordinate 240000 (240 mm) is passed in the positive
direction on the parent axis and making a movement on the
Z–axis by 70000 pulses (70 mm) while a movement on the
parent axis is being made by 50000 pulses (50 mm)
G146 G91 G01 Z70. R50. Q240.:

NOTE
1 As the amount of movement on a target axis, do not specify
more than one axis.
2 When an external APC axis is set as the parent axis, a
synchronization start position Q is not a machine coordinate
value but an absolute coordinate value.

1.10.6
Commands using PMC
Axis Control

1.10.6.1 In PMC axis control, axes can be controlled in many ways just by using
General information signals.
about PMC axis The timing for rewriting command data is defined for PMC axis
synchronization commands regardless of whether these commands are specified directly
commands or indirectly.
When the EBUFg signal is inverted, a PMC axis instruction is specified.
When this instruction has been read, the EBSYg signal is inverted.
When the sign of the EBUFg signal and the sign of the EBSYg signal are
different, data read operation is in progress, so command data must not
be changed.
The following shows the timing chart for a command read operation:

Enable period(*1)

Command block

EBUFg

EBSYg

Input buffer

*1 The enable period is the period in which the sign of the EBUFg signal
and the sign of the EBSYg signal match, and therefore command data
can be rewritten. In this period, a new block can also be specified.

289
1. AXIS CONTROL B–63173EN–1/02

For details, refer to the chapter is ”PMC CONTROL FUNCTION”.

NOTE
When multiaxis synchronization command is to be specified
using PMC axis control, set bit 7 of parameter No. 1819 to
1.
If this parameter is set to 0, it may take about 20 ms to make
an axis movement after EBUSY is inverted upon reception
of a command.

1.10.6.2 This specification method uses the conventional command format of

PMC axis PMC axis control.
Because the number and size of data items that can be specified per
synchronization
instruction are small, limited specifications apply. Normally, use of the
command (direct PMC axis synchronization command (indirect specification) is
specification) recommended.
Mechanical synchronous control command
Command: 35 (23h)
Operation: A target axis performs a synchronous operation according to
the parent axis.
Command format:
Offset address from
beginning of group Meaning
+00 ––
+01 Command 35 (23h)
+02 Amount of movement on parent axis/100 (2 bytes)
+04 Amount of movement on target axis (4 bytes)
The amount of movement on a target axis and the amount of movement
on the parent axis are set both in pulses (least input increment).
Do not set 0 as the amount of movement on the parent axis.

Start point synchronous Command: 36 (24h)

control command Operation: A target axis is synchronized with the parent axis with proper
timing.
Command format:
Offset address from
beginning of group Meaning
+00 ––
+01 Command 36 (23h)
+02 Amount of movement on parent axis/100 (2 bytes)
+04 Amount of movement on target axis (4 bytes)
The amount of movement on a target axis, the amount of movement on
the parent axis, and the start position are all set in pulses (least input
increment).
Do not set 0 as the amount of movement on the parent axis.

290
B–63173EN–1/02 1. AXIS CONTROL

This command starts the operation when the movement on the parent axis
has passed the origin. To start synchronization at a point other than the
origin on the parent axis, use start point synchronous control command
G146, which is an NC command, or the PMC axis indirect command
described later.

Example of a PMC axis While the parent axis turns one turn, the child axis (the X–axis) turns one
synchronization turn with its speed changed in three steps, and in section 2, the parent axis
command (direct and child axis synchronously turn at the same speed.
specification)
Parent axis Child axis (X–axis)

Section Section Section 1

2 1

Section Section
Section 3 2 3

Section 1 While the parent axis turns 90_, the child axis turns 180_.
Section 2 While the parent axis turns 90_, the child axis turns also 90_.
Section 3 While the parent axis turns 180_, the child axis turns 90_.

* For the parent axis of the X–axis, the parent axis parameter and the
parent axis category parameter must be set in advance.
In section 1, the child axis turns twice as fast as the parent axis. In section
2, the child axis turns at the same speed as the parent axis. In section 3,
the child axis turns at a half of the speed of the parent axis.
In this case, execute the following three instructions for the child axis
repeatedly by using PMC axis commands:
Section 1 Specify a command to make a movement on a target axis
(X–axis) 180_ (180000 pulses) during a movement on the
parent axis by 90_ (90000 pulses).
Section 2 Specify a command to make a movement on a target axis 90_
(90000 pulses) during a movement on the parent axis by 90_
(90000 pulses).
Section 3 Specify a command to make a movement on a target axis 90_
(90000 pulses) during a movement on the parent axis by 180_
(180000 pulses).
Offset address from
beginning of group Section 1 Section 2 Section 3
+00 –– –– ––
+01 35(23h) 35(23h) 35(23h)
+02 900(=90000/100) 900(=90000/100) 1800(=180000/100)
+04 180000 9000

291
1. AXIS CONTROL B–63173EN–1/02

1.10.6.3 Unlike direct specification, PMC axis indirect specification allows any
PMC axis number of data items and any size to be specified, so it can provide
minuter control, enabling creation of flexible applications.
synchronization
command (indirect Specifically, indirect specification has the following merits when
specification) compared with direct specification:
D Less than 100 pulses can be specified as the amount of movement on
the parent axis.
D In the start point synchronization command, the start point can be set
at any position freely.
D Command data can be assigned to the D area (nonvolatile PMC
memory).
D The area used for command data can be changed dynamically.

Indirect specification Command number: 34 (22h)

Operation: A PMC axis indirect command is executed
according to the data at the address specified by the
command data.
Command format:

Offset address from

beginning of group Meaning
+00 Same as normal PMC axis command
+02 Command code 34 (22h)
+04 Subcommand address character code (2 bytes)
+08 Start address of subcommand (4 bytes)

Command block

Axis control
Operation command code Command data
signal EC0g to EC6g

Address character code EIF0g

Indirectly specified
34 (22h) to EIF15g
command
Start address EID0g to EID31g

This command is used to execute a subcommand.

An actual command execution is performed by specifying the start
address of the subcommand.
Specify the start address at which the subcommand is described.
The character code of the start address of the subcommand is specified in
ASCII.
As the character code of the start address of the subcommand, D can be
specified.
For D, specify 68 (= 44h).
D stands for nonvolatile type.

292
B–63173EN–1/02 1. AXIS CONTROL

CAUTION
If the range of the address of a specified subcommand is
used for another purpose (for example, device net, I/O Link,
etc.), a dangerous malfunction may be caused. So, be very
careful not to cause area overlap.

Subcommand A subcommand is used for a command that could not be specified in

conventional PMC axis control because the number of command data
items and the size became insufficient.
The subcommand format varies from subcommand to subcommand
except that the first 4 bytes are fixed.
The address specified by a subcommand is indicated with an offset from
the address specified in an indirect synchronization command.
Command format:
Address Meaning
+00 Subcommand number (2 bytes)
+02 Subcommand data length (2 bytes)
+04 and Range specified by subcommand data length
subsequent
locations
For details of the indirect command, see Subsection 15.1.1, ”PMC Axis
Indirect Specification Command”.

Mechanical Subcommand number: 01 (01h)

synchronization Operation: A synchronization operation is performed for a
command target axis according to the parent axis.
Command format:
Offset of indirect
specification command
Address specified
at +04 Meaning
+00 Subcommand 01 (2 bytes)
+02 Data length 12 (2 bytes)
+04 Amount of movement on target axis (4 bytes)
+08 Amount of movement on parent axis (4 bytes)
The units of the amount of movement on a target axis and the amount of
movement on the parent axis are both the least input increment.
When executing this command, be careful not to destroy the address area
of a specified subcommand.
The valid data range for the amount of movement on a target axis and the
amount of movement on the parent axis is –1,000,000,000 (–1 billion) to
1,000,000,000 (1 billion).

293
1. AXIS CONTROL B–63173EN–1/02

Start point Subcommand number: 02 (02h)

synchronization Operation: A target axis is synchronized with the parent axis
command with proper timing.
Command format:
Offset of indirect
specification instruction
Address specified
at +04 Meaning
+00 Subcommand 02 (2 bytes)
+02 Data length 16 (2 bytes)
+04 Amount of movement on target axis (4 bytes)
+08 Amount of movement on parent axis (4 bytes)
+12 Start position (4 bytes)

The units of the amount of movement on a target axis and the amount of
movement on the parent axis are both the least input increment.
When executing this command, be careful not to destroy the address area
of a specified subcommand.
The valid data range for the amount of movement on a target axis, the
amount of movement on the parent axis, and the start position is
–1,000,000,000 (–1 billion) to 1,000,000,000 (1 billion).

SUPPLEMENTARY
1 A specification was added, defining that when a multiaxis
synchronization command is specified with the amount of
movement on a target axis set to 0, the target axis is kept
stopped until a movement on the parent axis by a specified
distance is completed.
This enables operations such as an operation that performs
dwelling according to the amount of movement on the
parent axis instead of the period of time.
2 Note that before this specification was added, use of a
multiaxis synchronization command with the amount of
movement on a target axis set to 0 was prohibited, and the
operation performed by such a command was not
guaranteed. (Use of such a command has been supported
in 88F2–04 and later.)

NOTE
1 This command can be used only in conventional PMC axis
control. Set bit 7 (EAC2) of parameter No. 8003 to 0.
2 Before performing synchronous operation, set
synchronization mode signal G212 #1 (SYNCMD) to on to
select the synchronization mode.

294
B–63173EN–1/02 1. AXIS CONTROL

Indirect specification Suppose that the child axis starts synchronization when position 100.000
on the parent axis is achieved, and that a movement by 12.000 is made on
the target axis during a movement by 5.555 on the parent axis.
Address D2000 is assumed to be used for subcommand data.
Since the subcommand data is placed at D2000, axis control command
code 34 (22h) for PMC axis control is used to set the address character
code to D (68 = 44h) and the start address to 2000.
In the subcommand, the subcommand value (02) indicating start point
synchronization, the data length (16), the amount of movement on the
target axis (12000), the amount of movement on the parent axis (5555),
and the start position (100000) are set in advance. Then, when machine
coordinate value 100.000 on the parent axis is achieved, the child axis
starts synchronization to allow a movement on the target axis by 12.000
during a movement on the parent axis by 5.555.
Offset address from D2000
beginning of group Data Address Data
D2000 02 (subcommand value)
+00 ––
D2002 16 (10h) (data length)
+01 34 (22h) (indirect specification)
D2004 12000 (amount of movement on target axis)
+02 68(44h=’D’)
D2008 5555 (amount of movement on parent axis)
+04 2000 (address)
D2012 100000 (start position)

1.10.7
Parameters 8380 Axis number of parent axis

[Data type] Word axis

[Valid data range] 0 to 8
Set the axis number of the parent axis in multiaxis synchronous control.
This parameter need not be set for the parent axis itself.
In the highest level, only one parent axis can be specified. Specifying
more than one parent axis in the highest level is not permitted.
If the parent axis is a pacemaker, set 1.

Parent Child Grandchild Parent Child Grandchild

axis axis axis axis axis axis
X Y Z X Y
A Z A

Example of valid axis configuration Example of invalid axis configuration

295
1. AXIS CONTROL B–63173EN–1/02

8381 Type of parent axis

[Data type] Word axis

Set the type of an axis used as the parent of the target axis in multiaxis
synchronous control.
When 0 is set for the target axis, the axis is not related to synchronization.
Setting Description

1 Servo axis, hypothetical axis

4 Separate absolute position detector number

7 Pace marker

100 The target axis is a parent axis and is a servo axis or

hypothetical axis.

400 The target axis is a parent axis and a separate pulse coder.

1000 Device of another Power Mate

When using an external APC axis, see also ”Synchronization when a

separate absolute position detector is used as the parent axis”. When
using a device of another Power Mate i–H, see also ”Inter–unit data
sharing function”.

#7 #6 #5 #4 #3 #2 #1 #0
8382 MCHER SCHKP

[Data type] Bit axis

SCHKP When a movement on the parent axis starts from the start point in start
point synchronization:
0 : The child axis does not start synchronization if the movement on the
parent axis is in the positive direction. (If the movement on the parent
axis is in the negative direction, the child axis starts synchronization.)
1 : The child axis starts synchronization regardless of the movement
direction on the parent axis.
MCHER For machine coordinates, servo delay is:
0 : Considered.
1 : Not considered.

#7 #6 #5 #4 #3 #2 #1 #0
8385 NCNT

[Data type] Bit axis

NCNT When the start point synchronous control command is buffered in the next
block:
0 : The next block overlaps the previous block to continuously perform
synchronous control.
1 : The previous block is ended, and synchronous control is not
performed until the start point is achieved.

296
B–63173EN–1/02 1. AXIS CONTROL

By default, if start point synchronous control commands are specified

successively, the second start point synchronous command is executed
successively by overlapping with the first block without waiting for the
movement on the parent axis to pass a specified start point. (The second
start point synchronization command operates in the same way as
mechanical synchronization.)
If this parameter is set to 1, the start of the second block is suspended until
the next start point is passed. This easily enables the repetition of an
operation in which a movement on the child axis is made by a specified
distance then stops while the parent axis turns one turn.

1.10.8
Signals

Synchronization mode
signal
SYNCMD <G212#1>
[Classification] Input signal
[Function] This signal specifies whether to enable or disable synchronous operation.
1 : Disables the synchronization mode. (Synchronization mode off)
0 : Enables the synchronization mode. (Synchronization mode on)
To perform synchronous control, the synchronization mode must be set.
Before starting synchronous operation, be sure to turn on this signal.

NOTE
1 The status of this signal and the synchronization mode
setting do not change at the same time. This means that
even when this signal is turned off, the synchronization
mode is not canceled immediately. This occurs when, for
example, this signal is turned off or a parameter setting is
changed during axis movement.
2 When this signal is on, do not rewrite parameters related to
synchronous control.
3 When this signal is on, the path in linear interpolation (G01)
for a synchronization–related axis differs from the ordinary
path.
4 When this signal is on, reference position return cannot be
performed.
5 When an external absolute position detector is used as the
parent axis, do not turn on this signal during movement. Be
sure to turn on this signal in the stopped state.

297
1. AXIS CONTROL B–63173EN–1/02

Synchronization
disconnect signal
CLTHx <G452>
[Classification] Input signal
[Function] This signal specifies connection or disconnection for synchronization.
1 : The axis with axis number x is synchronized with the parent axis.
0 : The axis with axis number x is not synchronized with the parent axis.
If this signal is set to 1 (synchronization connection is disconnected),
synchronization is canceled and a stop takes place even when a command
is being issued.
If this signal is set to 0, synchronous feed is resumed.
In mechanical synchronization, when the synchronization disconnect
signal status is changed from 1 to 0, the child axis starts synchronization
as soon as a command is issued.
In start point synchronization, if a command is issued, the child axis starts
synchronization at the time a movement on the parent axis passes a
specified point.
In mechanical synchronization, when the synchronization disconnect
signal status is changed from 0 to 1, the child axis stops immediately.
In start point synchronization, the child axis stops after the move
command in the block being executed when the synchronization
disconnect signal is set to 1 is completed.

Synchronization mode
signal
SYCMO <F208>
[Classification] Output signal
[Function] This signal is used to determine whether synchronous operation can be
performed in the current mode.
1 : The synchronization mode is currently set.
0 : The synchronization mode is not set.
If this signal is on, synchronous operation can be performed.

NOTE
1 When this signal is on, do not rewrite parameters related to
synchronous control.
2 When this signal is on, do not perform interpolation of an
operation such as cutting feed for an axis related to
synchronization.
3 When this signal is on, the path in positioning is different
from the path in normal operation.
4 When this signal is on, reference position return cannot be
performed.

298
B–63173EN–1/02 1. AXIS CONTROL

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G212 SYCMD

G452 CLTH8 CLTH7 CLTH6 CLTH5 CLTH4 CLTH3 CLTH2 CLTH1

F208 SYCMO

1.10.9
Notes
CAUTION
Do not use block overlap. (Set bits 2 and 4 of parameter No.
1601 to 0.)

NOTE
1 Set IS–B. (Set bits 0 and 1 of parameter No. 1004 to 0.)
2 Inch/metric conversion cannot be performed. (Set bit 2 of
parameter No. 0000 to 0.)
3 F10 specification is not allowed. (Set bit 3 of parameter No.
8002 to 0.)
4 Do not apply acceleration/deceleration to a target axis
(synchronized axis). Applying acceleration/deceleration to
the target axis can degrade accuracy in synchronization
with the parent axis.
5 Executing a move command other than multi axes
synchronization in the synchronization mode, a movement
takes place with a path or timing different from that in normal
operation.

1.10.10
Others
Synchronization when a When using a separate absolute position detector as the parent axis, set the
separate absolute following:
position detector is used D Set the serial pulse coder dummy function.
as the parent axis For details, see ”Serial Pulse Coder for FSSB Dummy Function”.
D Enable the servo off signal of the separate absolute position detector
axis. (Signal G126)
D Check that the follow–up function is enabled (G007.5 = 0).

CAUTION
When a separate absolute pulse detector is used as the
parent axis, G92 must not be executed during the execution
of the synchronization command.

299
1. AXIS CONTROL B–63173EN–1/02

NOTE
1 When a separate absolute position detector is used as the
parent axis, an abrupt speed change in the parent axis
cannot sometimes be followed up by the child axis.
2 For a separate absolute position detector, the machine
coordinate value and the absolute coordinate value must
always be the same. (Be sure to set bit 0 (ZPR) of
parameter No. 1201 to 1.) If these coordinate values do not
match, the start point synchronization command does not
operate normally.
3 When a separate absolute position detector is used, do not
turn on the power with the synchronization mode signal
being already on. The synchronization mode signal must be
set to on after the SA signal (F000.6) is turned on.
4 When a separate absolute position detector is used, do not
turn on the synchronization mode signal while a movement
is being made.
5 The separate absolute position detector is intended to
obtain position data. So, do not issue a move command for
the detector.
6 It is impossible to use the device input function to
superimpose pulses on the axis of the separate absolute
position detector.
7 Synchronization with a separate absolute position detector
used as the parent axis has larger errors when compared
with synchronization with a servo axis used as the parent
axis.

1.10.11
Inter–Unit Data Sharing
Function

1.10.11.1 The inter–unit data sharing function allows synchronous control for many
Overview axes using more than one Power Mate i–H unit.
The inter–unit data sharing function allows data of a device (master
device) in the master unit to be shared among multiple Power Mate i–H
units, which are connected via multiaxis synchronization line, by
communicating with each other.
With this function, synchronous control for up to 128 axes can be
performed by sharing data of one master device among up to 16 Power
Mater i–H units.
When this function is used with the multi axes synchronous function or
the electronic cam function, for example, synchronous operation for up
to 127 axes can be performed for one master device.

300
B–63173EN–1/02 1. AXIS CONTROL

1.10.11.2 Positional information of the master unit can be shared among up to 16

Configuration Power Mate i–H units.
A system consists of two to 16 units including one master unit (called the
master hereinafter) and one to 15 slave units (called slaves hereinafter).
The units are interconnected via the multiaxis synchronization line.
The unit containing a device of which data is to be shared is set as the
master unit.
Information of the shared device (called the master device hereinafter) is
transferred to each slave unit through communication via the multiaxis
synchronization line. This allows each unit to obtain

Multiaxis synchronization
line

JD41A JD41A JD41A Terminator

JD41 JD41 JD41

Terminator JD41B JD41B JD41B

JD41 JD41 JD41

Master unit Slave unit 1 Slave unit N

Power Mate i-H Power Mate i-H Power Mate i-H

NOTE
1 The master unit is always the first unit (unit number 0).
2 Before the inter–unit data sharing function can be used,
cables for multiaxis synchronization are required. Although
the multiaxis synchronization cable is also used as a display
link cable, there is also a cable dedicated to a display link.
So, be careful not to use these cables together.

1.10.11.3 Shared data is positional information of the master device or pacemaker

Types of shared data values. The type of master device information to be shared among units
is determined according to the type of the master device and the
application used.
Master device information to be shared is determined as follows:

Master device type Type of shared data

Separate absolute position detector Absolute coordinates

Servo axis or hypothetical axis Machine coordinates

Pacemaker Pacemaker value

301
1. AXIS CONTROL B–63173EN–1/02

NOTE
When the master device is a servo axis or a separate
absolute position detector, be sure to make rotary axis
settings (set bit 0 of parameter No. 1006 to 1, set bit 0 of
parameter No. 1008 to 1, and set a significant value in
parameter No. 1260).

NOTE
1 With the inter–unit data sharing function, an abrupt speed
change in the parent axis cannot sometimes be followed up
by the child axis.
2 When synchronous operation with more than one unit is
performed using the inter–unit data sharing function, a
larger error may be generated when compared with the
case where only one unit is used.
3 Data shared between the master and a slave or between
slaves may have an error due to the time required for
communication, but the error is corrected in the steady
state.

1.10.11.4 The following shows an example of inter–unit synchronization for more

Setting example for than one Power Mate i–H by using synchronous control and the inter–unit
data sharing function.
inter–unit
Shown below is a setting example of the inter–unit data sharing function.
synchronization The unit marked with a double circle is a master device.
The master device is assumed to be the first servo axis.

d
f
Slave 1 Slave 2 Slave 5 Slave 11 Slave 15
Master

Master setting
Unit number setting: Parameter No. 8260 = 1
Slave unit setting: Set five bits including bits 1, 2, and 5 of parameter
No. 8261 and bits 3 and 7 of parameter No. 8262
to on.
Master device number: Parameter No. 8396 = 1
Master device category number: Parameter No. 8397 = 1
Slave setting
Unit number setting: Set each slave number (set 5 for slave 5, for
example) in parameter No. 8260.

302
B–63173EN–1/02 1. AXIS CONTROL

When the master device has been changed, only parameters related to the
master device of the master (parameter Nos. 8396 and 8397) must be
changed.
When the master device is the fifth axis and an external APC axis, for
example:
Master setting
Master device number: Parameter No. 8396 = 5
Master device category number: Parameter No. 8397 = 4
The other settings are the same as above.
When the master device is a pacemaker:
Master setting
Master device number: Parameter No. 8396 = 1
Master device category number: Parameter No. 8397 = 7
The other settings are the same as above.

1.10.11.5
Parameter 8260 Unit number

[Data type] Word

[Data] Unit number of the master unit: 1
Unit number of a slave unit: 2 to 16
The inter–unit data sharing function is not used: 0
[Explanation] For units that use the inter–unit data sharing function, specify unique unit
numbers. As the master unit, be sure to specify the first Power Mate i–H
connected.
This parameter requires a power–off operation for the setting to become
effective.

#7 #6 #5 #4 #3 #2 #1 #0
8261 SLV70 SLV60 SLV50 SLV40 SLV30 SLV20 SLV10

8262 SLVF0 SLVE0 SLVD0 SLVC0 SLVB0 SLVA0 SLV90 SLVF80

[Data type] Bit

[Data] Specify slave units that are to communicate with the master unit.
To share device information of the master unit with slave units,
communication with a slave with unit number (X–1) via multiaxis
synchronization line is:
0 : Performed.
1 : Not performed.
[Explanation] Specify the unit numbers of slaves with which inter–unit data sharing is
performed.
For example, suppose that communication with units with slave unit
numbers 1 and 2 is to be performed. In this case, set bits 1 and 2 of
parameter No. 8261 to 1.
These parameters must be set for the master unit only.

303
1. AXIS CONTROL B–63173EN–1/02

8396 Master device number

[Data type] Word

[Valid data range] 1 to 8
[Explanation] Set the device number of the master unit of which data is shared with slave
units. If the device type is a servo axis or a separate absolute position
detector, set an axis number; if the device type is a pacemaker, set 1.
This parameter must be set for the master unit only.

8397 Master device type

[Data type] Word

[Data] Servo axis 1
Separate absolute position detector 4
Pacemaker 7
[Explanation] Set the type of the device of the master unit of which data is shared with
slave units. This parameter must be set for the master unit only.

1.10.11.6 In any one of the units involved in the inter–unit data sharing function,
Alarms if a power failure occurs, an alarm is issued, or the emergency stop state
is entered, data sharing is interrupted.
To restart data sharing, check that all units are in the following conditions:
D All units operate normally.
D No alarm is issued.
D The emergency stop state is not present.

1.10.11.7 The multi axes synchronous function and the electronic cam function can
Use with the multi axes be used together with the inter–unit data sharing function.
synchronous function In one Power Mate i–H unit, multiaxis synchronous control can be
and the electronic cam performed for up to eight axes, and electronic cam control can be
function performed for up to four axes. With the inter–unit data sharing function,
multiaxis synchronous control can be performed for up to 128 axes, and
electronic cam control can be performed for up to 64 axes.
For example, while electronic cam operation is performed in the same unit
as the master unit, electronic cam operation can also be performed for the
slave units with the master device of the master unit set as the parent axis.
Multiaxis synchronous operation can be performed for the master unit
while electronic cam operation can be performed for the slave units.
Alternatively, electronic cam operation can be performed for the master
unit while multiaxis synchronous operation can be performed for the
slave units.

304
B–63173EN–1/02 1. AXIS CONTROL

1.10.11.8 The following presents an example where the electronic cam function and
Example for electronic the inter–unit data sharing function are used together to perform
electronic cam control for five axes in two Power Mate i–H units.
cam operation is
performed for both the Assume that electronic cam operation is performed for axes (Y, Z) of the
master unit and slave master unit and axes (Y, Z) of the slave unit with the cam shaft axis (parent
unit axis) set to a separate absolute position detector (X–axis) in the master
unit.
Also assume that the cam shaft (X–axis) is used as the master device to
share positional information of the cam shaft axis between the two units.

X Master device

Y Z
Y Z
Electronic cam
Electronic cam

Master unit Slave unit

1 Set the units that share data.

To identify the units, specify the unit having the cam shaft as the
master (set parameter No. 8260 to 1), and specify the other unit as slave
1 (set parameter No. 8260 to 2). Because data is shared between the
master and slave 1, set bit 1 of parameter No. 8261 to 1.
2 Set shared data.
To set cam shaft data as the data to be shared, set parameter No. 8396
to 1 (the first axis) and parameter No. 8397 to 4 (separate position
detector).
The follow–up axes of the master, Y and Z, follow up cam shaft axis
X. So, set parameter Nos. 8086 and 8087, which are parameters for
performing normal electronic cam operation.
The follow–up axes of the slave, Y and Z, follow up the master device.
So, set 1000 in parameter Nos. 8084 and 8085 each.
The following summarizes the parameter settings explained above:

Parameter Slave
Function Usage Master unit
No. unit 1

Inter–unit Unit No. No.8260 1 2

data
sharing Slave unit No. No.8261 00000010 All 0s

Master device No. No.8396 1 0

Master device type No.8397 4 0

No.

305
1. AXIS CONTROL B–63173EN–1/02

Parameter Slave
Function Usage Master unit
No. unit 1

Electronic Electronic cam No.8081#0 1 1

cam
Cam shaft axis type No.8084 0 1000 for
Y and Z

Follow–up axis type N0.8085 0 1000 for

Y and Z

Cam shaft axis No.8086 1 for Y and Z 0

number

Follow–up axis No.8087 1 for Y and Z 0

number

* The parameters in bold characters are required to perform electronic

cam control between units.
* The signal and program specifications are the same as the
specifications of the conventional electronic cam function.

1.10.11.9 The following presents a more complicated example where the master
Example of electronic unit performs electronic cam operation with three axes that use a
hypothetical axis as the master device, and the slave unit performs
cam (master unit) and
multiaxis synchronization for eight axes that use the hypothetical axis
multiaxis (master device) of the master unit as the parent axis.
synchronization (slave
unit)

Inter–unit data sharing

Master device
positional
information
Hypo-
thetical Multiaxis
axis U synchronization
Electronic
cam

A X Y X Y Z U V W A B

Master unit Slave unit

1 Set the units that share data.

To identify the units, specify the unit having the cam shaft as the
master (set parameter No. 8260 to 1), and specify the other unit as slave
1 (set parameter No. 8260 to 2). Because data is shared between the
master and slave 1, set bit 1 of parameter No. 8261 to 1.

306
B–63173EN–1/02 1. AXIS CONTROL

2 Set the electronic cam of the master unit.

Set the electronic cam having three child axes that use a hypothetical
axis as the cam shaft (the parent axis). Determine axis numbers as
follows: A = 1, X = 2, Y = 3, and U = 4. Set 1, 2, 3, and –100 in
parameter No. 1023. To define the parent–child relationship of the
electronic cam, set 4 in parameter No. 8086, and also set 4 for the first,
second, and third axes in parameter No. 8087. In addition, make
settings such as rotary axis setting and the number of cam shape data
items (parameter No. 8088) as necessary.
3 Set shared data.
To set data of the cam shaft as the data to be shared, set 4 (the fourth
axis) in parameter No. 8396, and set 1 (servo axis or virtual axis) in
parameter No. 8397 for the master unit.
4 Set multiaxis synchronization for the slave unit.
Because the parent axis is the master device, set the axis number of the
parent axis to 0 in parameter No. 8380, and set the type of the parent
axis to 1000 in parameter No. 8381.
Parameter Slave
Function Usage Master unit
No. unit 1

Inter–unit Unit No. No.8260 1 2

data
sharing Slave unit No. No.8261 00000010 All 0s

Master device No. No.8396 4 0

Master device type No.8397 1 0

No.

Controlled– Axis setting No.1023 1,2,3,–100 1,2,3,4,

axis No. 5,6,7,8

Electronic Electronic cam No.8081#0 1 0

cam enabled

Cam shaft axis No.8086 4 0

number

Follow–up axis No.8087 4 for A, X, Y 0

number

Multiaxis Axis No. of parent No.8380 0 0 for all

synchroniza axis axes
tion
Parent axis type No.8381 0 1000 for
all axes

307
1. AXIS CONTROL B–63173EN–1/02

1.10.11.10 A sample operation procedure is explained below.

Operation procedure Necessary parameters and signals for the electronic cam and inter–unit
data sharing functions are assumed to have been set in advance.
Step Operation on master unit Operation on slave unit 1

1 Turn on power.
2 Erase alarm.
3 Turn on power.
4 Erase alarm.
If alarm 5276, ”Alarm issued in
slave unit”, is issued, erase all
alarms in the slave unit, confirm
activation, then release the
alarm.
5 Start electronic cam operation.
6 Start electronic cam operation.
7 Start cam shaft operation.
Step 5 causes the follow–up axes in the slave unit to wait for cam shaft
operation.
Step 6 causes the follow–up axes in the master unit to wait for cam shaft
operation.
Step 7 starts the operation of the follow–up axes in all units.

1.10.11.11
Parameters related to the
electronic cam function 8084 Axis type of cam shaft

[Data type] Word

[Explanation] Master device 1000
Set the axis type of the cam shaft in the electronic cam function.
If the cam shaft is the master device (the device of which information is
shared among units), set 1000.
If the cam shaft is not the master device, set 0.
This parameter requires a power–off operation for the setting to become
effective.

8085 Type of follow–up axis in electronic cam function

[Data type] Word axis

[Explanation] Master device 1000
Select a follow–up axis in the electronic cam function. For axes to be used
as follow–up axes, set the type of the cam shaft axis (value in parameter
No. 8084). Up to four follow–up axes can be selected.
If the axis is a master device (the device of which information is shared
among units), set 1000.
If the axis is not a master device, set 0.
This parameter requires a power–off operation for the setting to become
effective.

308
B–63173EN–1/02 1. AXIS CONTROL

1.10.11.12
Others

WARNING
1 When the master device is a separate position detector and
an operation synchronized with this device is being
performed (the multi axes synchronous function or the
electronic cam function), G92 must not be specified for the
master device.
2 When the master device is a pacemaker and an operation
synchronized with this device is being performed (the multi
axes synchronous function or the electronic cam function),
the pacemaker reset signal must not be input.

CAUTION
1 Operations such as change of parameter settings, change
of the synchronization mode, change of the machine lock
state, execution of G92 for the master device, and input of
the pacemaker reset signal must be performed when the
master device is in a stationary state.
2 Do not use the device input function for the master device.
3 Even when a power failure, an emergency stop, or the
issuance of a system alarm or an alarm occurs in the master
unit, there may be no alarm issued in slaves.

1.10.11.13 The following lists the alarms related to the multi axes synchronous
Alarms function and the inter–unit data sharing function:

No. Message Description

5261 PMC INDIRECT In an indirect specification command,

COMMAND IS ILLIGAL specified data is illegal. Set correct
data.
5262 NO SYNCHRO MODE Turn on the synchronization mode
signal. Check whether parameter
settings related to synchronization are
correct.
5263 ILLEGAL SYNCHRO 1. A valid value is not set as the
COMMAND FORMAT amount of movement on the parent
axis in a command.
2. If this alarm is issued in a slave unit
during inter–unit data sharing, the
master unit may have been placed
in the alarm state.

309
1. AXIS CONTROL B–63173EN–1/02

No. Message Description

5264 AXIS MOVES TO THE Rotation is performed excessively in a

OPPOSITE direction opposite to the direction of the
synchronization command. This alarm
is issued when an excessive
movement in an opposite direction has
been made. The alarm is not issued as
soon as a movement in an opposite
direction starts.
5265 REFERENCE RETURN Before reference position return, turn
IN SYNCHRO MODE off the synchronization mode signal.
5266 PARENT AXIS IS NOT When issuing the start point
ROTATION ONE synchronization command, set a rotary
axis as the parent axis.
5267 ILLEGAL SYNCHRO Correctly set the parent axis parameter
AXIS SETTING (No. 8380) and parent axis category
parameter (No. 8381) for
synchronization.
5268 NON–SYNCHRO AXIS IS A synchronization command is issued
COMMANDED for an axis not relating to
synchronization or for an axis of which
parent axis is not present (highest
parent axis).
Check the execution program, parent
axis parameter (No. 8380), and parent
axis category parameter (No. 8381).
5269 ILLEGAL APC AXIS 1. Another function (such as the
INFORMATION electronic cam function) uses APC
information. In this case:
S Turn off the synchronization
mode, check that these settings
are invalid, then turn on the
synchronization mode again.
S Alternatively, cancel the APC
specification with the parent
axis category parameter.
2. In synchronization between units,
there is no information from the
master unit.
S Another unit has an alarm or is
placed in the emergency stop
state.
5276 ALARM HAS The slave unit is in one of the following
OCCURRED IN SLAVE conditions:
UNIT D The power is off.
D An alarm is issued.
D The emergency stop state is
entered.
Erase any alarm issued in the slave
units specified in parameters Nos.
8261 and 8262.
5277 COMMUNICATION A communication error occurred in the
ERROR IN SYNC LINE multiaxis synchronization line.
5278 DATA ERROR IN A data error occurred in the multiaxis
SYNCHRO LINE synchronization line.

310
B–63173EN–1/02 1. AXIS CONTROL

1.10.12
Notes and Limitations

1.10.12.1 D During synchronous operation, do not apply acceleration/deceleration

Notes to child axes and subordinate axes (axes that are not a parent axis).
Otherwise, these axes cannot follow up the parent axis correctly.
D When a synchronization command is specified in a small block, a child
axis may be delayed behind the parent axis. In this case, increase the
amount of movement in one block.

1.10.12.2 In the synchronization mode, the following functions cannot be used:

Limitations S Linear interpolation (G01)
S Circular interpolation (G02, G03)
S Advanced preview feed–forward function
S Skip function
S Rate function
S Multipath function
S Waiting function
S Compensation function
S Mirror image
S Manual absolute
S Machine lock
S Override
S In–position check
S Optional block skip
S Single block
S Torque limit
S Position switch
S Multiple M codes in one block
S Interruption type custom macro
S High–speed response function

CAUTION
Do not use the device input function for the master device.

NOTE
1 When the settings of parameters Nos. 8396 and 8397 are
changed from valid values to invalid values, communication
is performed with the previous valid settings assumed.
When the power is then turned off and on again, the
parameter settings are regarded as invalid, and
communication is not performed.
2 When an abrupt speed change is made in the master axis,
a synchronization error may occur temporarily between
units.

311
1. AXIS CONTROL B–63173EN–1/02

1.10.13
Pacemaker Function

1.10.13.1 Synchronous control can be performed by using a pacemaker as the parent

Overview axis.
The pacemaker function generates counter values in the Power Mate i
series. This counter can be controlled with a signal and so forth, therefore
finding wide applications.
This function has the following features:
D The pacemaker function can be used regardless of the operation mode
used.
D Because having counter values, this function allows an axis operation
to be assumed in a pseudo fashion.
D When this function is used together with synchronous control,
master–less synchronization is enabled. For example, more than one
actual axis can be operated in synchronization with the value of the
pacemaker.

1.10.13.2 The pacemaker increments or decrements a counter by a specified

About the pacemaker incremental value.
When the pacemaker count–up signal (called the count–up signal
hereinafter) is turned on, the counter is incremented. When the pacemaker
count–down signal (called the count–down signal hereinafter) is turned
on, the counter is decremented.
The counter value is rounded with a value set in a pacemaker counter
parameter (called the counter parameter).
The counter has no negative value.
When the pacemaker counter reset signal (called the counter reset signal)
is turned on, the counter is reset.
While the counter reset signal is on, the counter value is kept 0, regardless
of the count–up and count–down signal states.
The counter is reset when:
S The power is turned off.
S The pacemaker reset signal is on.
Table 1.10.13.2 Pacemaker operation

Count–up Count–down Counter

Counter operation
signal signal reset signal

Increment On Off

Decrement Off On
Off
On On
Stop
Off Off

Counter reset –– –– On

312
B–63173EN–1/02 1. AXIS CONTROL

The pacemaker value can be confirmed using diagnosis No. 39.

The pacemaker value can be referenced by using the instruction of
function code 33 (diagnosis data read) of PMC window read function
WINDR.
Example: Synchronous control among more than one Power Mate unit
When multiaxis synchronous control is performed using more than one
Power Mate unit, a pacemaker is used to provide proper timing between
the Power Mate units. Like a clock, the pacemaker counts up a certain
amount (specified in parameter No. 8283) at regular intervals.
The Power Mate units are interconnected via a communication line, and
the PMC ladder can reference the counter value by using the PMC
window instruction. Synchronous operation can be specified through
PMC axis control, and the pacemaker counter value can be specified as
a condition for starting axis movement.
Since axis movements are made according to the counter value, the
relationship does not deteriorate.
This can be used to synchronize operation among multiple Power Mate
units.

Synchronous control line

Reference
Pacemaker

Axis control Axis control Axis control

Power Mate Power Mate Power Mate

Master Slave #1 Slave #2

Motor Motor Motor

1.10.13.3
Parameters #7 #6 #5 #4 #3 #2 #1 #0
8280 PACEM

[Data type] Bit

PACEM The pacemaker function is:
0 : Disabled.
1 : Enabled.
Before using the pacemaker function, be sure to set this parameter bit to
1.

313
1. AXIS CONTROL B–63173EN–1/02

8281 Pacemaker counter value

[Data type] 2–word

[Valid data range] 41 to 99999999
[Explanation] Set a pacemaker counter value.
When the counter value is updated to the parameter–set value, the counter
value is set to 0 again.
When 0 is set in this parameter, the counter is set to 1,000,000,000.
If a value beyond the valid data range is set, an alarm may be issued.
This parameter requires a power–off operation for the setting to become
effective.

8283 Pacemaker incremental value

[Data type] 2–word

[Unit of data] 1/ms
[Valid data range] 1 to 1000
[Explanation] Set the counter incremental value per ms on the assumption that the
pacemaker override signal (described later) is set to 100%.

CAUTION
1 Make sure that the pacemaker counter parameter (No.
8281) and the pacemaker count incremental parameter
(No. 8283) have the following relationship:
Pacemaker counter (No. 8281) >
40.8 pacemaker incremental (No. 8283)
If the above relationship is not satisfied, alarm 5279 (invalid
pacemaker value) is issued, and the pacemaker does not
operate.
2 After a parameter related to the pacemaker has been
changed, input the pacemaker reset signal before starting
the pacemaker.
3 This pacemaker is intended to provide a reference pace and
may have a slight error in time. (The increment and
decrement timings of the pacemaker vary among the Power
Mate units.)

314
B–63173EN–1/02 1. AXIS CONTROL

1.10.13.4
Signals

Pacemaker count–up
signal
PCMP1 <G245#0> [Type] Input signal
[Function] When this signal is turned on, the pacemaker counter counts in the
positive direction at a rate specified in parameter No. 8283.

Pacemaker count–down
signal
PCMM1 <G245#1> [Type] Input signal
[Function] When this signal is turned on, the pacemaker counter counts in the
negative direction at a rate specified in parameter No. 8283.

Pacemaker counter reset

signal
PCMR1 <G245#2> [Type] Input signal
[Function] When this signal is turned on, the counter value of the pacemaker is reset.

Pacemaker override
signal
PCMVx <G013> [Type] Input signal
[Function] When this signal is turned on, the pacemaker override value is applied.
A value from 0 to 255% can be specified in 1% steps.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G245 PCMP1

G245 PCMM1

G245 PCMR1

G013 PCMV7 PCMV6 PCMV5 PCMV4 PCMV3 PCMV2 PCMV1 PCMV0

315
1. AXIS CONTROL B–63173EN–1/02

1.10.13.5 D When a small value is set as the pacemaker count incremental value,
Notes application of a pacemaker override can cause a count error.
D The pacemaker continues counting even when an emergency stop or
a reset occurs.
D The pacemaker count timing varies among Power Mate i–H units.
Therefore, even when counting is performed in more than one Power
Mate i–H unit with the same setting and at the same timing, the counter
value may vary among the units.

1.10.13.6 This function cannot be used with the following function:

Limitations S High–speed response function

CAUTION
When a pacemaker is used as the parent axis, the
pacemaker reset signal must not be turned on during
execution of a synchronization command.

1.10.14
Device Input Function

1.10.14.1 Use of this function allows pulses to be added to an axis manually through
Overview a device during automatic operation.

Amount of
movement in Amount of
synchronous movement by
operation device (manual)
(automatic)

Output to
servo motor

316
B–63173EN–1/02 1. AXIS CONTROL

An example is given below.

Suppose that in the following program, a signal is manually corrected by
seven pulses in the positive direction during execution of synchronization
block G145:

O0001; Start program when synchronization mode is off

G28 X0; Machine coordinate 0 on X–axis
G92 X0; Absolute coordinate 0 on X–axis
M25; Turn on synchronization mode at this timing
G145 G91 G01 X30.R50.; Synchronous operation. During execution of this block, input 7 pulses manually.
M02; End of program

At the end of this program, the position on the X–axis has been shifted
by 30.007.
The machine coordinate value is updated also by the amount of the
manual correction. The absolute coordinate value is changed only by the
amount of movement made by automatic operation.
Absolute coordinate on the X–axis: 30.00
Machine coordinate on the X–axis: 30.007

1.10.14.2
Parameters 8290 Device number

[Data type] Word axis

[Valid data range]
[Explanation] Set the number of a device through which pulses are to be added manually.
When performing device input, be sure to set the following value:
1st axis 1

2nd axis 2

3rd axis 3

4th axis 4

5th axis 5

6th axis 6

7th axis 7

8th axis 8

8291 Device type

[Data type] Word axis

[Valid data range]
[Explanation] Set the type of a device through which pulses are to be added manually.
For the target axis for device input, set 5 (device step signal).
Device type Category No.

Device step signal 5

317
1. AXIS CONTROL B–63173EN–1/02

8292 Device axis magnification M

[Data type] Word axis

[Data] –30000 to 30000
[Explanation] Set magnification M for a device through which pulses are to be added
manually.
The following equation holds for the magnification:
Pulses applied to controlled axis (P) = device pulses M
If 0 or a value beyond the valid data range is set, the magnification is
assumed to be 1.
The maximum number of device pulses is 32767 pulses, and the
minimum number is –32767 pulses. So, if P exceeds 32767, it is clamped
at 32767.

8294 Device limit

[Data type] Word axis

[Data] 0 to 10000
[Explanation] Set the limit value for each pulse input through the device.
If pulses exceeding the limit are input, the speed is clamped at the limit
speed, and it is specified.
If 0 or a value beyond the valid data range is set for an axis, no limit is set.

Pulse
Pulse input

ÅÅ
through device

ÅÅ Actually distributed pulses

Limit
ÅÅ
ÅÅ

Pulses in the negative direction are also limited to the parameter setting.
For example, suppose that –150 pulses are input through the device when
100 is set in this parameter. In this case, pulse output is performed twice;
output of –100 pulses and output of –50 pulses are performed separately.

318
B–63173EN–1/02 1. AXIS CONTROL

1.10.14.3
Signals #7 #6 #5 #4 #3 #2 #1 #0
G455 DVIEN8 DVIEN7 DVIEN6 DVIEN5 DVIEN4 DVIEN3 DVIEN2 DVIEN1

DVIENn Device input enable signal

0 : Input to the n–th axis through the device is disabled.
1 : Input to the n–th axis through the device is enabled.
To use input from an external device, set this signal to on.

#7 #6 #5 #4 #3 #2 #1 #0
G450 +STEP8 +STEP7 +STEP6 +STEP5 +STEP4 +STEP3 +STEP2 +STEP1

G451 –STEP8 –STEP7 –STEP6 –STEP5 –STEP4 –STEP3 –STEP2 –SREP1

Device step signal

On the rising edge of this signal:
+STEPn Pulses in the positive direction are input to the n–th axis.
–STEPn Pulses in the negative direction are input to the n–th axis.
The magnification is specified in the device magnification parameter.
When the same bits of the both signals are driven high or low at the same
time, no pulse is input.

1.10.14.4 D This function is independent of the existing step feed, handle interrupt,
Notes and other functions.
Accordingly, the operation of this function and the operation of an
existing function may overlap, so care should be taken. For example,
when a step signal and a device step signal are input in the step mode,
both signals become valid.
D The amount of movement made by this function is reflected in the
machine coordinates. It is not reflected in the absolute coordinates and
relative coordinates, however.
D The unit is the least input increment.
D In the emergency stop state, the reset state, and the alarm state, pulses
are not input by this function.

CAUTION
1 Do not use this function for the axis of a separate position
detector.
2 Do not use this function for the master device of the
inter–unit data sharing function.

319
1. AXIS CONTROL B–63173EN–1/02

1.10.15
Hypothetical Axis

1.10.15.1 This function allows use of a hypothetical axis, which is connected to

Overview neither a servo motor nor a servo amplifier.
In the multi axes synchronous function, for example, a parent axis is
required for determining the speed of a child axis but need not necessarily
be an axis that involves actual movement.
In such a case, use of a hypothetical axis enables the multi axes
synchronous function without using a servo motor or servo amplifier.

1.10.15.2 When child axes are disconnected from their parent axis and stopped
Use example while the synchronization relationship among the child axes is
maintained, a hypothetical axis can be used.

Parent
axis Without the hypothetical axis, a synchronization
disconnect signal must be provided for each child axis,
Synchronization so it is impossible to disconnect synchronization with the
disconnect signal parent axis while maintaining the synchronization
relationship.
Hypo-
thetical In a configuration as shown in the figure to the left, the
axis hypothetical axis can be stopped independently of the
parent axis by using the synchronization disconnect
signal transferred between the parent axis and the
hypothetical axis. This allows the child axes to be
stopped while synchronization among the child axes is
Child Child Child maintained.
axis 1 axis 2 axis 3

1.10.15.3 Set –100 in parameter No. 1023 for an axis to be used as a hypothetical
Setting axis.
Like normal axes, this axis can be specified in G codes, jog feed, PMC
axis control, and so forth.

NOTE
1 One controlled axis is required for one hypothetical axis.
For example, if one hypothetical axis is used when there are
eight controlled axes, seven servo motor axes can be
controlled.
2 Hypothetical axes are not included in the number of the
axes controlled by an axis control card. For a system using
four servo motor axes and two hypothetical axes, for
example, select a four–axis control card.

320
B–63173EN–1/02 1. AXIS CONTROL

1.10.15.4
Parameters 1023 Servo axis number of each axis

[Data type] Byte axis

[Valid data range] 1, 2, 3, ..., up to the number of controlled axes, or –100 (hypothetical axis)
Set the number of the servo axis to which each controlled axis
corresponds.
Normally, the same value is assigned as number of a controlled axis and
the servo axis number.
The number of a controlled axis indicates the layout number in axis type
parameters or axis–type machine signals.
For a hypothetical axis, set –100.

NOTE
1 This parameter requires a power–off operation for the
setting to become effective.
2 Do not set all axes as hypothetical axis.

1.10.15.5 In the emergency stop state, coordinate indication may become unstable.
Notes

1.10.16 Acceleration/deceleration controls change in axis speed so that the speed

Acceleration/ is changed gradually rather than specifying a target speed suddenly. This
is used mainly to prevent impact on the machine due to abrupt
Deceleration acceleration or deceleration on the axis.
Generally in synchronous control, using acceleration/deceleration has the
merit of smooth follow–up by child axes but also has a problem that the
position on a child axis is delayed behind the parent axis.
The following explains a control method for applying
acceleration/deceleration to a child axis for smoother motion and also for
preventing synchronization from being lost in a portion where
synchronization is achieved at a certain constant speed.
1) First, obtain how much the synchronized axis is delayed in
comparison to the case where acceleration/deceleration is not applied.
2) Let the speed of the synchronized axis be V = v (pulses/min)/1000.
Bit 0 of parameter No. 1610 = 1, bit 1 = 0 (cutting feed linear
acceleration/deceleration)
a = value in parameter No. 1622 (time constant)
In this case, delay amount S on the X–axis when compared with the
case where acceleration/deceleration is not applied is given from the
following equation:
S = {(a–8) – (a mod 8)} V/120
3) Make a movement on the X–axis by delay amount S in advance.
4) Perform synchronous operation.

321
1. AXIS CONTROL B–63173EN–1/02

NOTE
With this method, there is a synchronization error in portions
where operation is performed at speeds other than V.

When the speed of the parent axis changes, use of the follow–up type
acceleration/deceleration function allows two values including the
position and speed to be followed up without special calculations. For
details, see the description of the follow–up type acceleration/
deceleration function.
Let’s consider an example where the X–axis follows up the Y–axis at a
1 to 2 ratio.
In this case, the X–axis is synchronized with the Y–axis.
A movement on the Y–axis is made continuously. In the middle of the
Y–axis movement, the X–axis starts synchronization.
Suppose that the Y–axis movement is made at a speed of 9000000
pulses/min.
Since the synchronization block specifies a 1 to 2 ratio as the speed ratio
of X to Y, X–axis speed v = 9000000 1/2 = 4500000 pulses/min.
Suppose that the acceleration/deceleration time is 100 ms.
Bit 0 of parameter No. 1610 = 1, bit 1 = 0 (cutting feed linear
acceleration/deceleration)
Parameter No. 1622 = 100 (time constant)
Then, V and a are obtained as follows:
V = v/1000 = 4500000/1000 = 4500
a = 100
The delay amount on the X–axis when compared with the case where
acceleration/deceleration is not applied is obtained by substituting the
above V and a values in equation 1 on the previous page as follows:
S = {(100–8) – (100 mod 8)} 4500/120
= 3300 Delay by 3300 pulses
S is equivalent to the area of S in Fig. 1.10.16.
O0001:
G28 X0 Y0;
G92 X0 Y0;
G90 X(A)
M55;
#100 = 100;
WHILE {#100 GT 0} DO 1;
G145 G91 G01 X1000. R200.;
#100 = #100–1;
ENDW;
M02;

322
B–63173EN–1/02 1. AXIS CONTROL

If the above are set, 3300, which is the value of S, is substituted in (α).
When O0001 is executed, the normal positional relationship is
maintained in the portion of synchronous operation, which is the portion
where an X–axis movement is made at a speed of 9000000 pulses/min
(portion (b) in Fig. 1.10.16).

(a) (b) (c)

Speed

X–axis with accelera-

tion/deceleration

X–axis without
acceleration/
deceleration

T0 Te Time

Fig. 1.10.16 Relationship in an operation where acceleration/deceleration is applied

The relative relationship between the X–axis and Y–axis changes as

follows:
Position at time T0 Position in portion (c)
X X

Y Y
Advance Advance
direction direction
l=S 0<l<S

Position in portion (c) Position at time Te

X X

Y Y
Advance Advance
direction direction
0<l<S l=S

Position in portion (c)

X

Y
Advance
direction
l=0

323
1. AXIS CONTROL B–63173EN–1/02

1.10.17
Troubleshooting in
Multiaxis Synchronous
control
Problem Cause and action

A child axis in a slave unit is not synchronized with the Check diagnosis B73 to see whether the inter–unit data sharing
parent axis in the master unit. function is operating.
If the inter–unit data sharing function operates normally, data in
diagnosis 873 of the master unit and slave unit is counted up
properly. If the function does not operate normally, values are
counted up in irregular steps.
The cause may be that JD41A of the CRT link adapter on the
master unit side and JD41B of the CRT link adapter on the
slave unit side are not connected, or that the cable used is not a
multiaxis synchronization cable (JD41, drawing edition:
2042–T207 #L10R03).

Alarm 5277 (communication error in synchronization If alarm 5277 is issued in the master unit at power–up, an alarm
line) occurs in the inter–unit data sharing function. may have been issued in a slave unit. In this case, a reset
operation erases alarm 5277 and indicates alarm 5276.

Alarm 5276 (alarm in a slave unit) is issued in the If an alarm has been issued in a slave unit, release the alarm,
master unit. then reset the master unit.

Alarm 5269 (failure in acquiring information of an An alarm may have been issued in the master unit. In this
external axis) is issued in a slave unit. case, release the alarm in the slave unit, then release the alarm
in the master unit.

When an attempt is made to register a cam figure If part program storage is insufficient when cam figure data of
created on a PC in the NC via RS232–C, alarm 10 an electronic cam is registered, this alarm may be issued.
(illegal G code specified) is issued. Decrease the cam figure data.

When an attempt is made to register a cam figure Even when the cam shaft is the parent axis of the master unit,
created on a PC in the NC via RS232–C, alarm 5246 values must be set in parameter Nos. 8086 and 8087.
(illegal electronic cam parameter) is issued. After the registration of cam figure data of an electronic cam, if
any one of parameter Nos. 8086 and 8087 is not set, an alarm
is issued when the electronic cam starts.
If both parameters are set or are set to 0, the alarm is not
issued.

The inter–unit data sharing function does not perform Check diagnosis 873 to see whether count–up operation is
phase synchronization in a slave unit. performed properly. If the count–up operation is performed in
irregular steps, check for any alarm in the master unit, and
release the alarm.

In the inter–unit data sharing function, when a If the multiaxis synchronization command is correct, an alarm
multiaxis synchronization command is executed for a may have been issued in the master unit.
slave unit with an axis in the master unit being used as
the parent axis, alarm 5263 (synchronization command
specification error) is issued.

324
B–63173EN–1/02 1. AXIS CONTROL

Problem Cause and action

When multiaxis synchronization commands are Use of block overlap may be set. (Bits 2 and 4 of parameter
specified successively, extra pulses are generated No. 1601)
between two adjacent blocks. (Overlap does not As mentioned in notes on multiaxis synchronization, if use of
function.) block overlap is set, this problem occurs in multiaxis
Example: synchronous operation.
G145 G91 G01 X600.R360.;
G145 G91 G01 X600.R360.;
G145 G91 G01 X600.R360.;
In the above example, this problem occurs at two
places.

When a PMC axis control command is specified If bit 7 (NAH) of parameter No. 1819 is set to 0, processing for
immediately after power–up or after completion of delaying axis start is enabled.
automatic operation, EGEN is not inverted immediately When PMC axis control is used, the problem can be solved by
after EBUSY is inverted. In the second and setting bit 7 (NAH) of parameter No. 1819 to 1.
subsequent operations, EBUSY and EGEN are
inverted at the same time.
Example:
Although EBUSY is inverted with the start point
synchronization command immediately before the start
point, inversion of EGEN is delayed, and it cannot be
performed in time for start point synchronization. In the
second start point synchronization operation, a
movement is made twice; that is, a movement for the
previous operation and a movement for the current
operation are made.

When start point synchronization is specified If bit 0 (NCNT) of parameter No. 8385 is set to 0, when a
successively, the start position for the latter start point second start point synchronization command is specified before
synchronization specification may be ignored, and the previous start point synchronization operation ends, overlap
synchronous operation may be performed occurs, and the latter start point synchronization command
continuously. (The latter start point synchronization performs the same operation as mechanical synchronization.
command performs the same operation as mechanical If bit 0 (NCNT) of parameter No. 8385 is set to 1, even when
synchronization.) start point synchronization commands are specified
successively, the start of synchronization can be awaited
without overlap until a specified start point is reached.

325
1. AXIS CONTROL B–63173EN–1/02

1.11
RATE CHANGE
FUNCTION

General When the external signal is input, the cutting feed rate of G31 and G01
is changed to the value which is set by a parameter.
Program example (mm input)
Program: Parameters:
G31 X100.0 F20.0 ; EXFP1 = 6 ( 6.0 mm/min)
EXFP2 = 10 (10.0 mm/min)
EXFP3 = 16 ( 16.0 mm/min)
When the rate change signals EXF3, EXF2, and EXF1 are turned on in
that order during executing the above program, feed rate is changed as
follows;

f mm/min
EXF3 ON

20.0 EXF2 ON

16.0 EXF1 ON

10.0 SKIP ON by
SKIP signal
6.0

x mm
0 100.0

326
B–63173EN–1/02 1. AXIS CONTROL

Signal

Rate change signals

EXF1 <X0000#0, X1000#0>
or <X0001#0, X1001#0>
EXF2 <X0000#1, X1000#1>
or <X0001#1, X1001#1>
EXF3 <X0000#6, X1000#6>
or <X0001#6, X1001#6>
EXF4 <X0011#4> or
<X0011#6 >
EXF5 <X0011#5> or
<X0011#7>
[Classification] Input signal
[Function] These signals change the cutting feed rate of G31 and G01 as follows.
EXF1 1 : The feed rate is changed to the value which is set by the parameter
NO.1481(EXFP1)
0 : The feed rate is not changed.
EXF2 1 : The feed rate is changed to the value which is set by the parameter
NO.1482(EXFP2)
0 : The feed rate is not changed.
EXF3 1 : The feed rate is changed to the value which is set by the parameter
NO.1483(EXFP3)
0 : The feed rate is not changed.
EXF4 1 : The feed rate is changed to the value which is set by the parameter
NO.1484(EXFP4)
0 : The feed rate is not changed.
EXF5 1 : The feed rate is changed to the value which is set by the parameter
NO.1485(EXFP5)
0 : The feed rate is not changed.

Signal address The following are the addresses in External I/O.

Add 1000 to the following addresses in case of Built–in I/O. (Note that
EXF4 and EXF5 are not available in that case.)
The parameter No.3008#3(BIO) selects which I/O is used. (0:External
I/O, 1:Built–in I/O)
(In case of Power Mate i–D 1–path control or Power Mate i–H)

#7 #6 #5 #4 #3 #2 #1 #0
X0000 SKIP EXF3 *DEC *ESP SKIP4 EXF2 EXF1

X0011 EXF5 EXF4

327
1. AXIS CONTROL B–63173EN–1/02

(In case of Power Mate i–D 2–path control)

#7 #6 #5 #4 #3 #2 #1 #0
X0000 SKIP#1 EXF3#1 *DEC#1 *ESP#1 SKIP4#1 EXF2#1 EXF1#1

X0001 SKIP#2 EXF3#2 *DEC#2 *ESP#2 SKIP4#2 EXF2#2 EXF1#2

X0011 EXF5#2 EXF4#2 EXF5#1 EXF4#1

#1 or #2 means the signal for the first path or the second path, respectively.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1405 EDCHG

[Data type] Bit

FDCHG The rate change function is
0 : Ineffective
1 : Effective

1481 EXFP1

1482 EXFP2

1483 EXFP3

1484 EXFP4

1485 EXFP5

EXFP1 to EXFP5 Rate for each feed rate change signal EXF1–5.
Limit of data
Data unit
IS–A, IS–B IS–C
mm (input) 1 mm/min 6–15000 6–12000
Inch (input) 0.1 inch/min 6–600 6–4800
Rotation axis 1 deg/min 6–15000 6–12000

#7 #6 #5 #4 #3 #2 #1 #0
6200 SFK SK0 GSK

[Data type] Bit

GSK In skip cutting (G31), the skip signal SKIPP (bit 6 of G006) is:
0 : Not used as a skip signal.
1 : Used as a skip signal.
SK0 This parameter specifies whether the skip signal is made valid under the
state of the skip signal SKIP and the multistage skip signals SKIP2 to
SKIP4.
0 : When these signals are 1, they are assumed to be input (skip).
1 : When these signals are 0, they are assumed to be input (skip).

328
B–63173EN–1/02 1. AXIS CONTROL

SKF Dry run, override, and automatic acceleration/deceleration for G31 skip
command is
0 : Disabled
1 : Enabled

#7 #6 #5 #4 #3 #2 #1 #0
6202 1S4 1S3 1S2 1S1

6203 2S4 2S3 2S2 2S1

6204 3S4 3S3 3S2 3S1

6205 4S4 4S3 4s2 4S1

[Data type] Bit

1S1 to 1S4, 2S1 to 2S4, 3S1 to 3S4, 4S1 to 4S4
Specify which skip signal is enabled when the skip command (G31, or
G31P1 to G31P4) and the dwell command (G04, G04Q1 to G04Q4) are
issued with the multi–step skip function.
The following table shows the correspondence between the bits, input
signals, and commands.
The settings of the bits have the following meanings:
0 : The skip signal corresponding to the bit is disabled.
1 : The skip signal corresponding to the bit is enabled.
Multi–step skip function

Command G31
Input G31P1 G31P2 G31P3 G31P4
signal G04Q1 G04Q2 G04Q3 G04Q4

SKIP, SKIPP 1S1 2S1 3S1 4S1

SKIP2 1S2 2S2 3S2 4S2

SKIP3 1S3 2S3 3S3 4S3

SKIP4 1S4 2S4 3S4 4S4

Override Manual rate override signals (*JV0–*JV15) are effective during ’feedrate
change’.
he following table shows the effective override signals before/after the
feedrate change function is executed.
When the rate change signal is off When the signal is on

G01 (Cutting) *FV0–*FV7 *JV0–*JV15

Parameter No. 6200#7=0 Parameter No. 6200#7=1

G31 (Skip cutting) *JV0–*JV15
Override is ineffective *FV0–*FV7

The effective override signals

Note: *FV0–*FV7 are the feedrate override signals (G12), and
*JV0–*JV15 are the manual feedrate override signals (G10–G11).

329
1. AXIS CONTROL B–63173EN–1/02

NOTES 1) EXF4 and EXF5 are available in case the address X0011 exists.
They can not be used in the following case.
S The case Built–in I/O is used (That is, parameter No.3008#3(BIO)
=1)
S The case X0011 is not assigned to I/O
2) When this function is used, a high–speed interlock(*RILK) and a
multiskip(SKIP2, SKIP3) function are not available. (Those signals
are overlapped.)
3) The order of priority of the signals EXF1–EXF5 is as follows:
EXF1, EXF2, EXF3, EXF4, EXF5
For example, if both EXF2 and EXF4 turn to 1 simultaneously, EXF2
is effective and EXF4 is not. And when all the signals of EXF1–EXF5
are returned into 0, the feed rate becomes the originally commanded
cutting feed rate.
4) For the details of the skip function, refer to the item of that function
in CONNECTION MANUAL(FUNCTION).
5) The acceleration/deceleration type in changing the feedrate depends
on the setting about cutting feed acceleration/deceleration.

330
B–63173EN–1/02 1. AXIS CONTROL

1.12
TORQUE LIMIT
FUNCTION

1.12.1 Positioning can be performed by butting against a mechanical stop while

applying a torque limit to the servo motor.
Overview
A torque limit can be set using three methods: parameter input, DI signal
input, and input from the PMC.
A torque limit set using any of these methods is valid in all modes (EDIT,
AUTO, JOG, and so forth).

Selecting a torque With the torque control function, a torque limit can be set using three
control method methods:
1: Torque control based on parameter input
2: Torque control based on DI signal input
3: Torque control based on input from the PMC
See Table 1.12.1(a) for information about about which torque control
method is used.
A torque control method can be selected separately for the each axis.

Table 1.12.1(a) Torque Control Method Selection

Parameter Torque limit enable signal (TRQnE)

TRQLTn
(No.1855) ON OFF
When set to 0 Torque control method Torque control method
based on DI signal input based on input from the
PMC
When set to a value other Torque control method based on parameter input
than 0

n : 1 or 8
(1) Position and alarm check when a torque limit is applied
An excessive position error and stop/move error can be ignored by
setting parameter TIP, TAL (No. 1803#0, #1) only when a torque limit
is applied.
Torque Control Function (1) Condition for activating this function
Based on Parameter This function is activated when a value other than 0 is set in parameter
TRQLTn (No. 1855) (parameter for setting a torque limit).
Input
NOTE
When 0 is specified in parameter No. 1855, the torque
control function based on parameter input is disabled.

(2) Applicable modes

This function can be used in all modes (EDIT, AUTO, and so forth).
(3) Parameter TRQLTn (No. 1855): parameter for setting a torque limit
Parameter No. 1855 sets a torque limit used for torque control.
This parameter can be rewritten with a G10 code even when a part
program is being executed.

331
1. AXIS CONTROL B–63173EN–1/02

Torque Control Function (1) Condition for activating this function

Based on DI Signal Input This function is activated by turning the torque limit enable signal
<TRQnE> on when the torque control function based on parameter
Torque limit enable input is disabled.
signal TRQnE <G216#0
to #7> NOTE
Torque limit signal The torque control function based on DI signal input is
TRQn0 to n7 <G217 to disabled when the torque control function based on
G224> parameter input is enabled or the torque limit enable signal
is turned off.

(2) Applicable modes

This function can be used in all modes (EDIT, AUTO, and so forth).
(3) Torque limit signals <TRQn0 to TRQn7>
As indicated in Table 1.12.1(b), each of the torque limit signals
(TRQn0 to TRQn7) can be handled as a byte data item to allow a
torque limit from 0 to 255 to be specified.
A torque limit is applied to the servo motor based on the value set
using the torque limit signal.
The expression below indicates the relationship between a setting and
a torque limit.
Torque override value = (value set using TRQn/255)*100(%)

Table 1.12.1(b) Torque Limit Value and Signals TRQn0 to

TRQn7

Input value by TRQn0 to TRQn7 signal

TRQn 7 6 5 4 3 2 1 0
0
1 Ę
2 Ę
· · · · · · · · ·

· · · · · · · · ·
254 Ę Ę Ę Ę Ę Ę Ę
255 Ę Ę Ę Ę Ę Ę Ę Ę

Ę : Contact : Contact open

332
B–63173EN–1/02 1. AXIS CONTROL

Torque Control Function (1) Condition for activating this function

Based on Input From the This function is activated when both the torque control function based
PMC on parameter input and the torque control function based on DI signal
input are disabled.

NOTE
The torque control function based on input from the PMC is
disabled when either the torque control function based on
parameter input or the torque control function based on DI
signal input is enabled.

(2) Applicable modes

This function can be used in all modes (EDIT, AUTO, and so forth).
(3) Function outline
A torque limit is applied to the servo motor based on the torque limit
sent from the PMC using the window function.
For details on how to input data from the PMC, refer to the ”FANUC
PMC Ladder Language Programming Manual (B–61863E).”

Signal

Torque limit enable

signal TRQnE <G216>

[Classification] Input signal

[Function] This signal selects an axis that uses DI–based torque control.

TRQ1E

1 : Torque limit enable signal for first axis

2 : Torque limit enable signal for second axis
:
:

[Operation] When the signal becomes 1, the control unit enables DI–based torque
control for the selected axis.

333
1. AXIS CONTROL B–63173EN–1/02

Torque limit signal

TRQn0 to TRQn7 <G217
to G224>
[Classification] Input signal
[Function] This signal specifies a torque limit value for the axis for which the torque
limit enable signal is 1.

TRQ10
A torque limit value is set up as listed in Table 17.1 (b).

1 : Torque limit signal for the first axis

2 : Torque limit signal for the second axis
:
:

[Operation] When the signal becomes 1, the control unit enables DI–based torque
control for the selected axis.

Signal address
<Torque limit enable signal>
#7 #6 #5 #4 #3 #2 #1 #0
G216 TRQ8E TRQ7E TRQ6E TRQ5E TRQ4E TRQ3E TRQ2E TRQ1E

<Torque limit signal for the 1st axis>

#7 #6 #5 #4 #3 #2 #1 #0
G217 TRQ17 TRQ16 TRQ15 TRQ14 TRQ13 TRQ12 TRQ11 TRQ10

<Torque limit signal for the 2nd axis>

#7 #6 #5 #4 #3 #2 #1 #0
G218 TRQ27 TRQ26 TRQ25 TRQ24 TRQ23 TRQ22 TRQ21 TRQ20

<Torque limit signal for the 3rd axis>

#7 #6 #5 #4 #3 #2 #1 #0
G219 TRQ37 TRQ36 TRQ35 TRQ34 TRQ33 TRQ32 TRQ31 TRQ30

<Torque limit signal for the 4th axis>

#7 #6 #5 #4 #3 #2 #1 #0
G220 TRQ47 TRQ46 TRQ45 TRQ44 TRQ43 TRQ42 TRQ41 TRQ40

<Torque limit signal for the 5th axis>

#7 #6 #5 #4 #3 #2 #1 #0
G221 TRQ57 TRQ56 TRQ55 TRQ54 TRQ53 TRQ52 TRQ51 TRQ50

<Torque limit signal for the 6th axis>

#7 #6 #5 #4 #3 #2 #1 #0
G222 TRQ67 TRQ66 TRQ65 TRQ64 TRQ63 TRQ62 TRQ61 TRQ60

334
B–63173EN–1/02 1. AXIS CONTROL

<Torque limit signal for the 7th axis>

#7 #6 #5 #4 #3 #2 #1 #0
G223 TRQ77 TRQ76 TRQ75 TRQ74 TRQ73 TRQ72 TRQ71 TRQ70

<Torque limit signal for the 8th axis>

#7 #6 #5 #4 #3 #2 #1 #0
G224 TRQ87 TRQ86 TRQ85 TRQ84 TRQ83 TRQ82 TRQ81 TRQ80

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1803 TQA TQI

[Data type] Bit

TQI While torque restriction is applied, in–position check is:
0 : Not performed.
1 : Performed.
TQA While torque restriction is applied, checking for an excessive error in the
stopped state/during movement is:
0 : Not performed.
1 : Performed.
1855 Current limit override value for each axis

[Data type] Byte axis

[Valid data range] 0 to 255
This parameter specifies a current limit override value for each axis.
Override value = (Setting value)/255 100 (%)

Reference Item
FANUC PMC B–61863E Writing of torque limit data to
PROGRAMMING digital servo
MANUAL (LADDER
LANGUAGE)

335
1. AXIS CONTROL B–63173EN–1/02

1.13
EXTERNAL PULSE
INPUT FUNCTION

General
This function is responsible for instigating motion along an arbitrary
axis in phase with an external pulse signal entered from the machine.
Enter an external pulse signal via the position coder interface.

Position coder

Machine *Weighting *CMR

factor
interface
*DMR

1) Enter an external pulse signal via the position coder interface.

For an input waveform, use the A–phase signal (PA, *PA) and B–
phase signal (PB, *PB) in the same way as with a waveform out-
put from the position coder. The C–phase signal is not required.
2) A signal from the PMC determines whether to enable or disable
axis movement based on external pulses. Axis movement is en-
abled by setting EPCON (bit 6 of G066) to 1 in the step feed
(STEP) or jog feed (JOG) mode.
3) An axis for which external pulses are entered can be selected ei-
ther by DI or parameter.
Which method to use can be selected according to the state of bit
7 (EXH) of parameter No. 7670.
– Selection by DI
→ External pulse input axis selection signals HS1A, HS1B,
HS1C, and HS1D
– Selection by parameter
→ parameter No. 7710
4) The frequency of the input pulse is multiplied by 4 in the Power
Mate.
5) The input pulse can be multiplied by a scale factor using either
the DI or parameter method. Which method to use can be selected
according to the state of bit 7 (EXH) of parameter No. 7670.
– Selection by DI
→ Incremental feed signal MP1 or MP2
– Selection by parameter
→ The scale factor can be M/N,
where N = parameter No. 7681 and M = parameter No. 7682.
6) The input pulse can be leveled.
– If a parameter is used to specify what axis select and what scale
factor to apply, the input pulse can be leveled.
→ Parameter No. 7701

336
B–63173EN–1/02 1. AXIS CONTROL

NOTE
1 Machine lock, interlock, and overtravel are valid for axis
movement based on external pulses.
2 For external pulse–based axis movement, acceleration/
deceleration must be an exponential type, and the time
constant must be specified using parameter No. 1624.
3 If the external pulse input function is used, it is impossible
to specify feed per revolution.
4 If the external pulse input interface selection signal, EPCON
(bit 6 of G066), is 1, it is impossible to use manual handle
feed.

Pulse input The maximum allowable high frequency is 100 kHz. (Note, however, that
this frequency is multiplied by 4 in the Power Mate. This is because a
rising edge of each of the A–phase signal and B–phase signal is regarded
as consisting of one pulse, so that four pulses are received during one
cycle of the A–phase or B–phase signal.)

D )direction movement command pulse D *direction movement command pulse

PA PA
*PA *PA

PB PB
*PB *PB

TP TP TP TP TP TP TP TP

TCYC TCYC TP : 1.2 ms or more

TCYC : 10 ms or more

Fig.1.13(a) Input Pulse Waveform

337
1. AXIS CONTROL B–63173EN–1/02

Position coder interface valid

EPCON

+ direction movement – direction movement

command pulse command pulse
External pulse signal input
PA

PB

Pulse count in the + pulse

Power Mate

– pulse

Fig.1.13(b) Sequence

Signal

External pulse input

interface select signal
EPCON <G066#6>

[Classification] Input signal

[Function] This signal selects whether to use the external pulse input command.
[Operation] When the signal becomes 1, the control unit enables an external pulse
command for the specified axis.

Manual handle axis

select signal
HS1A to HS1D <G018#0
to #3>
[Classification] Input signal
[Operation] This signal selects what axis is to use an external pulse input command
if the EXH parameter (bit 7 of parameter No. 7670) is 0. The signal is
equivalent to the manual handle axis selection signal for one manual pulse
generator.

338
B–63173EN–1/02 1. AXIS CONTROL

Code signals A, B, C, and D correspond to the feed axes as listed in the

following table:
Manual handle feed axis selection
Feed axis
HSnD HSnC HSnB HSnA

0 0 0 0 No selection (None of axis is fed)

0 0 0 1 1st axis
0 0 1 0 2nd axis
0 0 1 1 3rd axis
0 1 0 0 4th axis
0 1 0 1 5th axis
0 1 1 0 6th axis
0 1 1 1 7th axis
1 0 0 0 8th axis

Manual handle feed

movement value select
signal MP1, MP2
<G019#4, #5>
[Classification] Input signal
[Function] This signal selects the distance traveled per pulse from the manual pulse
generator during the manual handle feed or manual handle interrupt. It
also selects the distance traveled per step feed step.
The table below lists the signal–to–distance correspondence.
Travel distance select signal
Distance traveled
for manual handle feed
MP2 MP1 Manual handle feed
0 0 Least input increment 1
0 1 Least input increment 10
1 0 Least input increment m*1
1 1 Least input increment n*1

*1 Scale factors m and n are specified using parameter Nos. 7113 and
7114.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G018 HS1D HS1C HS1B HS1A

G019 MP2 MP1

G066 EPCON

339
1. AXIS CONTROL B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7670 EXH

[Data type] Byte

EXH 0 : Sets an axis and magnification for external pulse input by using DI
signals
1 : Sets an axis and magnification for external pulse input by using
parameters

7681 Setting 1 of the ratio of an axis move amount to external pulses (M)

[Data type] Byte

[Valid data range] M = 1 to 255

7682 Setting 2 of the ratio of an axis move amount to external pulses (N)

[Data type] Word

[Valid data range] N = 1 to 1000

#7 #6 #5 #4 #3 #2 #1 #0
7701 SM3 SM2 SM1

Number of
SM3 SM2 SM1
sampling operations
0 0 0 4
0 0 1 1
0 1 0 2
0 1 1 8
1 0 0 16
1 0 1 4
1 1 0 4
1 1 1 4

Specify the number of sampling operations for input pulse smoothing.

7710 Setting of an axis number for movement along an axis by external pulses

[Data type] Byte

[Valid data range] 1, 2, ..., number of controlled axes
If 0 is specified, no movement along an axis is made by external pulses.

340
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2 PREPARATIONS FOR OPERATION

341
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.1
EMERGENCY STOP

General If you press Emergency Stop button on the machine operator’s panel, the
machine movement stops in a moment.

Red

EMERGENCY STOP

Fig. 2.1 (a) EMERGENCY STOP

This button is locked when it is pressed. Although it varies with the

machine tool builder, the button can usually be unlocked by twisting it.

Signal

Emergency stop
*ESP<X000#4, X1000#4,
G008#4>
[Classification] Input signal
[Function] Outputting an emergency stop signal stops the machine instantly.
[Operation] When the emergency stop signal *ESP turns to “0”, the emergency stop
is applied to the machine and the CNC is reset. This signal is controlled
by the B contacts of a pushbutton switch. The emergency stop signal turns
the servo ready signal (SA) to “0”.
Overtravel detection by this CNC is handled by the stored stroke check
function, and a limit switch for normal overtravel detection is not needed.
To prevent the machine from moving beyond the software limit through
servo feedback error, always install a stroke end limit switch (shown in
Fig. 2.1 (b) as follows).

CAUTION
Bit 3 (BIO) of parameter No. 3008 is used to specify whether
the emergency stop signal is to be supplied from the built–in
I/O card (bit 4 of X1000) or an I/O unit supporting the FANUC
I/O Link (bit 4 of X000).

342
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Emergency stop limit switch

Emergency stop
+X –X +Y –Y +Z –Z +4 –4

Relay power
Emergency stop temporary release
supply

EMG

SK

Spark killer

Fig. 2.1 (b) Connection of emergency stop limit switch

The distance from the position where the dynamic brake is applied to that
where the tool stops moving is given in the “AC Servo Motor
Descriptions.”

WARNING
Software limit setting point and operating point of limit switch
for emergency stop
The stop point by the software limit goes beyond the setting
point by as much as the following distance.
R (mm)
7,500
R: Rapid traverse rate (mm/min)
The actual stopping point may exceed the position set by a
parameter (Nos.1320 and 1321) by as much as R/7500
(mm). Set the limit switch for emergency stop including the
allowance for the above value.

Software limit setting point

Stroke end direction

ÄÄÄÄ
R
7,500
ÄÄÄÄ
ÄÄÄÄ
The machine stops in this Set the limit switch for emergency stop in
range. this range.

343
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X000 *ESP

#7 #6 #5 #4 #3 #2 #1 #0
X001 *ESP#2

#7 #6 #5 #4 #3 #2 #1 #0
X1000 *ESP

#7 #6 #5 #4 #3 #2 #1 #0
X1001 *ESP#2

#7 #6 #5 #4 #3 #2 #1 #0
G008 *ESP

#7 #6 #5 #4 #3 #2 #1 #0
F001 MA

Reference item
FANUC AC SERVO MOTOR αi/βi series B–65262EN
DESCRIPTIONS

344
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.2
CNC READY SIGNAL
General When the CNC is turned on and becomes ready for operation, the CNC
ready signal is set to 1.

Signal

CNC Ready Signal

MA<F001#7>
[Classification] Output signal
[Function] The CNC ready signal reports that the CNC is ready.
[Output condition] When the CNC is turned on and becomes ready for operation, the signal
is set to 1. Normally, it takes several seconds to establish this state after
the power is turned on. If a system alarm is issued, the signal is set to 0.
The signal remains set to 1, however, when an emergency stop or a similar
operation is performed.

Servo Ready Signal

SA <F000#6>
[Classification] Output signal
[Function] Signal SA turns to “1” when the servo system is ready to operate. For an
axis that is to be braked, release the brake when this signal is sent and
apply the brake when this signal is not sent.
Time chart of this signal is as follows:
Power off
Power on

Ready signal (MA)

60 to 100 msec

Servo ready
signal (SA)

Brake on

Servo alarm Servo alarm

Overload

Reset
Reset Emergency stop
1 to 2 seconds About 1 second

Fig. 2.2 Time chart for servo ready signal

345
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F000 SA

#7 #6 #5 #4 #3 #2 #1 #0
F001 MA

346
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.3
OVERTRAVEL
CHECK

2.3.1
Overtravel Signal

General When the tool tries to move beyond the stroke end set by the machine tool
limit switch, the tool decelerates and stops because of working the limit
switch and an OVER TRAVEL is displayed.

Signal

Overtravel signal
*+L1 to *+L8<G114>
*–L1 to *–L8<G116>
[Classification] Input signal
[Function] Indicates that the control axis has reached its stroke limit. There are
signals for every direction in every control axis. The +/– in the signal
name indicates the direction and the number corresponds to the control
axis.
+ L 1

1 No. 1 axis is at stroke limit.

2 No. 2 axis is at stroke limit.
3 No. 3 axis is at stroke limit.
: :
8 No. 8 axis is at stroke limit.

+ Has moved to and reached a + direction.

– Has moved to and reached a – direction.

[Operation] When it is “0” , the control unit operates as given below.

@ In automatic operation, if even one axis overtravel signal turns to “0”,
all axes are decelerated to stop, an alarm is given and operation is
halted.
@ In manual operation, only the axis whose movement signal has turned
to “0” is decelerated to a stop, and the axis can be moved in the
opposite direction.
@ Once the axis overtravel signal has turned to “0”, the axis direction is
registered. Even if the signal returns to “1”, it is not possible to move
that axis in that direction until the alarm is cleared.

347
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

The following shows the deceleration distance at overtravel.

(i) Rapid traverse

Command pulse
deceleration
V

ÄÄÄÄ
ÄÄÄ
Servo system delay

ÄÄÄÄ
ÄÄÄ
ÄÄÄÄ
ÄÄÄ
VR
t

ÄÄÄÄ
ÄÄÄ
*+La limit switch t1 t2 TR

TR 1
L1=VR(t1+t2+ +TS) · [mm or inch]
2 60000
L1:Deceleration distance
VR: Rapid traverse speed (mm/min or inch/min)
t1: Limit switch signal delay time (from limit switch operation to *+La
signal turn off (ms))
t2: Receiver delay time 30ms
TR: Rapid traverse acceleration/deceleration time constant (ms)
TS: Servo system time constant (ms)

NOTE
Servo system time constant TS is 33 msec when the servo
unit is adjusted to the standard setting.

(ii)Cutting feed

ÄÄÄÄ
V Servo system delay

ÄÄÄÄ
ÄÄÄÄ
VC

ÄÄÄÄ
t1 t2
*+La limit switch

TR 1
L2=VC(t1+t2+ +TS) · [mm or inch]
2 60000
L2:Deceleration distance
Vc: Maximum feedrate (mm/min or inch/min)
t1, t2, Ts: Same as (i).

348
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

D Releasing overtravel Press the reset button to reset the alarm after moving the tool to the safety
direction by manual operation.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G114 *+L8 *+L7 *+L6 *+L5 *+L4 *+L3 *+L2 *+L1

G116 *–L8 *–L7 *–L6 *–L5 *–L4 *–L3 *–L2 *–L1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3004 OTH

[Data type] Bit

OTH The overtravel signal is:
0 : Checked
1 : Not checked

WARNING
For safety, usually set 0 to check the overtravel signal.

Alarm and message

Number Message Description

506 OVER TRAVEL : +n Exceeded the n–th axis (axis 1–8) +

side hardware OT.
507 OVER TRAVEL : –n Exceeded the n–th axis (axis 1–8) –
side hardware OT.

349
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.3.2
Stored Stroke Check 1

General When the tool tries to exceed a stored stroke check, an alarm is displayed
and the tool is decelerated and stopped.
When the tool enters a forbidden area and an alarm is generated, the tool
can be moved in the reverse direction from which the tool came.

Parameters (Nos. 1320, 1321) set boundary. Outside the area of the set
checks is a forbidden area. The machine tool builder usually sets this area
as the maximum stroke.

Signal

Stroke check external

setting signals +LM1 to
+LM8 <G110> and –LM1
to –LM8 <G112>
[Classification] Input signal
[Function] Change the values of the parameters governing the stroke check (1320 and
1321).
[Operation] When these signals are set to 1, the control unit operates as follows:
– Change the stored checks, set with parameter Nos. 1320 and 1321,
to the machine coordinates when the signals are input.

Stroke check release

signal RLSOT <G007#7>
[Classification] Input signal
[Function] Selects whether the stored stroke check 1 are checked.
[Operation] When this signal is set to 1, the control unit operates as follows:
– Does not check the stored stroke check 1.

350
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G007 RLSOT

G110 +LM8 +LM7 +LM6 +LM5 +LM4 +LM3 +LM2 +LM1

G112 –LM8 –LM7 –LM6 –LM5 –LM4 –LM3 –LM2 –LM1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1300 BFA LZR

[Data type] Bit

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

NOTE
When the absolute–position detector is being used, and the
reference position is already set at power–on, the stored
stroke check is checked immediately after the power is
turned on, regardless of the setting of this bit.

BFA When a command that exceeds a stored stroke check 1 is issued

0: An alarm is generated after the stroke check 1 is exceeded.
1: An alarm is generated before the stroke check 1 is exceeded.

1320 Coordinate value I of stored stroke check 1 in the positive direction on each axis

1321 Coordinate value I of stored stroke check 1 in the negative direction each axis

[Data type] Two–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric input 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] – 99999999 to 99999999

The coordinate values of stored stroke checks 1 in the positive and
negative directions are set for each axis in the machine coordinate system.
The outside area of the two checks set in the parameters is inhibited.

351
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

WARNING
When the parameters are set as follows, the stroke
becomes infinite:
parameter No. 1320 < parameter No. 1321
For movement along the axis for which infinite stroke is set,
only incremental commands are available. If an absolute
command is issued for this axis, the absolute register may
overflow, and normal movement will not result.

Alarm and message

Number Message Description

500 OVER TRAVEL : +n Exceeded the n–th axis (axis 1–8) +

side stored stroke check I.
501 OVER TRAVEL : –n Exceeded the n–th axis (axis 1–8) –
side stored stroke check I.

Caution
CAUTION
In setting a forbidden area, if two points to be set are the
same, all area is forbidden in check 1.

Note
NOTE
1 Parameter LZR (bit 6 of No. 1300) selects whether each
check becomes effective after the power is turned on and
manual reference position return or automatic reference
position return by G28 has been performed or immediately
after the power is turned on.
2 For the Power Mate i–D(2–path control), set a forbidden
area for each path.
3 Parameter BFA (bit 7 of No. 1300) selects whether an alarm
is displayed immediately before the tool enters the
forbidden area or immediately after the tool has entered the
forbidden area.

Reference item
OPERATOR’S MANUAL V.6.2 Stroke check
(B–63174EN)

352
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.4
ALARM SIGNAL
General When an alarm is triggered in the CNC, the alarm is indicated on the
screen, and the alarm signal is set to 1.

If the voltage level of the memory backup battery falls to below a specified
level while the CNC is turned off, the battery alarm signal is set to 1.

Signal

Alarm signal
AL<F001#0>
[Classification] Output signal
[Function] The alarm signal reports that the CNC is in an alarm state.
There are the following alarms. The following alarms are issued:

(a) TH alarm
(b) TV alarm
(c) P/S alarm
(d) Overtravel alarm
(e) Overheat alarm
(f) Servo alarm
(g) APC alarm
(h) SPC alarm
(i) Rigid tapping alarm
(j) Spindle alarm
[Output condition] The alarm signal is set to 1 when:
– The CNC is placed in the alarm state.
The alarm signal is set to 0 when:
– The alarm has been released by resetting the CNC.

Battery alarm signal

BAL<F001#2>
[Classification] Output signal
[Function] The battery alarm signal indicates that the voltage of the battery for the
memory has fallen to below a specified level while the CNC is off. In
general, this signal is used to turn on an LED to notify the operator.
[Output condition] The signal is set to 1 when:
– The battery voltage has fallen to below the specified level.
The signal is set to 0 when:
– The battery voltage has risen to the specified level or higher.

353
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 BAL AL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3111 NPA

[Data type] Bit

NPA Action taken when an alarm is generated or when an operator message is
entered
0 : The display shifts to the alarm or message screen.
1 : The display does not shift to the alarm or message screen.

354
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.5
INTERLOCK

General This signal disables machine movement along axes. When this signal is
input during movement along axes, the tool movement is decelerated,
then stopped.

Signal

All axes Interlock signal

*IT<G008#0>
*RILK<X0000#6, X0001#6
(Path 2 in 2–path
control)> or <X1000#6,
X1001#6
(Path 2 in 2–path
control)> [Classification] Input signal
[Function] This signal is used to inhibit the machine from moving, and is effective
regardless of the selected mode.
[Operation] When the *IT or *RILK signal is “0”, the axis movement is decelerated
and stopped. In automatic operation, blocks containing M, S, or T mode
commands are executed consecutively until a block containing an axis
move command is encountered; the system then stops and is placed into
the automatic operation mode (cycle start lamp signal STL is “1”, feed
hold lamp signal SPL is “0”). When the *IT or *RILK signal turns to “1”,
operation resumes (Figs. 2.5(a), (b)).

Command read

Axis move

*IT

Fig. 2.5 (a) Block containing only axis move command

(manual and automatic operation)

355
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Command read

MF/SF/TF

FIN

*IT

Fig. 2.5 (b) Block containing auxiliary functions only

(automatic operation)

NOTE
The overtravel amount of the motor after turning *IT or
*RILK to “0” is represented by the following formula.
1 Tc Ts A
Qmax =Fm @ × ( + + )
60 1000 1000 1000
Where
Qmax : Overtravel quantity (mm or inch)
Fm : Feedrate (mm/min or inch/min)
Tc : Cutting time constant (ms)
Ts : Servo time constant (Ts = 33ms normally)
A : Processing time of CNC
Standard interlock signal *IT : A=50ms
High–spped interlock signal *RILK : A=20ms

Interlock signal for each

axis
*IT1 to *IT8<G130>
[Classification] Input signal
[Function] These signals disable feed along axes on an axis–by–axis basis.
A separate interlock signal is provided for each controlled axis. The
number at the end of each signal name denotes the number of the
corresponding controlled axis.
*IT 1
1 ..... Interlock for the first axis
2 ..... Interlock for the second axis
3 ..... Interlock for the third axis
: :
: :

[Operation] a) In manual operation

The movement of an interlocked axis is inhibited, but the other axes
are movable. If an axis is interlocked during movement, it stops after
being decelerated, and it starts moving again when it is released from
interlock.

356
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

b) In automatic operation (AUTO RMT or MDI mode)

If an axis is interlocked while its movement is being commanded (the
move amount is not 0, inclusive of the tool offset), all axes movements
are prevented.
If a moving axis is interlocked, all axes stop moving after being
decelerated, and they start moving again when it is released from being
interlocked.
This function is effective during dry run.

Interlock signal for each

axis and direction
+MITn<G132#0 to #7>
–MITn<G134#0 to #7>
(n : 1 to 8)
[Classification] Input signal
[Function] This function allows a directional interlock for each axis.
[Operation] When the axis/directional interlock signal becomes “1”, CNC applies
interlock only in the corresponding axial direction. However, during
automatic operation, all axes will stop.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X0000 *RILK#1

X0001 *RILK#2

X1000 *RILK#1

X1001 *RILK#2

#7 #6 #5 #4 #3 #2 #1 #0
G008 *IT

G130 *IT8 *IT7 *IT6 *IT5 *IT4 *IT3 *IT2 *IT1

G132 +MIT8 +MIT7 +MIT6 +MIT5 +MIT4 +MIT3 +MIT2 +MIT1

G134 –MIT8 –MIT7 –MIT6 –MIT5 –MIT4 –MIT3 –MIT2 –MIT1

357
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3003 DIT ITX HITL ITL

[Data type] Bit

ITL Interlock signal for all axes
0 : Enabled
1 : Disabled
HITL High–speed interlock signal
0 : Enabled
1 : Disabled
ITX Interlock signals for each axis
0 : Enabled
1 : Disabled
DIT Interlock for each axis direction
0 : Enabled
1 : Disabled

358
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.6
MODE SELECTION

General The mode select signal is a code signal consisting of the three bits MD1,
MD2, and MD4. The seven modes -- memory edit (EDIT), AUTO
operation (AUTO), manual data input (MDI), manual handle/step feed
(HANDLE/STEP), jog feed (JOG), TEACH IN STEP/HANDLE,
TEACH IN JOG/HANDLE -- can be selected. And in addition, DNC
operation mode can be selected by combining the (AUTO) mode setting
and the DNCI signal. Manual reference position return mode can be
selected by combining the manual continuous feed (JOG) mode setting
and the ZRN signal.
The currently selected operation mode can be posted by outputting the
operation mode check signal.

Signal

Mode selection signal

MDI, MD2, MD4
<G043#0–#2>
DNCI <G043#5>
ZRN <G043#7>

[Classification] Input signal

[Operation] As shown in the following table, the mode select signal is a grey code (a
code in which only one bit is different from that of the adjacent mode).
To prevent faulty mode switching, use an overcrossing contact rotary
switch so that only one bit changes from that of the adjacent mode.
”Faulty mode switching” means” for example:
When the mode is switched to the EDIT mode during AUTO operation,
the CNC enters the single block state and the operation stops at the end
of the executing block.

For this mode switching, only MD2 should change from 0 to 1. If a

transient signal status change occurs in a signal other than MD2 during
mode switching, however, another mode (manual continuous feed mode,
for example) is set between automatic operation mode and memory edit
mode. When manual continuous feed mode is set while the CNC is in
automatic status, the CNC immediately stops AUTO operation. As a
result, although the operator intends to switch the mode to the memory
edit mode, the CNC is, instead, placed in the feed hold state.

359
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Signal status
Mode
MD4 MD2 MD1 DNCI ZRN

1 Memory edit (EDIT) 0 1 1 0 0

2 AUTO operation (AUTO) 0 0 1 0 0

3 Manual data input (MDI) 0 0 0 0 0

4 Manual handle/step feed 1 0 0 0 0

(HANDLE/STEP)

5 Jog feed (JOG) 1 0 1 0 0

6 TEACH IN STEP/HANDLE (THND) 1 1 1 0 0

7 TEACH IN JOG/HANDLE (TJOG) 1 1 0 0 0

8 DNC operation (RMT) 0 0 1 1 0

9 Manual reference position return(ZRN) 1 0 1 0 1

Operation mode check

signal
MMDI, MAUT, MRMT,
MEDT, MSTP, MJ,
MZRN, MTCHIN
<F003, F004#5> [Classification] Output signal

[Function] The currently selected operation mode is output.

[Operation] The following lists the relationship between the mode selection signals
and check signals:
Input signal
Mode Output signal
MD4 MD2 MD1 DNCI ZRN
Manual data input 0 0 0 0 0 MMDI<F003#3>
(MDI) (MDI operation)
Automatic opera-
tion AUTO operation (AUTO) 0 0 1 0 0 MAUT<F003#5>

DNC operation(RMT) 0 0 1 1 0 MRMT<F003#4>

Memory edition (EDIT) 0 1 1 0 0 MEDT<F003#6>

Manual handle feed/step feed 1 0 0 0 0 MSTP<F003#1>

(HANDLE/STEP)

Jog feed(JOG) 1 0 1 0 0 MJ<F003#2>

Manual reference position re- 1 0 1 0 1 MZRN<F004#5>

Manual operation turn (ZRN)

TEACH IN JOG/HANDLE 1 1 0 0 0 MTCHIN<F003#7>

, MJ<F003#2>
(TJOG)

TEACH IN STEP/HANDLE 1 1 1 0 0 MTCHIN<F003#7>

, MSTP<F003#1>
(THND)

360
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G043 ZRN DNCI MD4 MD2 MD1

#7 #6 #5 #4 #3 #2 #1 #0
F003 MTCHIN MEDT MAUT MRMT MMDI MJ MSTP

F004 MZRN

Note
NOTE
Precautions on modes and mode switching
1 In the MDI mode, the STL signal turns to “0” and the CNC
stops at the end of execution of the commands input from
the MDI panel, but the SPL signal does not turn to “1”.
Therefore, another command can be input from the manual
data input unit under this state.
2 Manual operation in jog feed mode
Both jog feed and manual handle feed are possible. Jog
feed and manual handle feed cannot, however, be
performed simultaneously. Manual handle feed can be
performed when the tool is not being moved by means
of jog feed.
3 Manual operation in manual handle/step feed mode and
TEACH IN STEP/HANDLE mode
Both manual handle feed and incremental feed are
possible. Manual handle feed and incremental feed
cannot, however, be performed simultaneously. Manual
handle feed can be performed when the tool is not being
moved by means of incremental feed.
4 Manual operation in TEACH IN JOG/HANDLE mode
1) When bit 1 (THD) of parameter No. 7100 is set to 0
Only jog feed is possible.
2) When bit1 (THD) of parameter No. 7100 is det to 1
Both jog feed and manual handle feed are possible. Jog
feed and manual handle feed cannot, however, be
performed simultaneously. Manual handle feed can be
performed when the tool is not being moved by means
of jog feed.

361
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

NOTE
5 During operation in automatic operation mode (AUTO, RMT,
or MDI), specifying switching to another automatic
operation mode (AUTO, RMT, or MDI) or memory editing
mode (EDIT) first places the CNC in the automatic operation
stop state after executing the command of the current block,
after which the mode is switched. At this time, signal STL
is set to 0. Signal SPL is not, however, set to 1. (Fig. 2.6
(a), (b))

AUTO mode
Mode select signal state
MDI mode

Operation

Executing command Manual data in-

put possible in
STL this range

Fig. 2.6 (a)

MDI mode
Mode select signal state
AUTO mode

Operation

AUTO opera-
Executing command tion possible in
in MDI mode this range
STL

Fig. 2.6 (b)

362
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

NOTE
6 When the manual handle/step feed mode or TEACH IN
STEP/HANDLE mode is selected while the CNC is
operating in the AUTO, RMT, or MDI mode, the automatic
or MDI operation stops, the STL signal turns to “0”, the SPL
signal simultaneously turns to “1”, and the CNC enters the
manual handle/step feed mode or TEACH IN STEP/
HANDLE mode. Manual handle feed or incremental feed by
axis direction select signal is possible under this state.
Since the AUTO, RMT, or MDI mode commands are held,
operation can be restarted by the cycle start signal by
selecting the AUTO, RMT, or MDI mode. However, if
operation was stopped by switching to the manual
handle/step feed mode or TEACH IN STEP/HANDLE mode
during manual data input or automatic operation, it can be
restarted only by the mode in use before the operation was
stopped (Fig. 2.6 (c)).

AUTO/MDI mode
Mode select signal state
Manual handle/step
feed or TEACH IN
STEP/HANDLE mode

Operation in the AUTO

mode or MDI mode

Manual handle
/step feed en-
abled

STL

SPL

ST
Cycle start signal

Fig. 2.6 (c)

363
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

NOTE
7 When the JOG or TEACH IN JOG/HANDLE mode is
selected during RMT, AUTO or MDI mode operation,
operation stops, the STL signal turns to “0”, the SPL signal
simultaneously turns to “1”, and the CNC enters the JOG or
TEACH IN JOG/HANDLE mode. Jog feed by feed axis
direction select signal is possible under this state.
Operation can be restarted by returning to the original state,
as described for HANDLE/STEP or TEACH IN STEP/
HANDLE mode (Fig. 2.6 (d)). When the mode is switched
to the JOG or TEACH IN JOG/HANDLE mode during
manual handle feed or step feed operation, the CNC
ignores the manual handle feed or step feed command and
jog feed becomes effective. If a feed axis direction select
signal turns to “1” before the JOG or TEACH IN JOG/
HANDLE mode is selected, that signal is ignored. The feed
axis select signal is selected by turning the necessary feed
axis direction signal to “1” after turning all the feed axis
direction select signals to “0” (Fig. 2.6 (e)).
Manual handle feed by jog feed mode is possible.
It is possible to perform handle feed in TEACH IN JOG/
HANDLE mode by parameter THD no.7100#1. For details,
refer to Note (2), (4).

AUTO/MDI mode

Mode select signal state Jog feed or

TEACH IN JOG/
HANDLE mode

Operation in the
AUTO mode or MDI
mode
Jog feed
enabled

STL

SPL

ST Cycle start signal

Fig. 2.6 (d)

100ms or more
AUTO/MDI/HADLE/
Mode select signal state STEP mode/TEACH IN
STEP/HANDLE mode

Jog or TEACH IN
JOG/HANDLE

Feed axis
direction select
signal

Jog feed disable Jog feed enable

Fig. 2.6 (e)

364
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

NOTE
8 The mode switching operation is summarized in the time
chart below (Fig. 2.6 (f)).

M M M M

D D D

Disable because of Disable because of

feed hold state of MDI operation
possible here- feed hold state of
automatic operation MDI operation
after

H / S or
J End of opera-
End of operation tion
Memory read AUTO AUTO Memory read
operation MDI command MDI command
operation operation operation

ST ST ST ST ST ST ST

STL STL STL STL STL

SPL SPL

*SP

M AUTO mode selection

D MDI mode selection

H/S HANDLE/STEP or TEACH IN STEP/HANDLE mode selection

J JOG or TEACH IN JOG/HANDLE mode selection

Fig. 2.6 (f) Mode signal time chart

Reference item
CONNECTION MANUAL 4.1 Manual Reference Position Return
(This manual)

365
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.7
PATH SELECTION/
DISPLAY OF
OPTIONAL PATH
NAMES (Power Mate
i–D(TWO–PATH
CONTROL))

General Path selection specifies whether operations performed using the

CRT/MDI panel are for path 1 or path 2.
The operations, as used here, include displaying and setting data items
(such as tool compensation values), inputting command programs in the
MDI mode, and editing machining programs in program memory.
Additionally, names of each path can be changed by parameter.

Signal

Path selection signal

PATHS<G063#0>

[Classification] Input signal

[Function] Selects the path (1 or 2) for which the CRT/MDI display screen is to be
used.
[Operation] When this signal turned to “1”, operations performed using the CRT/MDI
are for path 2.
When this signal turned to “0”, operations performed using the CRT/MDI
are for path 1.

Path display
confirmation signal
PATHO <F254#7>
[Classification] Output signal
[Function] Informs that which screen, 1st path screen or 2nd path screen, is displayed
on the CRT/MDI.
[Output condition] This signal turns ”0”,
D when path 1 screen is displayed.
This signal turns ”1”,
D when path 2 screen is displayed.

366
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G063 PATHS

#7 #6 #5 #4 #3 #2 #1 #0
F254 PATHO

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8100 RST

[Data type] Bit

RST Reset key on the CRT/MDI panel
0 : Effective for both paths
1 : Effective for the path selected by the path select signal
Parameters for display of
optional path names

3141 Path name (1st character)

3142 Path name (2nd character)

3143 Path name (3rd character)

3144 Path name (4th character)

3145 Path name (5th character)

3146 Path name (6th character)

3147 Path name (7th character)

[Data type] Byte

Specify a path name with codes (Power Mate i–D(two–path control)).
Any character strings consisting of alphanumeric characters and symbols
(up to seven characters) can be displayed as path names on the CRT
screen, instead of PATH1 and PATH2.

NOTE
1 This parameter is dedicated to the Power Mate i–D
(two–path control).
2 Specify these parameters for each series.
3 For characters and codes, see the correspondence table in
12.1.10 software operator’s panel.
4 When codes are 0, PATH1 or PATH2 is displayed.

367
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.8
STATUS OUTPUT
SIGNAL

General The table below lists the status output signals for notifying the state of the
CNC. See the sections listed in the table for details of each signal.
Signal name Symbol Reference section
Alarm signal AL 2.4

Battery alarm signal BAL 2.4

Reset signal RST 5.2

Rewinding signal RWD 5.2

Tapping signal TAP 11.4

Moving signal MV1 – MV8 1.2.5

Moving direction signals MVD1 – MVD8 1.2.5

In–position signals INP1 – INP8 7.2.6.1

Cutting feed signal CUT 2.8 (the section you are

reading)

Constant surface speed CSS 9.4

signal

Signal

Cutting feed signal CUT

<F002#6>
[Classification] Output signal
[Function] Notifies that cutting feed is being performed by automatic operation.
[Output condition] This signal is set to 1 in the following case:
– When cutting feed is being performed by automatic operation (cutting
feed for linear interpolation, circular interpolation, skip cutting, or
cutting in canned cycle)

CAUTION
This signal is not output in the feed hold state.

NOTE
This signal is output even when the feedrate override is 0%,
or during interlock.

368
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F002 CUT

369
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.9
VRDY OFF ALARM
IGNORE SIGNAL

General The German VDE safety standard requires that the motor be deactivated
when the safety guard is opened. By using the VRDY OFF alarm ignore
signal, however, the CNC can be restarted without resetting, even if the
safety guard has been opened.

Signal

All–Axis VRDY OFF

Alarm Ignore Signal
IGNVRY<G066#0>
[Classification] Input signal
[Function] Disables the detection of servo alarm No. 401, VRDY OFF, for all axes.
[Operation] When this signal is set to logical 1, the control unit operates as follows:
@ The control unit does not issue servo alarm No. 401, VRDY OFF, even
when the servo amplifier ready signal goes off. The control unit,
however, sets servo ready signal SA to 0. The SA signal can remain set
to 1, depending on the setting of SAK, bit 6 of parameter No. 1804.

Each–Axis VRDY OFF

Alarm Ignore Signal
IGVRY1 – IGVRY8
<G192> [Classification] Input signal
[Function] Disables the detection of servo alarm No. 401, VRDY OFF, for the
corresponding axis. These signals correspond to the controlled axes. The
suffixed number of each signal corresponds to the number of the
controlled axis.
[Operation] When this signal is set to logical 1, the control unit operates as follows:
@ The control unit does not issue servo alarm No. 401, VRDY OFF, even
when the servo amplifier ready signal for the corresponding axis goes
off. The servo ready signal SA, however, is set to 0. The SA signal,
however, can remain set to 1 depending on the setting of SAK, bit 6 of
parameter No. 1804.

370
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G066 IGNVRY

G192 IGVRY8 IGVRY7 IGVRY6 IGVRY5 IGVRY4 IGVRY3 IGVRY2 IGVRY1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1804 SAK

[Data type] Bit

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

Alarm and Message

Number Message Description

401 SERVO ALARM: n–TH The n–th axis (axis 1–8) servo amplifi-
AXIS VRDY OFF er READY signal (DRDY) went off.

Caution
CAUTION
1 When the control enters NOT READY status due to
emergency stop or a servo alarm and then the control is
reset, reset processing is not terminated until the VRDY
OFF alarm ignore signal is set to 0.
2 When the VRDY OFF alarm ignore signal is set to 1 and the
servo amplifier ready signal is set to off, the motor is freed
from the drive, but follow up is not performed. To perform
follow up, set the servo off signal to 1.

Note
NOTE
While the VRDY OFF alarm ignore signal is set to 1, and a
servo alarm other than alarm No. 401 occurs, the control
unit detects the alarm.

371
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.10
ABNORMAL LOAD
DETECTION

General Machine collision, defective, and damaged cutters cause a large load
torque on the servo and spindle motors, compared with normal rapid
traverse or cutting feed. This function detects a load torque on the motors
and sends it as an estimated load torque to the PMC via the CNC. If the
detected load is abnormally great compared with the value specified in the
parameter, the function stops the servo motor as early as possible or
reverses the motor by an appropriate value specified in a parameter, in
order to minimize a possible damage to the machine.

The abnormal load detection function is further divided as follows:

(1) Estimated load torque output function
The CNC is always calculating the estimated load torque for the motor
(excluding acceleration/deceleration torque). The estimated load
torque output function enables the PMC to read the calculated torque
using the window function.
(2) Abnormal load detection alarm function
This function stops motors or reverses them by an amount specified
in a parameter, causing the CNC to output an alarm, if the load torque
obtained by the estimated load torque output function is greater than
the value specified in a parameter.
(3) Abnormal load detection group function
If a load torque obtained by grouping servo axes and using the
estimated–load torque output function is higher than a
parameter–specified value, the motor is brought to an immediate stop.
The motors for all axes placed in the same group as the axis of interest
according to the parameter (including the axes whose group number
has been set to 0) are also brought to an immediate stop and
interlocked. If parameter No. 2103 has been set with a value, the motor
is reversed by the specified value, and all axes placed in the same group
as the axis of interest are interlocked.
(4) Stopping distance shortening–mode axis stop signal (RSTPx)
When the stopping distance shortening–mode axis stop signal RSTPx
(G0247) for the PMC is input, the axis of interest and all axes that
placed in the same group as that axis according to the setting of the
parameter (including the axes whose group number has been set to 0)
are also brought to an immediate stop and interlocked, in the same
manner as for the above abnormal load detection group function.
(Axes stopped by inputting this signal cannot be reversed.)

372
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

NOTE
1 A parameter is used to switch between the abnormal load
detection alarm function and the abnormal load detection
group function. It is impossible to use both the functions
simultaneously.
2 Only the Power Mate i–D has the functions related to the
spindle.
3 The spindle motor cannot be reversed.

Axis stopping distance The axis for which the stopping distance shortening–mode stop signal has
been input, the axis on which an abnormal load has been detected, and the
axes that are placed in the same group as the axis of interest when the load
detection group function is used are stopped at a shorter distance
(stopping distance shortening mode), compared with an ordinary
decelerate–and–halt command.

Speed of an axis on
which an abnormal load
was detected
Speed of 0

Amount by which the motion is reversed after an ab-

normal load has been detected (parameter No. 2103)
Speed of an axis for which
the axis stop signal RSTPx
was input and the axes in Interlock
the same group as the axis
on which an abnormal load Speed of 0
was detected

Speed of an axis normally

decelerated to halt

Speed of 0

Fig 2.10 (a) Time that elapses before an axis stops since the detection of an abnormal load or the input of the
stopping distance shortening–mode axis stop

373
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

D Parameter setting The following flowcharts explain how to specify parameters for the
abnormal load detection function.
(1) Servo axis
Abnormal load detection
function is available.

Abnormal load detection No. 2016#0 = 0

function to be used?
No
Yes

No. 2016#0 = 1, No. 2104 = 0

Abnormal load detection Only the estimated load

alarm function to be used? No torque output function is
enabled.
Yes

Set parameter bit 5 of No. 2015 to 1 to observe the load torque.

<Adjustment>

Set parameter Nos. 1880, 2050, 2051, 2103, and 2104.

Reset parameter bit 5 of parameter No. 2015 to 0.

The estimated load torque

output and abnormal load
detection functions are en-
abled.

(2) Spindle
Abnormal load detection
function is available.

Specify parameter Nos. 4247, 4248, 4249, and 4250, and reset parameter No.
4341 to 0.

Abnormal load detection Only the estimated load

alarm function to be used? No torque output function is
Yes enabled.

Specify parameter No. 4341.

The estimated load torque

output and abnormal load
detection functions are en-
abled.

374
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Signal

Stopping distance
shortening–mode stop
signal
RSTPn <G247#0 to #7>
[Classification] Input signal

[Function] This signal uses the stopping distance shortening function for the servo
motor to stop the axis corresponding to the PMC signal bit number. (Bit
number + 1 = axis number)

[Operation] 1 When this signal is turned on, its rising edge is captured to bring the
servo motor to an immediate stop in the stopping distance shortening
mode (to enable this signal, specify parameter RSPE (bit 3 of
parameter No. 1807) = 1 and parameter ANA (bit 5 of parameter No.
1804) = 1). Any axes for which the same group number as for the axis
of interest has been specified using parameter No. 1881 and all axes
for which the parameter is 0 are also stopped in the stopping distance
shortening mode and internally interlocked. These axes are stopped
independently of CNC commands. So a difference occurs between the
actual motor positions and their coordinates held in the CNC. This
difference is accumulated as a servo error amount.
2 When resuming operation, input a servo–off signal for triggering
follow–up to eliminate the difference mentioned above. The servo–off
signal must be input for all axes in the same group as the axis of interest
(including those in group No. 0). Before inputting the servo–off
signal, set up the following conditions: Follow–up signal *FLWU (bit
5 of G007) = 0 and parameter FUPx (bit 0 of parameter No. 1819) =
0
3 Once the servo–off signal has been input, the in–position signal INPx
is turned on when the servo error amount value becomes smaller than
the value specified as an effective area for in–position check specified
in parameter No. 1826.
4 After making sure that the in–position signal for every axis that is in
the same group as the axis of interest is on, perform reset (using ERS
or the <RESET> key).

NOTE
If an abnormal load is detected on a PMC controlled axis or
if an axis group for which the stopping distance
shortening–mode stop signal has been input contains a
PMC controlled axis, all axes in the group to which the
related PMC axis belongs are interlocked.

375
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Axis stop signal Only the axis on which the abnormal load
RSTPx or abnormal (Input) was detected can be reversed.
load detection

Speed of the axis on which the

abnormal load was detected Speed
of 0
Interlocked span
Amount of servo error on the
axis on which the abnormal Effective area for
in–position check Servo
load was detected
error
amount
of 0

Time specified in parameter

No. 1880

ABTDx (Output)
(F0184)

Servo–off (Input)
SVFx

In–position signal (Output)

INPx

Reset key or external

reset signal ERS (Input)

Fig. 2.10 (b) Timing chart for the abnormal load detection group and stopping distance shortening–mode stop
functions

376
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

NOTE
1 Input the servo–off signal under the following conditions: Follow–up signal *FLWU (bit 5 of
G007) = 0 and parameter FUPx (bit 0 of parameter No. 1819) = 0
2 Input the servo–off signal for every axis belonging to the same group that contains the axis on
which an abnormal load was detected as well as for the axes for which parameter No. 1881 is
0.
3 If an abnormal load was detection on the PMC axis or if the PMC axis belongs to the group that
contains the axis on which an abnormal load was detected, all axes belonging to the group to
which the PMC axis belongs are interlocked.
Example.

Controlled Group Type of Group set up

–axis number controlled axis for PMC axis
number (parameter (CNC axis/ control
No. 1881) PMC) (parameter
No.8010)
1 1 CNC axis
2 2 CNC axis
3 1 CNC axis
4 0 CNC axis
5 3 PMC axis Group A
6 2 PMC axis Group B
7 0 PMC axis Group A
8 1 PMC axis Group B

S If an abnormal load is detected on the sixth axis, the following axes are stopped.
Second axis (because it belongs to the same group as the sixth axis)
Fourth axis (stopped and interlocked if an abnormal load is detected on any axis because
its group number is 0)
Sixth axis (axis on which an abnormal load is assumed to be detected)
Seventh axis (stopped and interlocked if an abnormal load is detected on any axis because
its group number is 0)
The following axes are interlocked.
Second axis (because it belongs to the same group as the sixth group)
Fourth axis (stopped and interlocked if an abnormal load is detected on any axis because
its group number is 0)
Fifth axis (because the seventh axis (group A) is interlocked)
Sixth axis (axis on which an abnormal load is assumed to be detected)
Seventh axis (stopped and interlocked if an abnormal load is detected on any axis because
its group number is 0)
Eighth axis (because the sixth axis (group B) is interlocked)
4 The DO (bits 1 and 2 of F0090) is output immediately when an abnormal load is detected on
the spindle (spindle mode). Parameter No. 1880 becomes invalid.
5 The servo axis is not stopped when an abnormal load is detected on the spindle (spindle mode).
Stop it if necessary, using a ladder program.
6 If an abnormal load is detected on an axis, the abnormal load detection group is disabled after
the stopping distance shortening–mode stop signal is input for the axis but before the
interlocked state is exited. In addition, the stopping distance shortening–mode stop signal is
disabled for the axis on which the abnormal load has been detected and kept disabled until the
interlocked state is exited.

377
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

Servo axis abnormal

load detected signal
ABTQSV <F090#0>
[Classification] Output signal
[Function] Informs the PMC that an abnormal load was detected on a servo axis.
[Output condition] This signal becomes “1” if:
S An abnormal load is detected for a servo axis or spindle axis during
rigid tapping.

First spindle abnormal

load detected signal
ABTSP1 <F090#1>
[Classification] Output signal
[Function] Informs the PMC that an abnormal load was detected on the first spindle.
[Output condition] This signal becomes “1” if:
S An abnormal load is detected for the first spindle under speed control.
The following list summarizes the alarms and signals output by each
function.
Signal output Alarm

ABTQSV ABTSP1 409 754

Servo axis f — f —

Rigid tapping f — — f

Spindle axis for speed control — f — f

Abnormal load–detected
axis output signal
ABTDn <F184#0 to #7>
[Classification] Output signal
[Function] Informs the PMC only of the axis on which an abnormal load was
detected.
[Output condition] This signal becomes ”1” if:
S An abnormal load is detected on the servo axis, or
S The stopping distance shortening–mode stop signal is input for the
servo axis (the above signal is released at reset).
The signal becomes ”0” if:
S No abnormal load is detected.

378
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G247 RSRP7 RSTP6 RSTP5 RSTP4 RSTP3 RSTP2 RSTP1 RSTP0

#7 #6 #5 #4 #3 #2 #1 #0
F090 ABTSP1 ABTQSV

F184 ABTD8 ABTD7 ABTD6 ABTD5 ABTD4 ABTD3 ABTD2 ABTD1

Parameter (1) Parameter common to servo axes and spindles

1880 Timer for abnormal load detection alarm

[Data type] Word

[Unit of data] msec
[Valid data range] 0 to 32767
(If 0 is set, 200 ms is assumed.)
This parameter specifies the interval between the detection of an
abnormal load and the issue of a servo alarm. When the set value is not a
multiple of eight, it is rounded up to the nearest multiple of eight.

[Example] When 30 is set, the system assumes 32 ms.

(2) Servo axis parameters

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

[Data type] Bit

ANA Selects an abnormal load detection function, as follows:
0 : Abnormal load alarm function
1 : Abnormal load group function

#7 #6 #5 #4 #3 #2 #1 #0
1807 RSPE

[Data type] Bit

RSPE Specifies whether to enable or disable stopping distance
shortening–mode stop signal input, as follows:
0 : To disable
1 : To enable

NOTE
When specifying parameter RSPE (bit 3 of parameter No.
1807) = 1, be sure to specify parameter ANA (bit 5 of
parameter No. 1804) = 1.

379
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

1881 Group number used when the stopping distance shortening–mode stop signal is input

[Input classification] Parameter input

[Data type] Byte axis
[Valid data range] 0 to 255
This parameter specifies, for each axis, a group number used when the
stopping distance shortening–mode stop signal is input.
If this axis stop signal is input for a certain axis, only the axes in the same
group number as that axis are stopped. If an axis is set with group number
0, it is stopped no matter for which axis the axis stop signal is input.
Example.
Assume that parameter No. 1881 specifies:
First axis: 1
Second axis: 2
Third axis: 1
Fourth axis: 0
Fifth axis: 3
Sixth axis: 2
Seventh axis: 0
Eighth axis: 1
If the stopping distance shortening–mode stop signal is input for the sixth
axis, the second, fourth, sixth, and seventh axes are stopped.
If the stopping distance shortening–mode stop signal is input for the
fourth axis, the fourth and seventh axes are stopped.

NOTE
1 If this parameter is reset, it is necessary to turn the power
off and on again.
2 The group number specified using this parameter is the
same as the ”group number used when an abnormal load
is detected” of the abnormal load detection group function.
The group number specified for each axis when the
stopping distance shortening–mode stop function is
executed must match the group number specified when the
abnormal load detection group function is used.

#7 #6 #5 #4 #3 #2 #1 #0
2015 TDOUT

[Data type] Bit axis

TDOUT Output to the check board for each axis
0 : Output the torque command to the check board.
1 : Output the estimated load torque to the check board.

380
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

#7 #6 #5 #4 #3 #2 #1 #0
2016 ABNT

[Data type] Bit axis

ABNT Unexpected disturbance torque detection function for each axis
0 : Disabled
1 : Enabled
This parameter must be specified when using the estimated load torque
output function or unepected distturbance torque detection alarm
function.

2050 Velocity control observer

[Data type] Word axis

[Valid data range] 0 to 32767
[Setting value] 3559
When using the velocity loop observer (by setting bit 2 of parameter No.
2003 to 1), set 956 in this parameter.

2051 Velocity control observer

[Data type] Word axis

[Valid data range] 0 to 32767
[Setting value] 3329
When using the velocity loop observer (by setting bit 2 of parameter No.
2003 to 1), set 510 in this parameter.

2103 Retraction distance upon the detection of an abnormal load

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies the amount by which the tool is retracted, by
reversing the motor, if an abnormal load is detected. When the motor is
rotating at low speed, however, the tool may be retracted too far. To
prevent this, the motor is stopped, instead of being reversed, upon the
detection of an abnormal load while the specified feedrate is less than the
value listed in the table below.
When this parameter is set to value A, the detection of an abnormal load
causes the tool to be retracted in the reverse direction by an amount A,
then stop , if the specified feedrate is equal to or greater than the value
listed below, for each detection unit.
Detection unit Feedrate
1m A / 8 mm/ min
0.1m A / 80 mm/ min

381
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

When this parameter is set to 0, the motor stops immediately upon the
detection of abnormal load.

2104 Threshold for abnormal load detection alarm

[Data type] Word axis

[Unit of data] Torque command unit (Refer to the digital servo parameter manual for
details.)
[Valid data range] 0 to 7282
(The maximum motor torque is 7282, regardless of the motor type.)
This parameter specifies the threshold load torque at which an abnormal
load detection alarm is issued.
Monitor the load torque by setting bit 5 of parameter No. 2015 to 1 then,
for this parameter (No. 2104), set a value larger than the maximum
monitored torque. An output of 4.4 V is equivalent to 7282 in the units of
this parameter.

(3) Spindle parameters

#7 #6 #5 #4 #3 #2 #1 #0
4015 SPLDMT

[Data type] Bit axis

SPLDMT Spindle load torque monitor function
0 : The spindle load torque monitor function is disabled.
1 : The spindle load torque monitor function is enabled.

4247 Magnetic flux compensation time constant for spindle load torque monitor

[Data type] Word axis

[Unit of data] 1 msec
[Valid data range] 0 to 8192
[Standard setting] Depends of the motor model.
This parameter is used to compensate the delay in the generation of
magnetic flux in the spindle motor relative to the specified value. When 0
is set, it is assumed that the generation of magnetic flux is not delayed.

4248 Spindle load torque monitor constant

[Data type] Word axis

[Valid data range] 0 to 32767
[Standard setting] Depends of the motor model.
This constant is determined by the maximum output torque and inertia of
the motor. It is used for observer processing.

382
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

4249 Observer gain 1 for spindle load torque monitor

[Data type] Word axis

[Valid data range] 0 to 32767
[Standard setting] 500

4250 Observer gain 2 for spindle load torque monitor

[Data type] Word axis

[Valid data range] 0 to 32767
[Standard setting] 500

4341 Threshold for abnormal load detection alarm

[Data type] Word axis

[Unit of data] 0.01 %
[Valid data range] 0 to 10000
This parameter specifies the threshold load torque at which an abnormal
load detection alarm is issued for the spindle. Set a percentage (in units of
0.01 %) for the maximum output torque of the motor. When 0 is set, no
abnormal load detection alarm is issued for the spindle.

Alarm and message (1) Servo axis

Number Message Description

409 Servo alarm: Abnormal load An abnormal load was detected on a servo
detected on axis n motor. To release the alarm, use RESET.

(2) Spindle
Number Message Description

754 Abnormal load detected on An abnormal load was detected on the

the spindle spindle motor. To release the alarm, use
RESET.

383
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

PMC window function

D Reading the load torque The load torque data can be read at the PMC using its window function.
data (1) Servo axis
[Input data structure]

Top address +0 (Function code)

211

2
(Completion code)

(Not to be set)

4
(Data length)

(Not to be set)
6 (Data number)
0

8 (M = 1 to n: Specifies separately
(Data attribute) for each axis whether
data for it is to be
M read; n is an axis
(M = 1 to n or –1) number.
M = –1: Specifies that data for
10
(Data area) all axes are to be
read.

(Not to be set)

42

[Completion code]

0: The load torque data was read normally.

4: Incorrect data was specified as a data attribute, that is a value other
than –1 or 1 to n (number of axes) was specified. Alternatively, a
value greater than the number of controllable axes was specified.

384
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

[Output data structure]

Top address + 0
(Function code)
211

2
(Completion code)
?
(Refer to the above description
about the completion code.)
4 (Data length)
L
(L = 2*n, where n is the num-
ber of specified axes)
6 (Data number)
0

8 (Data attribute)
M
(M: Data at input) Description of value

10 Load torque for the specified Signed binary format (negative val-
axis (2 bytes) ue in two’s complement)

Or if there are four controllable axes

Description of value

10 Load torque for the first axis Signed binary format (negative val-
(2 bytes) ue in two’s complement)

12 Load torque for the second

axis (2 bytes)

Load torque for the third axis

14 (2 bytes)

16 Load torque for the fourth axis

(2 bytes)

385
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

(2) Spindle
[Input data structure]

Top address +0 (Function code)

211

2
(Completion code)

(Not to be set)

4
(Data length)

(Not to be set)
6 (Data number)
1

(M = 1 to n: Specifies separately
8
(Data attribute) for each axis whether
data for it is to be
M read; n is an axis
(M = 1 to n or –1) number.
M = –1: Specifies that data for
10 all axes are to be
(Data area)
read.

(Not to be set)

42

[Completion code]

0: The load torque data was read normally.

4: Incorrect data was specified as a data attribute, that is a value other
than 1 was specified.

386
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

[Output data structure]

Top address + 0
(Function code)
211

2
(Completion code)
?
(Refer to the above description
about the completion code.)
4 (Data length)
L
(L = 2*n, where n is the num-
ber of specified axes)
6 (Data number)
1

8 (Data attribute)
M
(M: Data at input) Description of value

10 Load torque for the specified Signed binary format (negative val-
axis (2 bytes) ue in two’s complement)

387
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.11
ALARM
CLASSIFICATION
SIGNALS

General These signals are used to identify alarms that occur in the Power Mate
CNC.

Signal

P/S Alarm 100 signal

ALPS1 <F250#0>
[Classification] Output signal
[Function] This signal indicates that P/S alarm 100 (PARAMETER WRITE
ENABLE) has occurred.
[Output condition] The signal becomes 1 if:
– P/S alarm 100 occurs.
The signal is 0 if:
– P/S alarm 100 has not occurred.

P/S Alarm 000 signal

ALPS2 <F250#1>
[Classification] Output signal
[Function] This signal indicates that P/S alarm 000 (PLEASE TURN OFF POWER)
has occurred.
[Output condition] The signal becomes 1 if:
– P/S alarm 000 occurs.
The signal is 0 if:
– P/S alarm 000 has not occurred.

P/S Alarm 101 signal

ALPS3 <F250#2>
[Classification] Output signal
[Function] This signal indicates that P/S alarm 101 (PLEASE CLEAR MEMORY)
has occurred.
[Output condition] The signal becomes 1 if:
– P/S alarm 101 occurs.
The signal is 0 if:
– P/S alarm 101 has not occurred.

388
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

P/S Alarm signal ALPS

<F250#3>
[Classification] Output signal
[Function] This signal indicates that P/S alarm or custom macro alarm has occurred.
[Output condition] The signal becomes 1 if:
– P/S alarm (No.001 to 099, 102, 102 to 254) or cuctom macro alarm
occurs.
The signal is 0 if:
– P/S alarm (No.001 to 099, 102, 102 to 254) or cuctom macro alarm
has not occurred.

Over travel alarm signal

ALOT <F250#4>
[Classification] Output signal
[Function] This signal indicates that over travel alarm has occurred.
[Output condition] The signal becomes 1 if:
– Over travel alarm occurs.
The signal is 0 if:
– Over travel alarm has not occurred.

Over heat alarm signal

ALOH <F250#5>
[Classification] Output signal
[Function] This signal indicates that over heat alarm has occurred.
[Output condition] The signal becomes 1 if:
– Over heat alarm occurs.
The signal is 0 if:
– Over heat alarm has not occurred.

Servo alarm signal ALSV

<F250#6>
[Classification] Output signal
[Function] This signal indicates that servo alarm has occurred.
[Output condition] The signal becomes 1 if:
– Servo alarm occurs.
The signal is 0 if:
– Servo alarm has not occurred.

389
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

APC alarm signal ALAPC

<F251#0>
[Classification] Output signal
[Function] This signal indicates that APC (absolute position detector) alarm has
occurred.
[Output condition] The signal becomes 1 if:
– APC alarm occurs.
The signal is 0 if:
– APC alarm has not occurred.

Spindle alarm signal

ALSPD <F251#1>
[Classification] Output signal
[Function] This signal indicates that spindle alarm has occurred.
[Output condition] The signal becomes 1 if:
– Spindle alarm occurs.
The signal is 0 if:
– Spindle alarm has not occurred.

P/S Alarm (No. 5000 or

later) signal ALPS4
<F251#2> [Classification] Output signal
[Function] This signal indicates that P/S alarm (No. 5000 or later) has occurred.
[Output condition] The signal becomes 1 if:
– P/S alarm (No. 5000 or later) occurs.
The signal is 0 if:
– P/S alarm (No. 5000 or later) has not occurred.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F250 ALSV ALOH ALOT ALPS ALPS3 ALPS2 ALPS1

#7 #6 #5 #4 #3 #2 #1 #0
F251 ALPS4 ALSPD ALAPC

Reference item
OPERATOR’S MANUAL Appendix G Alarm list
(B–63174EN)

390
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.12
APC ALARM
CLASSIFICATION
SIGNALS

General These signals are used to identify APC (absolute position detector) alarms
that occur in the Power Mate.

Signal

APC communication
error signal APCMn
<F236#0 to F243#0>
[Classification] Output signal
[Function] This signal indicates that APC communication error (alarm 301) has
occurred.
APCM1

1 APC communication error of 1st axis

2 APC communication error of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– APC communication error occurs.
The signal is 0 if:
– APC communication error has not occurred.

APC over time error

signal APOVn <F236#1
to F243#1>
[Classification] Output signal
[Function] This signal indicates that APC over time error (alarm 302) has occurred.
APOV1

1 APC over time error of 1st axis

2 APC over time error of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– APC over time error occurs.
The signal is 0 if:
– APC over time error has not occurred.

391
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

APC framing error signal

APFEn <F236#2 to
F243#2>
[Classification] Output signal
[Function] This signal indicates that APC framing error (alarm 303) has occurred.
APFE1

1 APC framing error of 1st axis

2 APC framing error of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– APC framing error occurs.
The signal is 0 if:
– APC framing error has not occurred.

APC parity error signal

APPEn <F236#3 to
F243#3>
[Classification] Output signal
[Function] This signal indicates that APC parity error (alarm 304) has occurred.
APPE1

1 APC parity error of 1st axis

2 APC parity error of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– APC parity error occurs.
The signal is 0 if:
– APC parity error has not occurred.

APC pulse miss error

signal APPSn <F236#4 to
F243#4>
[Classification] Output signal
[Function] This signal indicates that APC pulse miss error (alarm 305) has occurred.
APPS1

1 APC pulse miss error of 1st axis

2 APC pulse miss error of 2nd axis
: :
: :

392
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

[Output condition] The signal becomes 1 if:

– APC pulse miss error occurs.
The signal is 0 if:
– APC pulse miss error has not occurred.

APC battery voltage 0

error signal APBZn
<F236#5 to F243#5>
[Classification] Output signal
[Function] This signal indicates that APC battery voltage 0 error (alarm 306) has
occurred.
APBZ1

1 APC battery volatge 0 error of 1st axis

2 APC battery volatge 0 error of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– APC battery voltage 0 error occurs.
The signal is 0 if:
– APC battery voltage 0 error has not occurred.

APC battery low alarm 1

signal APBVn <F236#6 to
F243#6>
[Classification] Output signal
[Function] This signal indicates that APC battery low alarm 1 (alarm 307) has
occurred.
APBV1

1 APC battery low alarm 1 of 1st axis

2 APC battery low alarm 1 of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– APC battery low alarm 1 occurs.
The signal is 0 if:
– APC battery low alarm 1 has not occurred.

393
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

APC battery low alarm 2

signal APBLn <F236#7 to
F243#7>
[Classification] Output signal
[Function] This signal indicates that APC battery low alarm 2 (alarm 308) has
occurred.
APBL1

1 APC battery low alarm 2 of 1st axis

2 APC battery low alarm 2 of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– APC battery low alarm 2 occurs.
The signal is 0 if:
– APC battery low alarm 2 has not occurred.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F236 APBL1 APBV1 APBZ1 APPS1 APPE1 APFE1 APOV1 APCM1

#7 #6 #5 #4 #3 #2 #1 #0
F237 APBL2 APBV2 APBZ2 APPS2 APPE2 APFE2 APOV2 APCM2

#7 #6 #5 #4 #3 #2 #1 #0
F238 APBL3 APBV3 APBZ3 APPS3 APPE3 APFE3 APOV3 APCM3

#7 #6 #5 #4 #3 #2 #1 #0
F239 APBL4 APBV4 APBZ4 APPS4 APPE4 APFE4 APOV4 APCM4

#7 #6 #5 #4 #3 #2 #1 #0
F240 APBL5 APBV5 APBZ5 APPS5 APPE5 APFE5 APOV5 APCM5

#7 #6 #5 #4 #3 #2 #1 #0
F241 APBL6 APBV6 APBZ6 APPS6 APPE6 APFE6 APOV6 APCM6

#7 #6 #5 #4 #3 #2 #1 #0
F242 APBL7 APBV7 APBZ7 APPS7 APPE7 APFE7 APOV7 APCM7

#7 #6 #5 #4 #3 #2 #1 #0
F243 APBL8 APBV8 APBZ8 APPS8 APPE8 APFE8 APOV8 APCM8

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1815 APCx

[Data type] Bit axis

APCx Position detector
0 : Other than absolute position detector
1 : Absolute position detector (absolute pulse coder)

394
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Alarm and message

Number Message Contents

301 APC alarm: nth–axis (n=1 – 8) APC communication er-

nth–axis communica- ror. Failure in data transmission
tion Possible causes include a faulty APC, cable,
or separate interface module.
302 APC alarm: nth–axis (n=1 – 8) APC overtime error.
nth–axis over time Failure in data transmission.
Possible causes include a faulty APC, cable,
or separate interface module.
303 APC alarm: nth–axis (n=1 – 8) APC framing error. Failure
nth–axis framing in data transmission.
Possible causes include a faulty APC, cable,
or separate interface module.
304 APC alarm: nth–axis (n=1 – 8) APC parity error.
nth–axis parity Failure in data transmission.
Possible causes include a faulty APC, cable,
or separate interface module.
305 APC alarm: nth–axis (n=1 – 8) APC pulse error alarm.
nth–axis pulse error APC alarm.APC or cable may be faulty.
306 APC alarm: nth–axis (n=1 – 8) APC battery voltage has
nth–axis battery decreased to a low level so that the data can-
voltage 0 not be held.
APC alarm. Battery or cable may be faulty.
307 APC alarm: nth–axis (n=1 – 8) axis APC battery voltage
nth–axis battery low reaches a level where the battery must be re-
1 newed.
APC alarm. Replace the battery.
308 APC alarm: nth–axis (n=1 – 8) APC battery voltage has
nth–axis battery low reached a level where the battery must be re-
2 newed (including when power is OFF).
APC alarm .Replace battery.

Reference item
OPERATOR’S MANUAL Appendix G Alarm list
(B–63174EN)

395
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.13
DISPLAY OF ALARMS
FROM PMC (INPUT)
PAL0 TO PAL6, PALM
Alarms in the 3000 bracket can be generated from PMC to Power Mate.
<G225>
[Signal] PAL0–PAL6 <G225#0 to #6.>
[Function] Alarm number specification signal
Values in excess of 3000 among binary numbers displayed by PAL0 to
PAL6 become alarm numbers.

NOTE
When an alarm has been generated from PMC the 2 bits of
the alarm classification signals ALPS and ALOT [2.11]
become 1.

[Signal] PALM <G225#7>

[Function] PMC alarm generation selection signal
0 : Alarms in the 3000 bracket are generated from PMC.
1 : Alarms in the 3000 bracket are not generated from PMC.

396
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.14 This signal indicates whether the current amount of positional deviation
has exceeded the corresponding check value specified in parameter No.
SERVO POSITION 1872.
DEVIATION MONITOR
SIGNAL

General This signal indicates that the current amount of positional deviation has
exceeded the corresponding check value specified in parameter No. 1872.

Signal

Servo position deviation

monitor signal SVERn
<F222>
[Classification] Output signal
[Function] This signal indicates that the current amount of positional deviation has
exceeded the corresponding check value specified in parameter No. 1872.
SVER1

1 Servo position deviation monitor signal of 1st axis

2 Servo position deviation monitor signal of 2nd axis
: :
: :

[Output condition] The signal becomes 1 if:

– The current amount of positional deviation exceeds the corresponding
check value specified in parameter No. 1872.
The signal is 0 if:
– The current amount of positional deviation has not exceeded the
corresponding check value specified in parameter No. 1872.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F222 SVER8 SVER7 SVER6 SVER5 SVER4 SVER3 SVER2 SVER1

Parameter
1872 Servo positional deviation check value

[Data type] 2–word axis

[Valid data range] 0 to 99999999
This parameter specifies a servo positional deviation check value. When
this value is exceeded, signals SVER1 to SVER8 are turned on.

397
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.15
TEMPORARY
INTERRUPT
DETECTION SIGNAL

General If the ladder program has been designed to set this signal to 1 when
automatic operation is started, checking the state of this signal will reveal
whether a temporary interrupt has occurred during automatic operation
even if there is no alarm display; in this example, if the signal is 0, it means
that a temporary interrupt has occurred.

Signal

Temporary interrupt
detection signal ACT
<G212#7>

[Classification] Input signal

[Operation] This signal become 0 when the power is switched on. It should be set to
1, for example, when automatic operation is started.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G212 ACT

398
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

2.16
V–READY WATING
SIGNAL

General If a function that disables an MCC–off servo alarm is in use, this signal
indicates that the MCC is being awaited to become on.

Signal

V–READY waiting signal

WVRDY <F209#4>

[Classification] Output signal

[Function] This signal indicates that the MCC is being awaited to become on.
[Output condition] The signal is 1 when:
– The MCC is being awaited to become on if a function that disables an
MCC–off servo alarm is in use.
The signal is 0 when:
– The MCC is being awaited to become on if a function that disables an
MCC–off servo alarm is in use, or
– If a function that disables an MCC–off servo alarm is not in use.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F209 WVRDY

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1803 NVY

[Data type] Bit

NVY 0 : The servo alarm (SV401) is issued when VRDY is off.
1 : Even when VRDY is off, the servo alarm is not issued, but the system
waits until VRDY is set to on. Set NVY to 1 when one amplifier is to
be shared by multiple CNCs.

Alarm and message

Number Message Contents

401 SERVO ALARM: n–TH The n–th axis (axis 1–8) servo amplifier
AXIS VRDY OFF READY signal (DRDY) went off.
Refer to procedure of trouble shooting.

399
2. PREPARATIONS FOR OPERATION B–63173EN–1/02

2.17
TROUBLE
PREDICTION SIGNAL

Overview If the thermal simulation data of the servo axis becomes larger than the
specified value, the trouble prediction signal TDSMLx (F298.0 to
F298.7) is output. The parameter TRSx (No. 8853) is used to specify
whether to predict trouble.
If the disturbance load torque value of the servo axis becomes larger than
the specified value, the trouble prediction signal TDFTRx (F299.0 to
F299.7) is output. The parameter FINx (No. 8854) is used to specify
whether to predict trouble.
This signal requires the trouble diagnosis function.

Signal

Thermal simulation
trouble prediction signal
TDSML1 to TDSML8
<F0298> [Classification] Output signal
[Output condition] This signal is kept to be ”1” while the thermal simulation data of the
corresponding servo axis is higher than the trouble prediction level.

Disturbance torque value

trouble prediction signal
TDFTR1 to TDFTR8
<F0299> [Classification] Output signal
[Output condition] This signal is kept to be ”1” while the disturbance load torque value of the
corresponding servo axis is higher than the trouble prediction level.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F298 TDSML8 TDSML7 TDSML6 TDSML5 TDSML4 TDSML3 TDSML2 TDSML1

F299 TDFTR8 TDFTR7 TDFTR6 TDFTR5 TDFTR4 TDFTR3 TDFTR2 TDFTR1

400
B–63173EN–1/02 2. PREPARATIONS FOR OPERATION

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
8853 TRS8 TRS7 TRS6 TRS5 TRS4 TRS3 TRS2 TRS1

[Data type] Bit

TRS1 to TRS8 Specify whether to predict trouble on the thermal simulation data of the
servo axis, as follows:
0 : Not to predict
1 : To predict

#7 #6 #5 #4 #3 #2 #1 #0
8854 FIN8 FIN7 FIN6 FIN5 FIN4 FIN3 FIN2 FIN1

[Data type] Bit

FIN1 to FIN8 Specify whether to predict trouble on the disturbance load torque of the
servo axis, as follows:
0 : Not to predict
1 : To predict

8860 Trouble prediction level for the thermal simulation data

[Data type] Word axis

[Unit of data] %
[Valid data range] 0 to 100

8861 Trouble prediction level for the disturbance load torque value

[Data type] Word axis

[Unit of data] %
[Valid data range] 0 to 100

Reference item
Maintenance Manual 1.15 Failure Diagnosis
(B–63175EN)

401
3. MANUAL OPERATION B–63173EN–1/02

3 MANUAL OPERATION

402
B–63173EN–1/02 3. MANUAL OPERATION

3.1
JOG FEED/
STEP FEED

General

D Jog feed In the jog feed mode, turning a feed axis and direction selection signal to
“1” on the machine operator’s panel continuously moves the tool along
the selected axis in the selected direction.
Usually, this continuous movement can be performed on only one axis at
a time. Setting bit 0 of parameter No. 1002 appropriately enables the
continuous movement to be performed on two axes of the Power Mate i–D
or three axes of the Power Mate i–H at a time. (For Power Mate i–D
two–path control, however, the continuous movement can be performed
on only one axis on each path at a time.)

D Step feed In the manual handle/step feed mode, turning a feed axis and direction
selection signal to “1” on the machine operator’s panel moves the tool one
step along the selected axis in the selected direction. The minimum
distance the tool is moved is the least input increment. Each step can be
10, 100, or 1000 times the least input increment.

The manual feedrate is specified in a parameter (No.1423)

The manual feedrate can be adjusted with the manual feedrate override
signal.
With the rapid traverse selection signal the tool can be moved at the rapid
traverse rate regardless of the manual feedrate override signal.

Signal The following signals determine the way in which jog feed or step feed
is executed.
Selection Jog feed Step feed

Mode selection MD1, MD2, MD4, MJ MD1, MD2, MD4, MSTP

Selection of the axis to

move
+J1, –J1, +J2, –J2, +J3, –J3, ...
Selection of the direc-
tion to move the axis

Selection of the move MP1, MP2

amount

Selection of feedrate *JV0 – *JV15, RT, ROV1, ROV2

403
3. MANUAL OPERATION B–63173EN–1/02

The only difference between jog feed and step feed is the method of
selecting the feed distance. In jog feed, the tool continues to be fed while
the following signals selecting the feed axis and direction are “1”: +J1,
–J1, +J2, –J2, +J3, –J3, etc. In step feed, the tool is fed by one step.
The distance of the step is selected by the manual handle feed move
distance select signal MP1 an d MP2.
For the signals selecting the mode, see Section 2.6, “Mode Selection
Signals.” For the manual handle feed selection signals, MP1 and MP2 of
selection of the move amount, see 3.2 “Manual handle feed.” For rapid
traverse override signals ROV1 and ROV2, see Section 7.1.5.1, “Feedrate
Override Signals.”
Other signals are described below.

Feed Axis and Direction

Selection Signal
+J1 – +J8<G100>
–J1 – –J8<G102>
[Classification] Input signal
[Function] Selects a desired feed axis and direction in jog feed or step feed. The sign
(+ or –) in the signal name indicates the feed direction. The number
following J indicates the number of the control axis.
+ J 1

1 First axis is fed

2 Second axis is fed
3 Third axis is fed
: :
8 Eighth axis is fed

+ Feed in positive direction

– Feed in negative direction

[Operation] When the signal is high, the control unit operates as described below.
D When jog feed or step feed is allowed, the control unit moves the
specified axis in the specified direction.
D In jog feed, the control unit continues to feed the axis while the signal
is “1”.
Jog mode
(or Teach in jog/handle mode)

+J1

1st axis move

D In step feed, the control unit feeds the specified axis by the step
distance which is specified by the manual handle feed move distance
selection signal MP1, MP2. Then the control unit stops it. Even if the
signal is set to “0” while the axis is being fed, the control unit does not
stop feeding it.
To feed the axis again, set the signal to “0”, then set it to “1” again.

404
B–63173EN–1/02 3. MANUAL OPERATION

Manual handle/step feed mode

(TEACH IN STEP/HANDLE
mode)
+J1

1st axis move

NOTE
1 If both the positive direction and negative direction signals
of the same axis are simultaneously set to “1”, neither the
positive direction nor the negative direction is selected. The
control unit assumes that both these signals are set to “0”.
2 If the feed axis and direction selection signals are set to “1”
before the jog feed mode or manual handle/step feed mode
is selected, these signals are invalidated. After the jog feed
mode or manual handle/step feed mode is selected, set
these signal to “0”, then set them to “1” again.
Jog feed mode
or manual handle/step
feed mode
+J1

1st axis move

+J1 is inef-
fective dur- Axis is fed again after signals
ing this have turned to “0” once.
period.

3 If the control unit is reset while the feed axis and direction
selection signals are set to “1” or if a feed axis and direction
signal turns to “1” while the control unit is in the reset state,
the signal cannot be validated by releasing the reset state.
After the reset state is released, set these signals to “0”,
then set them to “1” again.

Incremental feed mode

(Manual handle/step mode)

Reset

+J1

1st axis move

+J1 is inef-
fective dur- Axis is fed again
Move is stopped by ing this
resetting after signals have
period. turned to “0” once.

Manual Feedrate
Override Signal
*JV0 – *JV15
<G010, G011> [Classification] Input signal

[Function] Selects a feedrate in jog feed or step feed. These signals are sixteen binary
code signals, which correspond to the override values as follows:

405
3. MANUAL OPERATION B–63173EN–1/02

ȍ|2
15
1
Override value (%) = 0.01% Vi |
i+0

where
Vi = 0 when the *JVi signal is “1”
Vi = 1 when the *JVi signal is “0”
The override value is assumed to be zero when all of the signals, (*JV0
to *JV15) are set to “1” or “0”. When this occurs, the feed is stopped.
The override value can be specified in the range of 0% to 655.34% in units
of 0.01%. Some examples are listed below.
*JV0 – *JV15 Override value
12 8 4 0 (%)

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0.01
1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 1 0.10
1 1 1 1 1 1 1 1 1 0 0 1 1 0 1 1 1.00
1 1 1 1 1 1 0 0 0 0 0 1 0 1 1 1 10.00
1 1 0 1 1 0 0 0 1 1 1 0 1 1 1 1 100.00
0 1 1 0 0 0 1 1 1 0 1 1 1 1 1 1 400.00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 655.34
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

[Operation] If rapid traverse selection signal RT is “0” during jog feed or step feed,
the manual feedrate specified by the parameter (No. 1423) is overridden
by the value specified by the JVi signal.

NOTE
The JVi signals also serve as the override signals during dry
run in automatic operation mode.

Manual rapid traverse

selection signal
RT<G019#7>
[Classification] Input signal
[Function] Selects a rapid traverse rate for jog feed or incremental feed.
[Operation] When the signal turns to “1”, the control unit operates as described below:
D The control unit executes the jog feed or step feed at a rapid traverse
rate. The rapid traverse override is validated.
D When the signal is switched from “1” to “0” or vice versa during jog
feed or step feed, the feedrate is decelerated until it reaches zero, then
increased to the specified value. During acceleration and deceleration,
the feed axis and direction selection signal can be kept “1”.

406
B–63173EN–1/02 3. MANUAL OPERATION

Jog feed mode

or manual handle/step feed mode
+J1

RT

1st axis move

Rapid traverse
rate

Feedrate selected by manual

feedrate override signal

WARNING
After the power is turned on, the stroke limit function does
not work until the reference position return is completed.
During this period, the control unit ignores the RT signal, if
it is set to “1”, and keeps moving the tool at a feedrate
selected by the manual feedrate override signal. A
parameter RPD (No. 1401#0) can be specified so that the
rapid traverse is validated before the reference position
return is completed.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G010 *JV7 *JV6 *JV5 *JV4 *JV3 *JV2 *JV1 *JV0

G011 *JV15 *JV14 *JV13 *JV12 *JV11 *JV10 *JV9 *JV8

G019 RT

G100 +J8 +J7 +J6 +J5 +J4 +J3 +J2 +J1

G102 –J8 –J7 –J6 –J5 –J4 –J3 –J2 –J1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1002 JAX

[Data type] Bit

JAX Number of axes controlled simultaneously in jog feed, manual rapid
traverse and manual reference position return
0 : 1 axis
1 : Two axes for the Power Mate i–D and three axes for the Power Mate
i–H (in Power Mate i–D two–path control, only one axis on each path)

407
3. MANUAL OPERATION B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
1401 RPD

[Data type] Bit

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

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

[Data type] Word axis

[Unit of data] Increment system Unit of data Valid data range

[Valid data range] Millimeter machine 1 mm/min

Inch machine 0.1 inch/min 6 – 32767
Rotation axis 1 deg/min
Specify a jog feedrate at feed per minute with an override of 100%.

1424 Manual rapid traverse rate for each axis

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 – 240000 30 – 100000
Inch machine 0.1 inch/min 30 – 96000 30 – 48000
Rotation axis 1 deg/min 30 – 240000 30 – 100000

Set the rate of manual rapid traverse when the rapid traverse override is
100% for each axis.

NOTE
If 0 is set, the rate set in parameter No. 1420 is assumed.

#7 #6 #5 #4 #3 #2 #1 #0
1610 JGLx

[Data type] Bit axis

JGLx Acceleration/deceleration in jog feed
0: Exponential acceleration/deceleration is applied.
1: Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation is applied (depending on
which is used in cutting feed).

408
B–63173EN–1/02 3. MANUAL OPERATION

1624 Time constant of exponential acceleration/deceleration or bell–shaped

acceleration/deceleration or linear acceleration/deceleration after
interpolation, in jog feed for each axis.

[Data type] Word axis

[Unit of data] 1 msec
[Valid data range] 0 to 4000 (for exponential acceleration/deceleration)
0 to 8192 (for linear acceleration/deceleration after interporation or
bell–shaped acceleration/deceleration)
Set the time constant used for exponential acceleration/deceleration,
bell–shaped acceleration/deceleration or linear acceleration/deceleration
after interpolation in jog feed for each axis.

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

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 15000 6 – 12000
Inch machine 0.1 inch/min 6 – 6000 6 – 4800
Rotation axis 1 deg/min 6 – 15000 6 – 12000

Set the lower limit (FL rate) of exponential acceleration/deceleration in

jog feed for each axis.

Note
NOTE
Both manual handle feed and step feed are enabled in the
manual handle/step feed mode.

Reference item
OPERATOR’S MANUAL V.3.2 JOG FEED
(B–63174EN)
V.3.3 INCREMENTAL FEED

409
3. MANUAL OPERATION B–63173EN–1/02

3.2
MANUAL HANDLE
FEED

General In the manual handle feed mode, the tool can be minutely moved by
rotating the manual pulse generator. Select the axis along which the tool
is to be moved with the handle feed axis selection signal.
The minimum distance the tool is moved when the manual pulse
generator is rotated by one graduation is equal to the least input increment.
Or the distance the tool is moved when the manual pulse generator is
rotated by one graduation can be magnified by 10 times or by one of the
two magnifications specified by parameters (Nos. 7113 and 7114).
The handle magnifications can be selected by the manual handle feed
move distance selection signal.

Up to two manual pulse generators are optionally usable.

For the Power Mate i–H, however, up to three are usable provided that a
manual pulse generator is used via the I/O Link.

D Availability of manual The manual handle feed is enabled in the JOG feed mode.
handle feed in Jog feed Both manual handle feed and step feed are enabled in the manual
mode handle/step feed mode.

D Availability of manual The manual handle feed is enabled in the TEACH IN JOG/HANDLE
handle feed in TEACH IN mode.
JOG/HANDLE mode

D A command to the MPG If bit 4 of parameter No. 7100 (HPF) = 0, setting parameter No. 7117
exceeding rapid traverse appropriately enables the following:
rate SET VALUE 0: The feedrate is clamped at the rapid traverse rate
and generated pulses exceeding the rapid traverse rate are
ignored.(The distance the tool is moved may
not match the graduations on the manual pulse generator.)
Other than 0: The feedrate is clamped at the rapid traverse rate and
generated pulses exceeding the rapid traverse rate are not
ignored but accumulated in the CNC.
(No longer rotating the handle does not immediately stop
the tool. The tool is moved by the pulses accumulated in the
CNC before it stops.)
If bit 4 of parameter No. 7100 (HPF) = 1, the feedrate is clamped at the
rapid traverse rate, and the handle pulses that exceed the rapid traverse rate
is stored within the CNC rather than being ignored.
(After the manual pulse generator stops rotating, the axis moves through
the distance/angle corresponding to the pulses stored in the CNC before
it stops.)

410
B–63173EN–1/02 3. MANUAL OPERATION

Signal

Manual Handle Feed

Axis Selection Signals
HS1A – HS1D
<G018#0 – #3>
HS2A – HS2D
<G018#4 – #7>
HS3A – HS3D
<G019#0 – #3>

[Classification] Input signal

[Function] Selects the axis of manual handle feed. A set of four code signals, A, B,
C, and D is provided for each manual pulse generator. The number in the
signal name indicates the number of the manual pulse generator to be
used.
HS 1 A

1 First manual pulse generator

2 Second manual pulse generator
3 Third manual pulse generator

Code signals A, B, C, and D correspond to the feed axes as listed in the

following table:
Manual handle feed axis selection
Feed axis
HSnD HSnC HSnB HSnA

0 0 0 0 No selection (None of axis is fed)

0 0 0 1 1st axis
0 0 1 0 2nd axis
0 0 1 1 3rd axis
0 1 0 0 4th axis
0 1 0 1 5th axis
0 1 1 0 6th axis
0 1 1 1 7th axis
1 0 0 0 8th axis

411
3. MANUAL OPERATION B–63173EN–1/02

Manual Handle Feed

Amount Selection Signal
MP1, MP2<G019#4, 5>
(Incremental Feed
Signal)
[Classification] Input signal
[Function] This signal selects the distance traveled per pulse from the manual pulse
generator during the manual handle feed or manual handle interrupt. It
also selects the distance traveled per step feed step.
The table below lists the signal–to–distance correspondence.
Travel distance
select signal for
Distance traveled
manual handle
feed
Manual handle Manual handle
MP2 MP1 Step feed
feed interrupt
0 0 Least input Least command Least input
increment 1 increment 1 increment 1
0 1 Least input Least command Least input
increment 10 increment 10 increment 10
1 0 Least input Least command Least input
increment m*1 increment m*1 increment 100
1 1 Least input Least command Least input
increment n*1 increment n*1 increment 1000

*1 Scale factors m and n are specified using parameters Nos. 7113 and
7114.

WARNING
Because the least input increment is used as the units for
manual handle and step feed, the same value represents a
different distance depending on whether the metric or inch
input system is used.

NOTE
See Section 3.3, “Manual Handle Interrupt” for manual
handle interrupts, and Section 3.1, “Jog Feed/Step Feed”
for step feed.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G018 HS2D HS2C HS2B HS2A HS1D HS1C HS1B HS1A

G019 MP2 MP1 HS3D HS3C HS3B HS3A

412
B–63173EN–1/02 3. MANUAL OPERATION

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7100 HPF THD

[Data type] Bit

THD Manual pulse generator in TEACH IN JOG mode
0: Invalid
1: Valid
HPF When a manual handle feed exceeding the rapid traverse rate is issued,
0: The rate is clamped at the rapid traverse rate, and the handle pulses
corresponding to the excess are ignored. (The graduations of the
manual pulse generator may not agree with the distance the machine
has traveled.)
1: The rate is clamped at the rapid traverse rate, and the handle pulses
corresponding to the excess are not ignored, but stored in the CNC. (If
the rotation of the manual pulse generator is stopped, the machine
moves by the distance corresponding to the pulses preserved in the
CNC, then stops.)

#7 #6 #5 #4 #3 #2 #1 #0
7101 HSL IOL
IOL

[Data type] Bit

IOL 0 : As a manual pulse generator interface for manual handle feed, the
manual pulse generator interface on the BASE PC board is used.
1 : As a manual pulse generator interface for manual handle feed, the
manual pulse generator interface of the machine operator’s panel
interface for I/O Link is used.
HSL Specifies the way manual pulse generators are used under two–path
control, as follows:
0 : One of the generator is used exclusively for path 1, while the other, for
path 2.
1 : The manual handle signal is used to specify which generator to select.

7110 Number of manual pulse generators used

[Data type] Byte

[Valid data range] 1, 2, or 3
This parameter sets the number of manual pulse generators.

7113 Manual handle feed magnification m

[Data type] Word

[Unit of data] One time
[Valid data range] 1 to 127
This parameter sets the magnification when manual handle feed
movement selection signal MP2 is on.

413
3. MANUAL OPERATION B–63173EN–1/02

7114 Manual handle feed magnification n

[Data type] Word

[Unit of data] One time
[Valid data range] 1 to 1000
This parameter sets the magnification when manual handle feed
movement selection signals MP1 and MP2 are “1”.

7117 Allowable number of pulses that can be accumulated during manual handle feed

[Data type] 2–word

[Unit of data] Pulses
[Valid data range] 0 to 99999999
This parameter is valid if bit 4 of parameter No. 7100 (HPF) = 0.
If manual handle feed is specified such that the rapid traverse rate will be
exceeded momentarily, those pulses received from the manual pulse
generator that exceed the rapid traverse rate are accumulated rather than
canceled. This parameter sets the maximum number of pulses which can
be accumulated in such a case.

Warning
WARNING
Rotating the handle quickly with a large magnification such
as x100 moves the tool too fast or the tool may not stop
immediately after the handle is no longer rotated or the
distance the tool moves may not match the graduations on
the manual pulse generator. The feedrate is clamped at the
rapid traverse rate.

Caution
CAUTION
Rotate the manual pulse generator at a rate of five rotations
per second or lower.

414
B–63173EN–1/02 3. MANUAL OPERATION

Reference item
OPERATOR’S MANUAL V.3.4 MANUAL HANDLE FEED
(B–63174EN)

CONNECTION MANUAL 6.7 CONNECTION OF CONNECTOR

(HARDWARE) PANEL I/O MODULE
(B–63173EN)
6.8 CONNECTION OF OPERATOR’S
PANEL I/O MODULE A (FOR MATRIX
INPUT)

6.8 CONNECTION OF OPERATOR’S

PANEL I/O MODULE B

7.9 MANUAL PULSE GENERATOR IN-

TERFACE

415
3. MANUAL OPERATION B–63173EN–1/02

3.3
MANUAL HANDLE
INTERRUPTION

General Rotating the manual pulse generator during automatic operation can
increase the distance traveled by the amount corresponding to the handle
feed. The axis to which the handle interrupt is applied is selected using
the manual handle interrupt axis select signal.
The minimum travel distance per graduation is the least command
increment. The minimum travel distance can be increased by tenfold or
by two scale factors (parameters Nos. 7113 and 7114). Each scale factor
can be selected using the manual handle travel distance select signal
(Section 3.2, ”Manual Handle Feed”).

Signal

Manual Handle Interrupt

Axis Selection Signal
HS1IA – HS1ID
<G041#0 – #3>
HS2IA – HS2ID
<G041#4 – #7>
HS3IA – HS3ID
<G042#0 – #3>
[Classification] Input signal
[Function] These signals select an axis to which the manual handle interrupt is
applied. There are three sets of signals, each corresponding to a manual
pulse generator. Each set consists of four code signals A, B, C, and D.
The number in each signal name corresponds to the number (position) of
the manual pulse generator.
HS 1 IA

1 Selects the axis for which manual pulse generator

No. 1 is used
2 Selects the axis for which manual pulse generator
No. 2 is used
3 Selects the axis for which manual pulse generator
No. 3 is used

The correspondence between the code signals and the selected feed axis
is similar to the correspondence with the manual handle feed axis select
signals. See Section 3.2, “Manual Handle Feed.”

416
B–63173EN–1/02 3. MANUAL OPERATION

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
G041 HS2ID HS2IC HS2IB HS2IA HS1ID HS1IC HS1IB HS1IA

G042 HS3ID HS3IC HS3IB HS3IA

Warning
WARNING
The travel distance by handle interruption is determined
according to the amount by which the manual pulse
generator is turned and the handle feed magnification (x1,
x10, xM, xN).
Since this movement is not accelerated or decelerated, it is
very dangerous to use a large magnification value for
handle interruption.

Note
NOTE
1 No handle interrupt can be used in manual operation mode
(for example, job feed mode, manual handle/step feed
mode and TEACH IN STEP/HANDLE mode).
2 Handle interruption is disabled when the machine is locked
or interlocked.

Reference item
OPERATOR’S MANUAL V.4.4 MANUAL HANDLE INTERRUPTION
(B–63174EN)

CONNECTION MANUAL 6.7 CONNECTION OF CONNECTOR

(HARDWARE) PANEL I/O MODULE
(B–63173EN)
6.8 CONNECTION OF OPERATOR’S
PANEL I/O MODULE A (FOR MATRIX
INPUT)

6.9 CONNECTION OF OPERATOR’S

PANEL I/O MODULE B

7.9 MANUAL PULSE GENERATOR IN-

TERFACE

417
3. MANUAL OPERATION B–63173EN–1/02

3.4
RETURN SIGNAL
General If the jog feed (JOG) mode is selected, and a return signal (RTN1n,
RTN2n, or RTN3n) is set to 1, rapid traverse occurs to the reference
position specified by the return signal. If the signal becomes 0 during
rapid traverse, axis movement is decelerated to a stop. When the reference
position is reached, axis movement is stopped completely, and the
reference position return completion output signal (ZPn, ZP2n, or ZP3n)
signal is set to 1.
Before starting to use this function, it is necessary to set up the origin; a
reference position return should be made previously.

Signal

Return Signal
RTN1n <G206>
RTN2n <G207>
RTN3n <G208>
[Classification] Input signal
[Function] This signal enables the jog feed (JOG) mode to select an axis to be
returned to a reference position, and also select the corresponding
reference position number (1 to 3).
RTN1 1

1 Return signal for 1st axis

2 Return signal for 2nd axis
: :
: :

1 1st reference position

2 2nd reference position
3 3rd reference position

[Operation] If the signal becomes 1, the control unit behaves as follows:

If jog feed is possible, rapid traverse is performed for the selected axis
until the selected reference position is reached. When the reference
position is reached, the corresponding reference position return
completion signal becomes 1.

418
B–63173EN–1/02 3. MANUAL OPERATION

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
G206 RTN18 RTN17 RTN16 RTN15 RTN14 RTN13 RTN12 RTN11

G207 RTN28 RTN27 RTN26 RTN25 RTN24 RTN23 RTN22 RTN21

G208 RTN38 RTN37 RTN36 RTN35 RTN34 RTN33 RTN32 RTN31

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1201 ZPI ZPR

[Data type] Bit

ZPR Automatic setting of a coordinate system when the manual reference
position return is performed
0 : Not set automatically
1 : Set automatically
ZPI Coordinates at the reference position when a coordinate system is set
automatically
0 : Value set in parameter No.1250 is used.
1 : For input in mm, the value set in parameter 1250 is used, or for input in
inches, the value set in parameter No.1251 is used.

Coordinate value of the reference position on each axis in the machine

1240
coordinate system

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

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

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

[Data type] 2–word axis

[Unit of data]
Increment system IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

Set the coordinate values of the first to third reference positions in the
machine coordinate system.

419
3. MANUAL OPERATION B–63173EN–1/02

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

[Data type] 2–word axis

[Unit of data]
Input increment IS–A IS–B IS–C Unit
Linear axis (input in mm) 0.01 0.001 0.0001 mm
Linear axis (input in inches) 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

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

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

[Data type] 2–word axis

[Unit of data]
Incerment system IS–A IS–B IS–C Unit
Linear axis (input in inches) 0.001 0.0001 0.00001 inch

[Valid data range] –99999999 to 99999999

Set the coordinate value of the reference position on each axis to be used
for setting a coordinate system automatically when input is performed in
inches.

NOTE
This parameter is valid when bit 1 (ZPI) in parameter No.
1201 is set to 1.

420
B–63173EN–1/02 3. MANUAL OPERATION

#7 #6 #5 #4 #3 #2 #1 #0
1404 DLF

[Data type] Bit

DLF After a reference potition is set, manual reference position return

performed at:
0 : Rapid traverse rate (parameter No.1420)
1 : Manual rapid traverse rate (parameter No.1424)

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

1420 Rapid traverse rate for each axis

[Data type] 2–word axis

[Unit of data]
[Valid data range]
Valid data range
Increment system Unit of data
IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 to 240000 6 to 100000
Inch machine 0.1 inch/min 30 to 96000 6 to 48000
Rotation axis 1 deg/min 30 to 240000 6 to 100000

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

1424 Manual rapid traverse rate for each axis

[Data type] 2–word axis

[Unit of data]
[Valid data range]
Valid data range
Increment system Unit of data
IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 to 240000 30 to 100000
Inch machine 0.1 inch/min 30 to 96000ă 30 to 48000
Rotation axis 1 deg/min 30 to 240000 30 to 100000
Set the rate of manual rapid traverse when the rapid traverse override is
100% for each axis.

NOTE
If 0 is set, the rate set in parameter No. 1420 is assumed.

421
3. MANUAL OPERATION B–63173EN–1/02

Alarm and message

Number Message Description

405 SERVO ALARM: Position control system fault. Due to

(WRONG ZRN) an CNC or servo system fault in the
reference position return, there is the
possibility that reference position re-
turn could not be executed correctly.
Try again from the manual reference
position return.

Reference item
OPERATOR’S MANUAL II.6 REFERENCE POSITIONE
(B–63174EN)

CONNECTION MANUAL 2.6 MODE SELECTION

(This manual)
4 REFERENCE POSITION

422
B–63173EN–1/02 4. REFERENCE POSITION RETURN

4 REFERENCE POSITION RETURN

423
4. REFERENCE POSITION RETURN B–63173EN–1/02

4.1
MANUAL
REFERENCE
POSITION RETURN

General The tool is moved in the direction specified in parameter ZMI (bit 5 of No.
1006) for each axis by turning the feed axis and direction select signal to
“1” in the manual reference position return mode, and is returned to the
reference position.

Manual reference position return is performed by using a grid method.

The reference position is based on an electrical grid, using on one–rota-
tion signals received from the position detector.

D Automatic setting of Bit 0 of parameter No. 1201 (ZPR) can be set to automatically determine
coordinate system the coordinate system at manual reference position return. Parameter No.
1250 can be set to determine the workpiece coordinate system by
assigning, upon the completion of reference position return, the value set
in a parameter to a reference point on the tool holder or the tip position
of the reference tool.

The following signals relate with the manual reference position return:

Manual Reference Position Return

Mode selection MD1, MD2, MD4

Selection of reference position return ZRN, MZRN

Selection of axis to be moved

+J1, –J1, +J2, –J2, +J3, –J3, ...
Selection of direction to be moved

Selection of speed to be moved ROV1, ROV2

Deceleration signal for reference *DEC1, *DEC2, *DEC3, ...

position return

Completion signal for reference ZP1, ZP2, ZP3, ...

position return

Reference position establishment ZRF1, ZRF2, ZRF3, ...

signal

Basic Procedure for (1) Select the JOG mode or TEACH IN JOG/HANDLE mode, and set the
Manual Reference manual reference position return selection signal ZRN to “1”.
Position Return (2) Feed a target axis toward the reference position by making an
appropriate feed axis and direction selection signal (+J1, –J1, +J2,
–J2,…) “1”.
(3) While the feed axis and direction selection signal is “1”, rapid traverse
takes place along that axis. Although the rapid traverse override
signals (ROV1, ROV2) are valid, the override is generally set to
100%.

424
B–63173EN–1/02 4. REFERENCE POSITION RETURN

(4) When the reference position is approached, a limit switch installed on

the machine is turned on, making the deceleration signal (*DEC1,
*DEC2, *DEC3,…) for reference position deceleration “0”.
Consequently, the feedrate is decelerated to 0, then the tool is fed at
a constant low speed (reference position return FL feedrate specified
by parameter (No. 1425) setting).
(5) When the deceleration signal turns to “1” again after the limit switch
for deceleration is passed, the tool is fed with the feedrate unchanged,
then the tool stops at the first grid point (electric grid point).
(6) Upon confirmation that the current position is in the in–position area,
the reference position return end signal (ZP1, ZP2, ZP3,…) and the
reference position establishment signal (ZRF1, ZRF2, ZRF3,…) turn
to “1”.
Step (2) and subsequent steps are performed independently for each axis.
The number of simultaneously controlled axes is usually one, but it
becomes two by parameter JAX (No. 1002#0). (simultaneously three axes
for Power Mate i–H)

If the feed axis direction selection signal (+J1, –J1, +J2, –J2,…) turns to
“0” between step (2) and (5) , the tool is stopped at once, and reference
position return is assumed to be canceled. If the signal turn to “1” again,
operation resumes from step (3) (rapid traverse).

The timing charts for the basic procedures are given below.

JOG or TEACH IN JOG/HANDLE mode

ZRN

+J1

*DEC1

Grid ................ . . . . .
ZP1

ZRF1

Feedrate

Rapid traverse rate FL rate

425
4. REFERENCE POSITION RETURN B–63173EN–1/02

Installation conditions When installing the deceleration limit switch for manual reference
for deceleration limit position return, ensure that following conditions are satisfied:
switch Deceleration limit Deceleration limit
operation position release position Reference position
LDW LDA

*DEC1

Grid
. . . . . . . . . . .
Feedrate

Rapid traverse rate (VR) FL rate (VL)

D LDW: Deceleration dog width (mm or inch)

TR
V R( ) 30 ) T S) ) 4V L TS
L DW u 2
60 1000
VR: Rapid traverse (mm/min or inch/min)
TR: Rapid traverse time constant (ms)
TS: Servo time constant (ms)
VL: FL speed for reference position return (mm/min or inch /min)
D LDA: Distance between deceleration limit switch released position
and reference position
LDA: Move amount of 1/2 revolution of motor
Since the above conditions do not include the limit switch operation
variations, this point must also be considered at installation.

Servo position error and To perform manual reference position return when the reference position
one–rotation signal has not yet been established, the tool must be fed, in manual reference
position return mode, in the reference position return direction at a speed
so that the servo position error exceeds the value set in parameter No.
1836. At this time, the tool must cross the grid line corresponding to a
one–rotation signal from the position detector.
The servo position error is calculated from the following formula:

Servo position error amount= F 1000 1 1

60 G U
F: Feedrate
G: Servo loop gain [s–1]
U: Detection unit [mm]
(Example)
When the tool is fed at a feedrate F of 6000 mm/min with a servo loop gain
G of 30 s–1 and a detection unit U of 1 mm, the servo position error is
calculated as follows:

Servo position error + 6000 1000 1 1

60 30 1
=3,333

426
B–63173EN–1/02 4. REFERENCE POSITION RETURN

By reversing the formula above, the following formula gives the feedrate
F needed to set the servo position error to 128 when the servo loop gain
G is 30 s–1 and the detection unit U is 1 mm:
128 60 30
F= 1000
= 230 [mm/min]

Therefore, when the servo loop gain is 30 s–1, the detection unit is 1 mm,
and parameter No. 1836 is set to 128, the tool must be fed in the reference
position return direction at a speed of at least 230 mm/min before manual
reference position return.

Grid shift The grid can be shifted by the distance set in parameter No. 1850, thus
shifting the reference position. The amount of the grid shift that can be
specified is not larger than "half the reference counter capacity
(parameter No. 1821), that is, the grid interval.

Signal

Manual reference
position return selection
signal ZRN <G043#7>
[Classification] Input signal
[Function] This signal selects manual reference position return. Manual reference
position return is a kind of jog feed. Therefor, to select manual reference
position return, it is required that the jog feed mode be selected and that
the manual reference position return selection signal be set to “1”.
[Operation] When the manual reference position return selection signal is set to “1”,
the control unit becomes as described below.
D If jog feed mode is not selected, the control unit ignores the manual
reference position return selection signal.
D If jog feed mode is selected, manual reference position return is
enabled. In this case, manual reference position return selection
check signal MZRN turns to “1”.

NOTE
If the ZRN status changes from “0” to “1” or “1” to “0” during
jog feed, the feedrate is decelerated to 0. Then, to make
reference position return or jog feed, turn feed axis and
direction selection signal to “0” then set it to “1”.

427
4. REFERENCE POSITION RETURN B–63173EN–1/02

Manual reference
position return selection
check signal MZRN
<F004#5>
[Classification] Output signal
[Function] This signal reports that manual reference position return has been selected
once.
[Output condition] This signal turns to “1” when:
⋅ Manual reference position return has been selected.
The signal turns to “0” when:
⋅ The selection of manual reference position return has terminated.

Feed Axis and Direction For details about this signal, see 3.1, “Feed Axis and Direction Selection
Selection Signal Signal”. Here, only notes on use of reference position return are given.

NOTE
The direction of reference position return is predetermined
for each axis by parameter ZMI (No. 1006#5). If the tool is
fed in the opposite direction to the predetermined direction
in manual reference position return, the deceleration signal
for reference position return turns to “0”, and the tool is
returned to the point at which the deceleration signal turns
to “1” again (that is, the point where the deceleration limit
switch would be encountered if the tool were fed in the
predetermined direction). Then reference position return is
performed automatically in the predetermined direction.

JOG mode or TEACH IN JOG/HANDLE mode

ZRN

–J1

*DEC1

Grid ................ . . . . .
ZP1

ZRF1

Feedrate

FL rate
Rapid
traverse
Rapid traverse rate rate

428
B–63173EN–1/02 4. REFERENCE POSITION RETURN

NOTE
When reference position return is selected, an axis whose
reference position return end signal is already “1” or an axis
whose reference position return end signal was set “1” upon
completion of reference position return is locked, and
movement along that axis is disabled while the reference
position return selection signal (ZRN) is “1”. To perform
movement along such an axis, ZRN must be set “0”, and the
feed axis and direction selection signal must be set “0” then
set “1” again.

Reference position
return deceleration
signals
(Power Mate i–D)
*DEC1<X000#5> or
<X1000#5>
(Power Mate i–H)
*DEC1 to *DEC8 <X002>
or <X1002>
(Power Mate i–D2)
*DEC #1<X000#5>
or <X1000#5>
*DEC2 #2<X001#5>
or <X1001#5>
[Classification] Input signal
[Function] These signals decelerate the feedrate for manual reference position return
so that the reference position is approached at a low feedrate.
The deceleration signals are provided for axes in a one–to–one correspon-
dence. A number appended to a deceleration signal represents a con-
trolled axis number.
*DEC 1
1 : Reference position return deceleration signal for the first axis
2 : Reference position return deceleration signal for the second axis
3 : Reference position return deceleration signal for the third axis
:
:

[Operation] For the operation of the control unit in response to the deceleration signal,
see the description of the basic procedure for manual reference position
return.

429
4. REFERENCE POSITION RETURN B–63173EN–1/02

Reference position
return end signals ZP1 to
ZP8 <F094>
[Classification] Output signal
[Function] These signals report that the tool is at the refernce position on a controlled
axis.
These siganls are provided for axes in a one–to–one corespondence.
A number appended to a signal represents a controlled axis number.
ZP 1
1 : Reference position return end signal for the first axis
2 : Reference position return end signal for the second axis
3 : Reference position return end signal for the third axis
:
:

[Output condition] These signals turn to “1” when:

D Manual reference position returns is completed, and the current
position is in the in–position area.
D Automatic reference position return (G28) is completed, and the
current position is in the in–position area.
D Reference position return check (G27) is completed, and the current
position is in the in–position area.
These signals turn to “0”when:
D The tool has moved from the reference position.
D An emergency stop is applied.
D A servo alarm is raised.

Reference position
establishment signal
ZRF1 to ZRF8<F120>
[Classification] Output signal
[Function] Notify the system that the reference position has been established.
A reference position establishment signal is provided for each axis. The
number appended to each signal name indicates the number of the
controlled axis.
ZRF 1
1 : 1st–axis reference position establishment signal
2 : 2nd–axis reference position establishment signal
3 : 3rd–axis reference position establishment signal
:
:

[Output condition] The signals are set to 1 in the following case:

⋅ When the reference position is established after manual reference
position return
⋅ When the reference position is established using the absolute–position
detector at initial power–on

430
B–63173EN–1/02 4. REFERENCE POSITION RETURN

The signals are set to 0 in the following case:

⋅ When the reference position is lost

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G043 ZRN

#7 #6 #5 #4 #3 #2 #1 #0
F004 MZRN

F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

F120 ZRF8 ZRF7 ZRF6 ZRF5 ZRF4 ZRF3 ZRF2 ZRF1

(Power Mate i–D)

#7 #6 #5 #4 #3 #2 #1 #0
X000 *DEC1

X001 *DEC2

X1000 *DEC1

X1001 *DEC2

(Power Mate i–D2)

#7 #6 #5 #4 #3 #2 #1 #0
X000 *DEC#1

X001 *DEC#2

X1000 *DEC#1

X1001 *DEC#2

(Power Mate i–H)

#7 #6 #5 #4 #3 #2 #1 #0
X002 *DEC8 *DEC7 *DEC6 *DEC5 *DEC4 *DEC3 *DEC2 *DEC1

X1002 *DEC8 *DEC7 *DEC6 *DEC5 *DEC4 *DEC3 *DEC2 *DEC1

NOTE
Bit 3 (BIO) of parameter 3008 specifies whether X000... or
X1000... is to be used as the reference position return
deceleration signal.

431
4. REFERENCE POSITION RETURN B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1002 JAX

[Data type] Bit

JAX Number of axes controlled simultaneously in JOG feed, manual rapid
traverse and manual reference position return
0 : 1 axis
1 : 3 axes (2 axes for Power Mate i–D)

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

[Data type] Bit axis

ZRNx When a command specifying the movement except for G28 is issued in
automatic operation (AUTO, RMT, or MDI) when a return to the
reference position has not been performed since the power was turned on
0 : An alarm is generated. (P/S alarm 224).
1 : An alarm is not generated.

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

NOTE
When this parameter is changed, turn off the power before
continuing operation.

[Data type] Bit axis

ZMIx The direction of reference position return
0 : Positive direction
1 : Negative direction

#7 #6 #5 #4 #3 #2 #1 #0
1201 ZPI ZPR

[Data type] Bit

ZPR Automatic setting of a coordinate system when the manual reference
position return is performed
0 : Not set automatically
1 : Set automatically

NOTE
When an absolute position detector is used, set this
parameter to 1.

432
B–63173EN–1/02 4. REFERENCE POSITION RETURN

ZPI Coordinates at the reference position when a coordinate system is set

automatically
0 : Value set in parameter No. 1250 is used.
1 : For input in mm, the value set in parameter 1250 is used, or for input in
inches, the value set in parameter No. 1251 is used.

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

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] 2–word axis

[Unit of data]
Increment system IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

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

1250 Coordinate value of the reference position on each axis used for setting a
coordinate system automatically

[Data type] 2–word axis

[Unit of data]
Increment system IS–A IS–B IS–C Unit
Linear axis
0.01 0.001 0.0001 mm
(input in mm)
Linear axis
0.001 0.0001 0.00001 inch
(input in inches)
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

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

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

[Data type] 2–word axis

[Unit of data]
Increment system IS–A IS–B IS–C Unit
Linear axis
0.001 0.0001 0.00001 inch
(input in inches)

433
4. REFERENCE POSITION RETURN B–63173EN–1/02

[Valid data range] –99999999 to 99999999

Set the coordinate value of the reference position on each axis to be used
for setting a coordinate system automatically when input is performed in
inches.

NOTE
This parameter is valid when ZPI in parameter 1201#1 is set
to 1.

#7 #6 #5 #4 #3 #2 #1 #0
1300 LZR

[Data type] Bit

LZR Checking of stored stroke limit 1 during the time from power–on to the
manual reference position return
0 : The stroke limit 1 is checked.
1 : The stroke limit 1 is not checked

1425 FL rate of the reference position return for each axis

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 15000 6 – 12000
Inch machine 0.1 inch/min 6 – 6000 6 – 4800
Rotaion axis 1 deg/min 6 – 15000 6 – 12000

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

1821 Reference counter size for each axis

[Data type] 2–word axis

[Valid data range] 0 to 99999999
Set the size of the reference counter.
As the size of the reference counter, specify the grid interval for the
reference position return in the grid method.
grid interval
Size of the reference counter =
detection unit

Grid interval = the amount of travel per rotation of the pulse coder

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

434
B–63173EN–1/02 4. REFERENCE POSITION RETURN

1836 Servo error amount where reference position return is possible

[Data type] Byte axis

[Unit of data] Detection unit
[Valid data range] 0 to 127
This parameter sets a servo error used to enable reference position return
in manual reference position return.
In general, set this parameter to 0. (When 0 is set, 128 is assumed as the
default.)

WARNING
When bit 0 of parameter No. 2000 is set to 1, a value ten
times greater than the value set in this parameter is used to
make the check. Usually, set the parameter with 12 or 13.
Example:When the value 10 is set in this parameter, and bit
0 of parameter No. 2000 is set to 1, reference
position return operation is enabled when a servo
error of 100 or more occurs.

1850 Grid shift for each axis

[Data type] 2–word axis

[Unit of data] Detection unit
[Valid data range] –99999999 to 99999999
A grid shift is set for each axis.
To shift the reference position, the grid can be shifted by the amount set in
this parameter. The amount of the grid shift that can be specified is not
larger than half the reference counter capacity.

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

#7 #6 #5 #4 #3 #2 #1 #0
3003 DEC

[Data type] Bit

DEC Deceleration signal (*DEC1 to *DEC8) for manual reference position
return
0 : Deceleration is applied when the signal is 0.
1 : Deceleration is applied when the signal is 1.

435
4. REFERENCE POSITION RETURN B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
3005 BDE

[Data type] Bit

DEE 0 : The *DEC signal is not used if the built–in I/O is used.
1 : The *DEC signal is used if the built–in I/O is used.

NOTE
If this parameter specifies that an X address be not used,
the X address can be used for any purpose other than would
be specified by the parameter.

Alarm and message

Number Message Description

090 REFERENCE RETURN The reference position return cannot

INCOMPLETE be performed normally because the ref-
erence position return start point is too
close to the reference position or the
speed is too slow. Separate the start
point far enough from the reference
position, or specify a sufficiently fast
speed for reference position return.
Check the program contents.
091 REFERENCE RETURN Manual reference position return can-
INCOMPLETE not be performed in the feed hold state.
Perform a manual reference position
return in the automatic operation stop
state or reset state.
224 RETURN TO Not returned to reference point before
REFERENCE POINT cycle start. (Only when parameter
ZRNx (No. 1005#0).
Do reference position return.

Reference item
OPERATOR’S MANUAL V.3.1 MANUAL REFERENCE
(B–63174EN) POSITION RETURN

436
B–63173EN–1/02 4. REFERENCE POSITION RETURN

4.2
SETTING THE
REFERENCE
POSITION WITHOUT
DOGS

General This function moves the tool near around the reference position set for
each axis in the manual continuous feed mode. Then it sets the reference
position in the reference position return mode without the deceleration
signal for reference position return by turning the feed axis and direction
select signal to “1”. With this function, the machine reference position can
be set at a given position without installing the limit switch for
deceleration for reference position return.

Also, if the absolute-position detector is provided, the set reference

position is retained after the power is turned off. In this case, when the
power is turned on again, there is no need for setting the reference position
again.

Basic Procedure for Setting (1) Feed the tool, along the axis for which the reference position is to be
the Reference Position set, by manual continuous feed in the reference position return
Without Dogs direction. Stop the tool near the reference position, but do not exceed
the reference position.
(2) Enter manual reference position return mode, then set 1 for the feed
axis direction selection signal (for the positive or negative direction)
for the axis or reference position setting signal without DOG.
(3) The CNC positions the tool to the nearest grid line (based on
one–rotation signals from the position detector) in the reference
position return direction specified with bit 5 (ZMIx) of parameter No.
1006. The point to which the tool is thus positioned becomes the
reference position.
(4) The CNC checks that the tool is positioned to within the in–position
area, then sets the completion signal for reference position return and
the reference position establishment signal to 1.
The timing chart for the basic elements constituting steps (2) to (4) is
shown below.

437
4. REFERENCE POSITION RETURN B–63173EN–1/02

Manual reference
position return
mode

+J1, –J1, or ZR1

Grid . . . . . .
ZP1

ZRF1

Feedrate

FL rate

The following figure shows the positional relation between the reference
position and the point to which the tool is positioned by manual
continuous feed.

– direction + direction

Grid A Position B
after jog feed
A Reference position for reference position return in the negative direction
B Reference position for reference position return in the positive direction

Servo position error and To set the reference position without dogs, when the reference position
one–rotation signal has not yet been established, the tool must be fed, in manual continuous
feed mode, in the reference position return direction at such a speed that
the servo position error exceeds the value set in parameter No. 1836. The
tool must cross the grid line corresponding to a one–rotation signal from
the position detector.

Section 4.1 explains how to calculate the servo position error.

Grid shift To shift the reference position, the grid can be shifted by the distance set
in parameter No. 1850. The amount of the grid shift that can be specified
is not larger than half the reference counter capacity (parameter No. 1821).

Reference position It is possible to keep resetting a new grid point as a reference position,
resetting operation with the above mentioned method, when the set reference position is
different from the true reference position. After setting the reference
position using the method given in (a), when the ZRn signal is turned ON,
it moves at a constant low speed to the next grid point and that point is
set as the new reference position. This operation can be repeated over
again allowing the true reference position to be set while changing it 1 grid
at a time.

438
B–63173EN–1/02 4. REFERENCE POSITION RETURN

JOG mode
MD4, MD2, MD1

ZRN

(Note1)
+Jn/–Jn or ZRn +X
+Jn/–Jn or ZRn ZRn (Note2) ZRn (Note2)

FL FL FL
Feedrate

Position
detector grid
1st reference position
setting by method 1.

ZPX
1st reference position Next reference position True reference position

Fig.4.2 Dog–less Reference position Setting Sequence

NOTE
1 The 1st reference position setting can use any signal from
+Jn, –Jn, ZRn.
2 The axis is momery moved by one grid even if ZRn signal
is ON for a ling time.

Reference position When the feed axis and direction selection signal is set to 1 in manual
return reference position return mode after the reference position has been
established, the tool is positioned to the reference position regardless of
the direction specified with the feed axis and direction selection signal.
The completion signal for reference position return is then set to 1.

Signal

Manual reference
position return selection
signal ZRN <G043#7>
[Classification] Input signal
[Function] This signal selects manual reference position return. Manual reference
position return is a kind of jog feed. Therefor, to select manual reference
position return, it is required that the jog mode be selected and that the
manual reference position return selection signal be set to “1”.
[Operation] When the manual reference position return selection signal is set to “1”,
the control unit becomes as described below.

439
4. REFERENCE POSITION RETURN B–63173EN–1/02

D If jog feed mode is not selected, the control unit ignores the manual
reference position return selection signal.
D If jog feed mode is selected, manual reference position return is
enabled. In this case, manual reference position return selection
check signal MZRN turns to “1”.

NOTE
If the ZRN status changes from “0” to “1” or “1” to “0” during
jog feed, the feedrate is decelerated to 0. Then, to make
reference position return or jog feed, turn feed axis and
direction selection signal to “0” then set it to “1”.

Manual reference
position return selection
check signal MZRN
<F004#5>
[Classification] Output signal
[Function] This signal reports that manual reference position return has been selected
once.
[Output condition] This signal turns to “1” when:
⋅ Manual reference position return has been selected.
The signal turns to “0” when:
⋅ The selection of manual reference position return has terminated.

Feed axis direction select

signal +Jn<G100>,
–Jn<G102>
[Classification] Input signal
[Function] This signal selects an axis for which a reference position is to be set up
without dogs in the manual reference position return mode.
+J1
1 : Reference position without dogs for 1st axis
2 : Reference position without dogs for 2nd axis
:
:

+/– : During the setting of a reference position without

dogs, axis movement occurs in the direction
specified in the ZMI parameter (bit 5 of parameter
No. 1006) rather than the selected direction.

[Operation] When the signal becomes 1, the control unit behaves as follows:
– If no reference position has been set up
The current position of the selected axis is set up as the reference
position, provided that reference position setting is possible.

440
B–63173EN–1/02 4. REFERENCE POSITION RETURN

– If a reference position has been set up

The selected axis is positioned at the reference position, provided that
reference position setting is possible.

Reference position
without dogs setting
signal ZRn <G210>
[Classification] Input signal
[Function] This signal selects an axis for which a reference position is to be set up
without dogs in the manual reference position return mode.
ZR1
1 : Reference position without dogs for 1st axis
2 : Reference position without dogs for 2nd axis
:
:

[Operation] When the signal becomes 1, the control unit behaves as follows:
The current position of the selected axis is set up as the reference position,
provided that reference position setting is possible.

Reference position
return end signals ZP1 to
ZP8 <F094>
[Classification] Output signal
[Function] These signals report that the tool is at the refernce position on a controlled
axis.
These siganls are provided for axes in a one–to–one corespondence.
A number appended to a signal represents a controlled axis number.
ZP 1
1 : Reference position return end signal for the first axis
2 : Reference position return end signal for the second axis
3 : Reference position return end signal for the third axis
:
:

[Output condition] These signals turn to “1” when:

D Manual reference position returns is completed, and the current
position is in the in–position area.
D Automatic reference position return (G28) is completed, and the
current position is in the in–position area.
D Reference position return check (G27) is completed, and the current
position is in the in–position area.
These signals turn to “0”when:
D The tool has moved from the reference position.
D An emergency stop is applied.
D A servo alarm is raised.

441
4. REFERENCE POSITION RETURN B–63173EN–1/02

Reference position
establishment signal
ZRF1 to ZRF8<F120>
[Classification] Output signal
[Function] Notify the system that the reference position has been established.
A reference position establishment signal is provided for each axis. The
number appended to each signal name indicates the number of the
controlled axis.
ZRF 1
1 : 1st–axis reference position establishment signal
2 : 2nd–axis reference position establishment signal
3 : 3rd–axis reference position establishment signal
:
:

[Output condition] The signals are set to 1 in the following case:

⋅ When the reference position is established after manual reference
position return
⋅ When the reference position is established using the absolute–position
detector at initial power–on
The signals are set to 0 in the following case:
⋅ When the reference position is lost

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
G043 ZRN

#7 #6 #5 #4 #3 #2 #1 #0
G100 +J8 +J7 +J6 +J5 +J4 +J3 +J2 +J1

#7 #6 #5 #4 #3 #2 #1 #0
G102 -J8 -J7 -J6 -J5 -J4 -J3 -J2 -J1

#7 #6 #5 #4 #3 #2 #1 #0
G210 ZR8 ZR7 ZR6 ZR5 ZR4 ZR3 ZR2 ZR1

#7 #6 #5 #4 #3 #2 #1 #0
F004 MZRN

#7 #6 #5 #4 #3 #2 #1 #0
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

#7 #6 #5 #4 #3 #2 #1 #0
F120 ZRF8 ZRF7 ZRF6 ZRF5 ZRF4 ZRF3 ZRF2 ZRF1

442
B–63173EN–1/02 4. REFERENCE POSITION RETURN

4.3
REFERENCE
POSITION RETURN

General The G28 command positions the tool to the reference position, via the
specified intermediate point, along the specified axis, then sets the
completion signal for reference position return (see Section 4.1) to 1.
The reference position must be set in parameter No. 1240 with the
coordinates specified in the machine coordinate system, before issuing
the G28 command.
The tool moves to the intermediate point or reference position at the rapid
traverse rate.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 ZMIx

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Bit axis

ZMIx The direction of reference position return and the direction of initial
backlash at power–on
0 : Positive direction
1 : Negative direction

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

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

[Data type] Two–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

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

443
4. REFERENCE POSITION RETURN B–63173EN–1/02

Alarm and message

Number Message Description

405 SERVO ALARM: Position control system fault. Due to

(WRONG ZRN) an CNC or servo system fault in the
reference position return, there is the
possibility that reference position re-
turn could not be executed correctly.
Try again from the manual reference
position return.

Caution
CAUTION
1 The tool is moved from the intermediate point in a sequence
similar to manual reference position return, if the G28
command is issued in the following cases:
· When the reference position has not yet been
established
· When the input increment (millimeter/inch) is changed at
a position other than the reference position
In these cases, the tool leaves the intermediate point in the
reference position return direction specified with bit 5 (ZMIx)
of parameter No. 1006. The intermediate point must
therefore be specified at a position from which reference
position return is possible.
2 If the G28 command is issued in the machine lock status,
the completion signal for reference position return is not set
to 1.
3 If millimeter input is selected for an inch–system machine,
the completion signal for reference position return may be
set to 1, even when the programmed tool position deviates
from the reference position by the least input increment.
This is because the least input increment is smaller than the
least command increment for the machine.

Reference item
OPERATOR’S MANUAL II.6 REFERENCE POSITION
(B–63174EN)

444
B–63173EN–1/02 4. REFERENCE POSITION RETURN

4.4
2ND OR 3RD
REFERENCE
POSITION RETURN
General The G30 command positions the tool to the 2nd or 3rd reference position,
via the specified intermediate point, along the specified axis. Then, it sets
the completion signal for 2nd or 3rd reference position return to 1.
The 2nd or 3rd reference position must be set in parameter No. 1241 or
1242 with coordinates in the machine coordinate system, before issuing
the G30 command.
The tool moves to the intermediate point or 2nd or 3rd reference position
at the rapid traverse rate.
Return to the 2nd, 3rd, or 4th reference position can be performed only
after the reference position has been established.

Signal

Second reference
position return end
signals ZP21 to ZP28
<F096>
Third reference position
return end signals ZP31
to ZP38 <F098>

[Classification] Output signal

[Function] The second or third reference position end signals report the tool is at the
second or third reference positions on a controlled axis, respectively.
These signals are provided for axes in a one–to –one correspondence. A
numeric character appended to the end of a signal represents a controlled
axis number, and a numeric character immediately following ZP
represents a reference position number.
ZP 2 1
1 : Return end signal for the first axis
2 : Return end signal for the second axis
3 : Return end signal for the third axis
:
:

2 : Second reference position return

3 : Third reference position return

[Output condition] These signals turn to “1” when:

D The second or third reference position return (G30) is completed, and
the current position is in the in–position area.

445
4. REFERENCE POSITION RETURN B–63173EN–1/02

These signals turn to “0” when:

D The tool moved from the reference position.
D An emergency stop is applied.
D A servo alarm is raised.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F096 ZP28 ZP27 ZP26 ZP25 ZP24 ZP23 ZP22 ZP21

F098 ZP38 ZP37 ZP36 ZP35 ZP34 ZP33 ZP32 ZP31

Parameter
1241 Coordinate value of the second reference position on each axis
in the machine coordinate system

1242 Coordinate value of the third reference position on each axis

in the machine coordinate system

[Data type] Two–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

Set the coordinate values of the second or third reference positions in the
machine coordinate system.

Alarm and message

Number Message Description

046 ILLEGAL REFERENCE RE- Other than P2 and P3 are commanded for
TURN COMMAND 2nd or 3rd reference position return com-
mand.
Correct program.

Caution
CAUTION
1 If the G30 command is issued in machine lock status, the
completion signal for 2nd or 3rd reference position return is
not set to 1.
2 If millimeter input is selected for an inch–system machine,
the completion signal for 2nd or 3rd reference position
return may be set to 1, even when the programmed tool
position deviates from the 2nd or 3rd reference position by
the least input increment. This is because the least input
increment is smaller than the least command increment for
the machine.

446
B–63173EN–1/02 4. REFERENCE POSITION RETURN

Reference item
OPERATOR’S MANUAL II.6 REFERENCE POSITION
(B–63174EN)

447
4. REFERENCE POSITION RETURN B–63173EN–1/02

4.5
REFERENCE
POSITION SETTING
WITH MECHANICAL
STOPPER

General This function automates the procedure of butting the tool against a
mechanical stopper on an axis to set a reference position. The purpose of
this function is to eliminate the variations in reference position setting that
arise depending on the operator, and to minimize work required to make
fine adjustments after reference position setting.

Select the axis for which the reference position is to be set, then perform
cycle start. Then, the following operations are performed automatically:
1. The torque (force) of the selected axis is reduced to make the butting
feedrate constant, and the tool is butted against the mechanical stopper.
Then, the tool is withdrawn a parameter–set distance from the
mechanical stopper.
2. Again, the torque (force) of the selected axis is reduced, and the tool
is butted against the mechanical stopper. Then, the tool is withdrawn
a parameter–set distance from the mechanical stopper.
3. The withdrawal point on the axis is set as the reference position.

Basic procedure for

reference position (1) First, set the parameters required for reference position setting with
setting with mechanical mechanical stopper.
stopper
ZMIx, bit 5 of parameter (No. 1006): Direction of reference
position return
ACPx, bit 5 of parameter (No. 1815) : Setting the absolute pulse
coder
APZx, bit 4 of parameter (No. 1815) : Setting the absolute pulse
coder reference position
Parameter No. 7181: Withdrawal distance
Parameter No. 7182: Reference position setting
distance
Parameter No. 7183: Butting feedrate 1
Parameter No. 7184: Butting feedrate 2
Parameter No. 7185: Withdrawal feedrate in
reference position setting
Parameter No. 7186: Torque limit
(2) Select manual reference position return mode.
(3) By using a manual handle feed axis select signal, select the axis on
which the reference position is to be set.

448
B–63173EN–1/02 4. REFERENCE POSITION RETURN

(4) Perform cycle start.

This starts the cycle operation for reference position setting.
(5) During the cycle operation, the automatic operation start signal OP is
1.

Cycle operation When no reference position has been set (APZx, bit 4 of parameter No.
1815, is 0), operations (A) to (E), below, are performed automatically to
set a reference position.

Mechanical
stopper

Current position

(A)The tool is moved along a specified axis with a limited torque until
it butts against the mechanical stopper.
The tool is moved in the direction specified with ZMIx (bit 5 of
parameter No. 1006), at the feedrate specified with parameter No.
7183, at the torque specified with parameter No. 7186 (until the
tool strikes the mechanical stopper).

Mechanical
stopper

The direction, feedrate, and torque

are specified with parameters.

(B)After the tool strikes the mechanical stopper, the tool is withdrawn
in the direction opposite to the butting direction, along the axis for
a parameter–set distance.
The tool is moved in the direction opposite to that specified with
ZMIx (bit 5 of parameter No. 1006), at the feedrate specified with
parameter No. 7185, for the distance specified with parameter No.
7181.

Mechanical
stopper

The direction, feedrate, distance,

and torque are all specified with pa-
rameters.

(C)Operations (D) and (E) are performed from the withdrawal point,
such that the tool is butted against the mechanical stopper at a
constant feedrate in reference position setting.
(D)The tool moves along the specified axis at a specified torque until
it butts against the mechanical stopper.

449
4. REFERENCE POSITION RETURN B–63173EN–1/02

The tool moves in the direction specified with ZMIx (bit 5 of

parameter No. 1006), at the feedrate specified with parameter No.
7184, at the torque specified with parameter No. 7186 (until the
tool strikes the mechanical stopper).

Mechanical
stopper

The direction, feedrate, and torque

are all specified with parameters.

(E)After the tool strikes the mechanical stopper end on the axis, the
tool is withdrawn in the direction opposite to the butting direction,
along the axis for a parameter–set distance.
The tool is moved in the direction opposite to that specified with
ZMIx (bit 5 of parameter No. 1006), at the feedrate specified with
parameter No. 7185, for the distance specified with parameter No.
7182.

Reference position

Mechanical
stopper

The direction, feedrate, distance,

and torque are all specified with pa-
rameters.

For parameter Nos. 7183 and 7184, set the feedrates at which the
tool is moved toward the mechanical stopper with a limited torque,
considering the machine accuracy.
After the tool strikes the mechanical stopper, and the tool is
withdrawn the distance specified with parameter No. 7182, the
withdrawal point is set as the reference position on the specified
axis. Then, the reference position return end signal and reference
position establishment signal are set to 1.
After reference position return has been completed, alarm PS000
is issued. Turn the power off then back on before continuing
operation.

After the reference When the reference position has already been set (when APZx, bit 4 of
position is set parameter No. 1815, is 1), performing reference position setting with
mechanical stopper causes the tool to be positioned to the reference
position at the rapid traverse rate without the cycle operation. Upon the
completion of positioning, the reference position return end signal is set
to 1.

The timing chart for the cycle operation is shown below.

450
B–63173EN–1/02 4. REFERENCE POSITION RETURN

Manual reference position

return mode

Manual handle feed axis select

signals HS1A to HS1D

Automatic operation start

signal ST

Cycle operation

Automatic operation signal

OP

Reference position return end

signals ZP1 to ZP8

N%
Torque limit 100% 100%

Butting direction
Axis feedrate
Withdrawal
direction
Torque limit reach signals for
reference position setting with
mechanical stopper
CLRCH1 to CLRCH8
N%: Torque limit (%) specified with parameter No. 7186 (%)

Signal

Torque limit reach

signals for reference
position setting with
mechanical stopper
CLRCH1 to CLRCH8
<F180> [Classification] Output signal
[Function] These signals are used to post notification of the torque limit having been
reached for each corresponding axis during cycle operation for reference
position setting with mechanical stopper.
[Operation] Each signal is set to 1 when:
· The torque limit is reached for the corresponding axis during cycle
operation for reference position setting with mechanical stopper.
Each signal is set to 0 when:
· The torque limit is not reached for the corresponding axis during cycle
operation for reference position setting with mechanical stopper.

451
4. REFERENCE POSITION RETURN B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F180 CLRCH8 CLRCH7 CLRCH6 CLRCH5 CLRCH4 CLRCH3 CLRCH2 CLRCH1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 ZMIx

NOTE
When this parameter is changed, turn off the power before
continuing operation.

[Data type] Bit axis

ZMIx The direction of reference position return and the direction of initial
backlash at power–on.
0 : Positive direction
1 : Negative direction

7181 First withdrawal distance in reference position setting with mechanical stopper

[Data type] 2–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch

[Valid data range] –99999999 to 99999999

When the reference position setting with mechanical stopper function is
used, this parameter sets a distance an axis, along which withdrawal is
performed after the mechanical stopper is hit (distance from the
mechanical stopper to the withdrawal point).

NOTE
Set the same direction as the direction set for ZMIx, bit 5 of
parameter No. 1006. If the opposite direction is set, the
cycle operation will not start.

7182 Second withdrawal distance in reference position setting with mechanical stopper

[Data type] 2–word axis

[Unit of data] Increment system IS–A IS–B IS–C Unit
Millimeter machine 0.01 0.001 0.0001 mm
Inch machine 0.001 0.0001 0.00001 inch

452
B–63173EN–1/02 4. REFERENCE POSITION RETURN

[Valid data range] –99999999 to 99999999

When the reference position setting with mechanical stopper function is
used, this parameter sets a distance an axis, along which withdrawal is
performed after the mechanical stopper is hit (distance from the
mechanical stopper to the withdrawal point).

NOTE
Set the same direction as the direction set for ZMIx, bit 5 of
parameter No. 1006. If the opposite direction is set, the
cycle operation will not start.

7183 First butting feedrate in reference position setting with mechanical stopper

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS–A, IS–B IS–C
Millimeter machine 1 mm/min 30–15000 30–12000
Inch machine 0.1 inch/min 30–6000 30–4800

When the reference position setting with mechanical stopper function is

used, this parameter sets the feedrate first used to hit the stopper on an
axis.

7184 Second butting feedrate in reference position setting with mechanical stopper

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS–A, IS–B IS–C
Millimeter machine 1 mm/min 30–15000 30–12000
Inch machine 0.1 inch/min 30–6000 30–4800

When the reference position setting with mechanical stopper function is

used, this parameter sets the feedrate used to hit the stopper on an axis for
a second time.

7185 Withdrawal feedrate (common to the first and second butting operations)
in reference position setting with mechanical stopper)

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS–A, IS–B IS–C
Millimeter machine 1 mm/min 30–15000 30–12000
Inch machine 0.1 inch/min 30–6000 30–4800

When the reference position setting with mechanical stopper function is

used, this parameter sets the feedrate used for withdrawal along an axis
after the mechanical stopper has been hit.

453
4. REFERENCE POSITION RETURN B–63173EN–1/02

7186 Torque limit value in reference position setting with mechanical stopper

[Data type] Byte axes

[Unit of data] %
[Valid data range] 0 to 100
This parameter sets a torque limit value in reference position setting with
mechanical stopper.

NOTE
When 0 is set in this parameter, 100% is assumed.

Alarm and message

Number Message Contents

000 PLEASE TURN OFF POWER A parameter which requires the
power off was input, turn off
power.

Note

NOTE
This function is supported only when an absolute–position
detector is installed.

454
B–63173EN–1/02 4. REFERENCE POSITION RETURN

4.6
LINEAR SCALE WITH
ABSOLUTE
ADDRESSING
REFERENCE MARKS

General The linear scale with absolute addressing reference marks has reference
marks (one–rotation signals) at intervals that change at a constant rate.
By determining the reference mark interval, the corresponding absolute
position can be deduced. The CNC makes a small movement along an
axis to measure the one–rotation signal interval, then calculates the
absolute position. The reference position can be established without
performing positioning to the reference position.
8.0 42.0 8.2 41.8 8.4 41.6 8.6 41.4

Reference marks

Reference mark 1 50.0

Reference mark 2 50.2

Fig. 4.6 (a) Sample linear scale with absolute addressing reference marks

Basic procedure for (1) Select JOG mode, then set manual reference position return selection
establishing the signal ZRN to 1.
reference position (2) Set the feed axis direction selection signal (+J1, –J1, +J2, –J2, etc.),
corresponding to the axis for which the reference position is to be
established, to 1, then feed the tool along that axis.
(3) The tool is fed along the selected axis at the reference position return
FL feedrate (parameter No. 1425).
(4) Upon the detection of a reference mark sent from the linear scale, the
tool is stopped briefly, then fed again at the reference position return
FL feedrate.
(5) Step (4) is repeated until three or four reference marks are detected.
Then, the absolute position is calculated and the reference position
established signal (ZRF1, ZRF2, ZRF3, etc.) is set to 1.
If the feed axis direction selection signal (+J1, –J1, +J2, –J2, etc.) is set
to 0 at any point in steps (2) to (5), feed does not stop and establishment
of the reference position is continued.
A time chart for the above basic procedure is shown below.

455
4. REFERENCE POSITION RETURN B–63173EN–1/02

JOG

ZRN

+J1

Reference mark

ZRF1

Feedrate

FL feedrate FL feedrate FL feedrate

Fig. 4.6 (b) Time chart for reference position establishment

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1815 DCLx OPTx

[Data type] Bit axis

OPTx As a position detector:
0 : A separate pulse coder is not used.
1 : A separate pulse coder is used.
(To use a linear scale with absolute addressing reference marks, set this bit
to 1.)
DCLx As a separate position detector:
0 : A linear scale with absolute addressing reference marks is not used.
1 : A linear scale with absolute addressing reference marks is used.

#7 #6 #5 #4 #3 #2 #1 #0
1802 DC4

[Data type] Bit

DC4 When establishing the reference position using the linear scale with
absolute addressing reference marks:
0 : Three reference marks are detected to determine the absolute position.
1 : Four reference marks are detected to determine the absolute position.

1821 Reference counter capacity for each axis

[Data type] 2–word axis

[Unit of data] Detection units
[Valid data range] 0 to 99999999
Sets the intervals of mark 1 of the linear scale with absolute addressing
reference marks.

456
B–63173EN–1/02 4. REFERENCE POSITION RETURN

1882 Intervals of mark 2 of the linear scale with absolute addressing reference marks.

[Data type] 2–word axis

[Unit of data] Detection units
[Valid data range] 0 to 99999999
Sets the intervals of mark 2 of the linear scale with absolute addressing
reference marks.

1883 Distance between the reference position and the origin of the linear scale with
absolute addressing reference marks

[Data type] 2–word axis

[Unit of data] Detection units
[Valid data range] –99999999 to 99999999
Sets the distance between the reference position and the origin of the
linear scale with absolute addressing reference marks. The origin of the
scale is that point where marks 1 and 2 coincide.

Usually, the origin is an imaginary point which does not physically exist
(see the figure below).

If the reference position exists in the positive direction as viewed from the
scale origin, specify a positive value for this parameter.
If the reference position exists in the negative direction as viewed from
the scale origin, specify a negative value for this parameter.

Scale origin Scale end Reference position

Scale body

ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ
Mark 1=Mark 2 Mark 1 Mark 2 Mark 1 Mark 2

8.0 42.0 8.2 41.8

PRM.1821

PRM.1882

PRM.1883

457
4. REFERENCE POSITION RETURN B–63173EN–1/02

[Example parameter setting]

When the following scale is used with an IS–B, millimeter machine

Scale origin Positive Reference position Negative

direction direction
A B
Mark1=Mark2 Mark1 Mark2 Mark1 Mark1 Mark2 Mark1 Mark2 Mark1 Mark2 Mark1

20.000 19.980 9.940 10.060 9.960 10.040 9.980 10.020

0.020 5.000 20.000mm

– [9960/(20020–20000)*20000+5000] = –9965000 20.020mm

Parameter No. 1821 (mark 1 interval) = “20000”

No. 1882 (mark 2 interval) = “20020”
No. 1883 (reference position) = Position of point A +5.000
Distance between A and B
= × Mark 1 interval+5.000
Mark 2 interval – Mark 1 interval
9960
= × 20000+5000
20020–20000
= 9965000
³ “–9965000”(reference position in the negative direction)

[Method of setting parameter No. 1883]

If it is difficult to measure the distance between the scale origin and

reference position (parameter No. 1883), the parameter can be set as
follows:
(1) Set parameter No. 1815 to enable this function.
Set parameters No. 1821 and 1882 appropriately.
Set parameter No. 1240 to 0.
Set parameter No. 1883 to 0.
(2) At an appropriate position, establish the reference position as
described in ”Basic procedure for establishing the reference position”
(as a result, the machine coordinate becomes the distance between the
scale origin and current position).
(3) Position the machine to the reference position, by jog feed or handle
feed.
(4)Convert the current machine coordinate (displayed with No. 301 on the
diagnosis screen) to a value in detection units (by multiplying the
value of No. 301 by CMR), then set the result for parameter No. 1883.
(5) If necessary, set parameter No. 1240.

458
B–63173EN–1/02 4. REFERENCE POSITION RETURN

Caution

CAUTION
1 In the following cases, the machine moves to the reference position without establishing the
reference position as described above:
S Axial movement is performed in ZRN mode when the reference position has already been
established.
S Automatic reference position return (G28) is specified when the reference position has
already been established.
2 Axial movement is continued until three or four reference marks are detected. If the
establishment of the reference position is started at a point near the end of the scale, therefore,
axial movement does not stop until overtravel occurs. Start establishing the reference position
at a point sufficiently distant from the end of the scale.

Scale end Reference marks

Start point (not recommended)

Start point (recommended)

459
4. REFERENCE POSITION RETURN B–63173EN–1/02

Note

NOTE
1 If automatic reference position return (G28) is specified
when the reference position has not been established, the
reference position is first established as described above,
after which the machine is positioned to the reference
position.
2 A P/S alarm (No. 090) occurs in the following case:
S The actual reference mark interval differs from that
specified with the parameter.
3 This function cannot be used for axes that are subjected to
any of the following functions:
S Simple synchronous control
4 This function is invalid if any of the following conditions are
satisfied:
S Either parameter No. 1821 (mark 1 interval) or No. 1882
(mark 2 interval) is set to 0.
S Parameters No. 1821 and No. 1882 are set to the same
value.
S The value of parameter No. 1821 is more than twice as
large as that of parameter No. 1882, or vice versa.

460
B–63173EN–1/02 4. REFERENCE POSITION RETURN

4.7
REFERENCE
POSITION EXTERNAL
SETTING

General The machine is moved to a position to be specified as its reference

position, for example, in the jog feed mode. Setting the reference position
external setting signal to 1 specifies the current position of the relevant
axis as the reference position.
Basic procedure for (1) Move the machine to a position to be specified as the reference
reference position position, for example, by jogging.
external setting (2) Select the jog feed (JOG) mode, and set the ZRN (bit 7 of G043) signal
to 1.
(3) Set the reference position external setting signal (ZPEXTn)
corresponding to the axis for which the reference position is to be set
up to 1. The reference position is set up for the specified axis.

Signal

Signal for reference

position external setting
ZPEXTn <G211>
[Classification] Input signal
[Function] This signal selects the axis for which the reference position is to be set up.
ZPEXT1
1 : Signal for reference position external setting for 1st axis
2 : Signal for reference position external setting for 2nd axis
:
:

[Operation] If this signal becomes 1, the control unit sets up the reference position for
the selected axis, provided that reference position setting is possible.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G211 ZPEXT8 ZPEXT7 ZPEXT6 ZPEXT5 ZPEXT4 ZPEXT3 ZPEXT2 ZPEXT1

461
4. REFERENCE POSITION RETURN B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1009 ZEXx

[Data type] Bit axis

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

Alarm and message

No. Description
093 Reference position Because the reference position external setting
external setting signal was set to “1” under one of the following
failed. conditions, reference position external setting
failed.
1) The manual continuous feed mode (JOG)
has not been selected.
2) The manual continuous feed mode (JOG)
has been selected, but the ZRN signal is
“0.”
3) The emergency stop signal (*ESP) is “0.”
4) Axis movement is in progress (when an
incremental pulse coder is in use).

NOTE
1 The reference position external setting signal is effective,
when the manual continuous feed mode (JOG) has been
selected, and the ZRN signal is “1.”
2 When this function is used to set the absolute pulse coder
to the origin, be sure to set the emergency stop signal
(*ESP) to “1.”
3 After the reference position has been set up for the absolute
pulse coder using this function, turn the power off and on
again.
4 If an absolute pulse coder is in use, the reference position
is set up even if the reference position external setting signal
is set to 1 during axis movement. In this case, however,
setting up the reference position does not stop axis
movement. If an incremental pulse coder is in use, make
sure that axis movement is not in progress. Otherwise,
alarm 093 will occur.

Reference item
OPERATOR’S MANUAL V.3 MANUAL OPERATION
(B–63174EN)

CONNECTION MANUAL 2.6 MODE SELECTION

(this manual)
3 MANUAL OPERATION

462
B–63173EN–1/02 5. AUTOMATIC OPERATION

5 AUTOMATIC OPERATION

463
5. AUTOMATIC OPERATION B–63173EN–1/02

5.1
CYCLE START/FEED
HOLD

General
D Start of automatic When automatic operation start signal ST is set to 1 then 0 in which
operation (cycle start) memory (AUTO) mode, DNC operation mode (RMT), or manual data
input (MDI) mode, the CNC enters the automatic operation start state then
starts operating.

Signal ST, however, is ignored in the following cases:

1. When the mode is other than AUTO, RMT, or MDI
2. When the feed hold signal (*SP) is set to 0
3. When the emergency stop signal (*ESP) is set to 0
4. When the external reset signal (ERS) is set to 1
5. When the reset and rewind signal (RRW) is set to 1
6. When <RESET> key on the MDI is pressed
7. When the CNC is in the alarm state
8. When the CNC is in the NOT READY state
9. When automatic operation is starting
10.When the CNC is searching for a sequence number.
The CNC enters the feed hold state and stops operation in the following
cases during automatic operation:
1. When the feed hold signal (*SP) is set to 0
2. When the mode is changed to manual operation mode (JOG,
HANDLE/STEP, ZRN, TJOG, or THND).
The CNC enters the automatic operation stop state and stops operating in
the following cases during automatic operation:
1. When a single command block is completed during a single block
operation
2. When operation in manual data input (MDI) mode has been completed
3. When an alarm occurs in the CNC
4. When a single command block is completed after the mode is changed
to other automatic operation mode or memory edit (EDIT)
The CNC enters the reset state and stops operating in the following cases
during automatic operation:
1. When the emergency stop signal (*ESP) is set to 0
2. When the external reset signal (ERS) is set to 1
3. When the reset and rewind signal (RRW) is set to 1
4. When <RESET> key on the MDI is pressed
The state of the CNC (automatic operation start, feed hold , automatic
operation stop, or reset) is posted to the PMC with status output signals
OP, SPL, and STL. See the table in the “Signal” section for details.

464
B–63173EN–1/02 5. AUTOMATIC OPERATION

D Halt of automatic When the feed hold signal *SP is set to 0 during automatic operation, the
operation (feed hold) CNC enters the feed hold state and stops operation. At the same time,
cycle start lamp signal STL is set to 0 and feed hold lamp signal SPL is
set to 1. Re–setting signal *SP to 1 in itself will not restart automatic
operation. To restart automatic operation, first set signal *SP to 1, then
set signal ST to 1 and then to 0.

ST ST ST This signal is ignored when the

feed hold signal is set to 0.

STL STL

SPL

*SP *SP

Fig. 5.1 Time chart for automatic operation

When signal *SP is set to 0 during the execution of a block containing

only the M, S, or T function, signal STL is immediately set to 0, signal
SPL is set to 1, and the CNC enters the feed hold state. If the FIN signal
is subsequently sent from the PMC, the CNC executes processing up until
the end of the block that has been halted. Upon the completion of that
block, signal SPL is set to 0 (signal STL remains set to 0) and the CNC
enters the automatic operation stop state.
(a) During tapping in a cannec cycle (G84)
When signal *SP is set to 0 during tapping in a canned cycle (G84),
signal SPL is immediately set to 1 but operation continues until the
tool returns to the initial level level after the completion of tapping.
(b) When a macro instruction is being executed
Operation stops after the currently executing macro instruction has
been completed.

465
5. AUTOMATIC OPERATION B–63173EN–1/02

Signal

Cycle start signal

ST <G007#2> [Classification] Input signal
[Function] Starts automatic operation.
[Operation] When signal ST is set to 1 then 0 in AUTO mode, DNC operation mode
(RMT) or manual data input (MDI) mode, the CNC enters the cycle start
state and starts operation.

AUTO, RMT, or MDI mode

Signal ST “1”
“0”

Start
⋅⋅⋅
Automatic operation

Feed hold signal

*SP <G008#5> [Classification] Input signal
[Function] Halts automatic operation.
[Operation] When signal *SP is set to 0 during automatic operation, the CNC enters
the feed hold state and stops operation. Automatic operation cannot be
started when signal *SP is set to 0.

AUTO, RMT, or MDI mode

Signal ST “1”
“0”
Ignored

Signal *SP “1”

“0”
Start Start
Feed hold
Automatic operation

Automatic operation
signal [Classification] Output signal
OP <F000#7>
[Function] Notifies the PMC that automatic operation is in progress.
[Output condition] This signal is set to 1 or 0, according to the state of the CNC, as listed in
Table 5.1.

466
B–63173EN–1/02 5. AUTOMATIC OPERATION

Cycle start lamp signal

STL <F000#5> [Classification] Output signal
[Function] Notifies the PMC that automatic operation start is entered.
[Output condition] This signal is set to 1 or 0, according to the state of the CNC, as listed in
Table 5.1.

Feed hold lamp signal

SPL <F000#4> [Classification] Output signal
[Function] Notifies the PMC that feed hold state is entered.
[Output condition] This signal is set to 1 or 0, according to the state of the CNC, as listed in
Table 5.1.
Table 5.1 Status of Operation

Signal name Cycle start Feed hold Automatic op-

State of lamp lamp eration lamp
the operation STL SPL OP

Cycle start state 1 0 1

Feed hold state 0 1 1

Automatic operation stop 0 0 1

state

Reset state 0 0 0

· Cycle start state

The CNC is executing memory operation or manual data input
operation commands.
@ Feed hold state
The CNC is not executing memory operation nor manual data input op-
eration commands while the commands to be executed remain.
@ Automatic operation stop state
Memory operation or manual data input operation has been completed
and stopped.
@ Reset state
The automatic operation has been forcibly terminated.

NOTE
If the sequence number search is performed through MDI
panel during Memory mode (AUTO), the signal OP turns to
“1”.

467
5. AUTOMATIC OPERATION B–63173EN–1/02

D Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G007 ST

G008 *SP
#7 #6 #5 #4 #3 #2 #1 #0
F000 OP STL SPL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3005 SON

[Data type] Bit

SON 0 : Automatic operation begins at the falling edge (1 → 0) of the
automatic operation start signal (ST).
1 : Automatic operation begins at the rising edge (0 → 1) of the automatic
operation start signal (ST).

Alarm and message

D Self–diagnosis During automatic operation, the machine may sometimes show no
information movement while no alarm is detected. In that case, the CNC may be
performing processing or waiting for the occurrence of an event. The state
of the CNC can be obtained using the CNC self–diagnosis function
(diagnosis numbers 000 to 015).

Detailed information on the automatic operation stop or feed hold state

can also be displayed (diagnosis numbers 020 to 025).

Reference item
OPERATOR’S MANUAL V.4.1 AUTO OPERATION
(B–63174EN)
V.4.2 MDI OPERATION

V.4.3 DNC OPERATION

V.7.3 CHECKING BY SELF–DIAGNOSTIC

SCREEN

468
B–63173EN–1/02 5. AUTOMATIC OPERATION

5.2
RESET AND REWIND

General The CNC is reset and enters the reset state in the following cases:
1. When the emergency stop signal (*ESP) is set to 0
2. When the external reset signal (ERS) is set to 1
3. When the reset and rewind signal (RRW) is set to 1
4. When <RESET> key on the MDI is pressed
When the CNC is reset, the resetting signal (RST) is output to the PMC.
The resetting signal (RST) is set to 0 when the resetting signal output
time, set with parameter No. 3017, has elapsed after the above conditions
have been released.
RST signal output time = Treset (Reset processing time) + (parameter
setting value) 16 msec.
Reset ON

Reset Pro-
cessing

RST signal

Treset (Parameter
setting value)
16 msec

CAUTION
Treset requires at least 16 msec. This time will be longer on
optional configurations.

When the CNC is reset during automatic operation, automatic operation

is stopped and tool movement along the controlled axis is decelerated and
stopped(*1). When the CNC is reset during the execution of the M, S, or
T function, signal MF, SF, or TF is set to 0 within 100 ms.
Tool movement along the controlled axis is also decelerated and
stopped(*1) in manual operation (jog feed, manual handle feed, step feed,
or etc).

CAUTION
*1 When the emergency stop signal (*ESP) is set to 0, the tool
is stopped by an emergency stop.

Bit 6 (CLR) of parameter No. 3402 is used to select whether the CNC
internal data (such as modal G codes) is cleared or reset when the
CNC is reset. Refer to the Appendix E, ”Status when turning on
power, when cleared, and when reset” in the Operator’s manual for
the state of the internal data when cleared or reset.

469
5. AUTOMATIC OPERATION B–63173EN–1/02

The following parameters are also used to select how to handle

processing for CNC data when the CNC is reset.
S Bit 7 (MCL) of parameter No. 3203
Whether programs created in MDI mode are erased or stored
S Bit 6 (CCV) of parameter No. 6001
Whether custom macro variables #100 to #199 are cleared or stored
S Bit 7 (CLV) of parameter No. 6001
Whether custom macro local variables #1 to #33 are cleared or
stored

D Reset & Rewind When the reset & rewind signal (RRW) is set to 1, reset is performed and
the following rewinding operation is also performed.
The head of the selected main program is searched for. Setting RWM, bit
2 of parameter No. 3001, determines whether the rewinding–in–progress
signal is output.
When RWM is set to 1:
The rewinding–in–progress signal is output. It is set to 1, then set to 0
after about 100 ms. Since searching for the main program in memory
takes little time, when the rewinding–in–progress signal (RWD) is set to
0, the main program has already been searched for.

Signal

External reset signal

ERS<G008#7>
[Classification] Input signal
[Function] Reset the CNC.
[Operation] Turning the signal ERS to 1 resets the CNC and enters the reset state.
While the CNC is reset, the resetting signal RST turns to 1.

Reset & rewind signal

RRW<G008#6>
[Classification] Input signal
[Function] CNC is reset and a program under an automatic operation is rewound.
[Operation] As described in the item, “Reset & Rewind”.

470
B–63173EN–1/02 5. AUTOMATIC OPERATION

Resetting signal RST

<F001#1>
[Classification] Output signal
[Function] Notifies the PMC that the CNC is being reset. This signal is used for reset
processing on the PMC.
[Output condition] This signal is set to 1 in the following cases:
1. When the emergency stop signal (*ESP) is set to 0
2. When the external reset signal (ERS) is set to 1
3. When the reset & rewind signal (RRW) is set to 1
4. When <RESET> key on the MDI is pressed
This signal is set to 0 in the following case:
When the resetting signal output time, set with parameter No. 3017, has
elapsed after the above conditions have been released and the CNC is reset

Rewinding signal RWD

<F000#0>
[Classification] Output signal
[Function] Notifies the PMC that the CNC is being rewound.
[Output condition] As described in the item, “Reset and Rewind”.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G008 ERS RRW
#7 #6 #5 #4 #3 #2 #1 #0
F000 RWD

F001 RST

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3001 RWM

[Data type] Bit

RWM RWD signal indicating that rewinding is in progress
0 : Output only when the tape reader is being rewound by the reset and
rewind signal RRW
1 : Output when the tape reader is being rewound or a program in
memory is being rewound by the reset and rewind signal RRW

471
5. AUTOMATIC OPERATION B–63173EN–1/02

3017 Output time of reset signal RST

[Data type] Byte

[Unit of data] 16 ms
[Valid data range] 0 to 255
To extend the output time of reset signal RST, the time to be added is
specified in this parameter.
RST signal output time = time required for reset+parameter value 16 ms

#7 #6 #5 #4 #3 #2 #1 #0
3203 MCL

[Data type] Bit

MCL Whether a program prepared in the MDI mode is cleared by reset
0: Not deleted
1: deleted

#7 #6 #5 #4 #3 #2 #1 #0
3402 CLR

[Data type] Bit

CLR <RESET> key on the MDI panel, external reset signal, reset and rewind
signal, and emergency stop signal
0: Cause reset state.
1: Cause clear state.

#7 #6 #5 #4 #3 #2 #1 #0
6001 CLV CCV

[Data type] Bit

CCV Custom macro’s common variables Nos. 100 through 199
0: Cleared to “vacant” by reset
1: Not cleared by reset
CLV Custom macro’s local variables Nos. 1 through 33
0: Cleared to “vacant” by reset
1: Not cleared by reset

Reference item
OPERATOR’S MANUAL APPEN- STATUS WHEN TURNING POWER
(B–63174EN) DIX E ON, WHEN CLEAR AND WHEN RE-
SET

472
B–63173EN–1/02 5. AUTOMATIC OPERATION

5.3 Before machining is started, the automatic running check can be

executed. It checks whether the created program can operate the machine
TESTING A as desired. This check can be accomplished by running the machine
PROGRAM actually or viewing the position display change without running the
machine.

5.3.1
Machine Lock

General The change of the position display can be monitored without moving the
machine.
When all–axis machine lock signal MLK, or each–axis machine lock
signals MLK1 to MLK8 are set to 1, output pulses (move commands) to
the servo motors are stopped in manual or automatic operation. The
commands are distributed, however, updating the absolute and relative
coordinates. The operator can therefore check if the commands are
correct by monitoring the position display.

Signal

All–axis machine lock

signal
MLK <G044#1>
[Classification] Input signal
[Function] Places all controlled axes in the machine lock state.
[Operation] When this signal is set to 1, pulses (move commands) are not output to
the servo motors for all axes in manual or automatic operation.

Each–axis machine lock

signals
MLK1 to MLK8
<G108> [Classification] Input signal
[Function] Place the corresponding controlled axes in the machine lock state.
These signals are provided for each controlled axis. The signal number
corresponds to the number of the controlled axis.

MLK 1
1. Machine lock for the 1st axis
2. Machine lock for the 2nd axis
3. Machine lock for the 3rd axis
L

[Operation] When these signals are set to 1, pulses (move commands) are not output
to the servo motors for the corresponding axes (1st to 8th) in manual or
automatic operation.

473
5. AUTOMATIC OPERATION B–63173EN–1/02

All–axis machine lock

check signal
MMLK <F004#1>
[Classification] Output signal
[Function] Notifies the PMC of the state of the all–axis machine lock signal.
[Output condition] This signal is set to 1 in the following case:
– When all–axis machine lock signal MLK is set to 1
This signal is set to 0 in the following case:
– When all–axis machine lock signal MLK is set to 0

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G044 MLK

G108 MLK8 MLK7 MLK6 MLK5 MLK4 MLK3 MLK2 MLK1

F004 MMLK

474
B–63173EN–1/02 5. AUTOMATIC OPERATION

Note
NOTE
1 Automatic operation in the machine lock state (M, S,
and T commands)
Machine lock applies only to move commands along
controlled axes. Updating modal G codes or setting a
coordinate system is performed normally. M, S, and T (2nd
auxilialy function) commands are also performed normally.
2 Reference position return in the machine lock state
(G27, G28, and G30)
When the reference position return command (G28), or 2nd
to 3rd reference position return command (G30), is
executed for an axis in the machine lock state, distribution
and position updating are performed. The tool, however, is
not returned to the reference position. The reference
position return completion signals (ZP1 to ZP3) are not
output.
The reference position return check command (G27) is
ignored in the machine lock state.
3 Turning on/off the machine lock signal during
movement along an axis
When the machine lock signal for an axis is set to 1 during
movement along the axis that is not in the machine lock
state, the axis is immediately placed in the machine lock
state and output pulses (move commands) to the servo
motor are stopped. The tool is decelerated and stopped
with the automatic acceleration/deceleration function.
On the other hand, when the machine lock signal for an axis
is set to 0 during distribution of the move command along
the axis in the machine lock state, pulse (move command)
output for the axis is immediately restarted. The tool is
accelerated with the automatic acceleration/deceleration
function.

Reference item
OPERATOR’S MANUAL V.5.1 MACHINE LOCK AND
(B–63174EN) AUXILIARY FUNCTION LOCK

475
5. AUTOMATIC OPERATION B–63173EN–1/02

5.3.2
Dry Run
General Dry run is valid only for automatic operation.
The tool is moved at a constant feedrate(*1) regardless of the feedrate
specified in the program. This function is used, for example, to check the
movement of the tool without a workpiece.

CAUTION
This feedrate depends on the specified parameters, the
manual rapid traverse switching signal (RT), manual
feedrate override signals (*JV0 to *JV15), and whether the
command block specifies rapid traverse or cutting feed, as
listed in the table below.

Manual rapid Program command

traverse
switching Rapid traverse Feed
signal (RT)
1 Rapid traverse rate Dry run feedrate JVmax *2
0 Dry run speed JV,or rapid Dry run feedrate JV *2
traverse rate *1

Max. cutting feedrate Setting by parameter No.1422 or No.1430

Rapid traverse rate Setting by parameter No.1420
Dry run feedrate Setting by parameter No.1410
JV Manual feedrate override
JVmax Maximum value of manual feedrate override
*1:Dry run feedrate  JV when parameter RDR (bit 6 of No. 1401) is 1.
Rapid traverse rate when parameter RDR is 0.
*2 Clamped by max. cutting feedrate.

Signal

Dry run signal

DRN <G046#7>
[Classification] Input signal
[Function] Enables dry run.
[Operation] When this signal is set to 1, the tool is moved at the feedrate specified for
dry run.
When this signal is set to 0, the tool is moved normally.

CAUTION
When the dry run signal is changed from 0 to 1 or 1 to 0
during the movement of the tool, the feedrate of the tool is
first decelerated to 0 before being accelerated to the
specified feedrate.

476
B–63173EN–1/02 5. AUTOMATIC OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G046 DRN

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 RDR TDR
RDR

[Data type] Bit

TDR Dry run during threading or tapping (tapping cycle G74 or G84; rigid
tapping)
0 : Enabled
1 : Disabled
RDR Dry run for rapid traverse command
0 : Disabled
1 : Enabled

1410 Dry run rate

[Data type] Word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 15000 6 – 12000
Inch machine 0.1 inch/min 6 – 6000 6 – 4800

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

1420 Rapid traverse rate for each axis

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 – 240000 6 – 100000
Inch machine 0.1 inch/min 30 – 96000 6 – 48000
Rotation axis 1 deg/min 30 – 240000 30 – 100000
Set the rapid traverse rate when the rapid traverse override is 100% for
each axis.

1422 Maximum cutting feedrate for all axes

[Data type] Two–word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 96000 6 – 48000

477
5. AUTOMATIC OPERATION B–63173EN–1/02

Specify the maximum cutting feedrate.

A feedrate in the tangential direction is clamped in cutting feed so that it
does not exceed the feedrate specified in this parameter.

NOTE
To specify the maximum cutting feedrate for each axis, use
parameter No. 1430 instead.

1430 Maximum cutting feedrate for each axis

[Data type] 2–word axis

Valid data range
Increment system Unit of data
IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 to 240000 6 to 100000
Inch machine 0.1 inch/min 6 to 96000 6 to 48000
Rotaion axis 1 deg/min 6 to 240000 6 to 100000

Specify the maximum cutting feedrate for each axis.

A feedrate for each axis is clamped in cutting feed so that it does not
exceed the maximum feedrate specified for each axis.

NOTE
1 This parameter is effective only in linear and circular
interpolation. In polar coordinate, the maximum feedrate for
all axes specified in parameter No.1422 is effective.
2 If the setting for each axis is 0, the maximum feedrate
specified in parameter No.1422 is applied to all axes and the
feedrate is clamped at the maximum feedrate.

Reference item
OPERATOR’S MANUAL V.5.4 Dry run
(B–63174EN)

478
B–63173EN–1/02 5. AUTOMATIC OPERATION

5.3.3
Single Block

General Single block operation is valid only for automatic operation.

When the single block signal (SBK) is set to 1 during automatic operation,
the CNC enters the automatic operation stop state after executing the
current block. In subsequent automatic operation, the CNC enters the
automatic operation stop state after executing each block in the program.
When the single block signal (SBK) is set to 0, normal automatic
operation is restored.

Single block operation during the execution of custom macro statements

depends on the setting of bit 5 (SBM) of parameter No. 6000, as follows:

SBM = 0: Operation does not stop in the custom macro statements but
stops once the next NC command has been executed.

SBM = 1: Operation stops after each block in the custom macro

statements.

When the CNC is in the automatic operation stop state during single block
operation, the mode can be changed to manual data input (MDI), manual
handle/step feed (STEP), or jog feed (JOG), by using the mode select
signals (MD1, MD2, and MD4).

Signal

Single block signal

SBK <G046#1>
[Classification] Input signal
[Function] Enables single block operation.
[Operation] When this signal is set to 1, single block operation is performed. When
this signal is set to 0, normal operation is performed.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G046 SBK

479
5. AUTOMATIC OPERATION B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6000 SBM

[Data type] Bit

SBM Custom macro statement
0: Stops the single block
1: Not stop the single block

Caution
CAUTION
Operation in canned cycle
When the SBK signal turns to “1” during canned cycle
operation, the operation stops at each positioning,
approach, drilling and retreat instead of the end of the block.
The SPL signal turns to “1” while the STL signal turns to “0”,
showing that the end of the block has not been reached.
When the execution of one block is completed, the STL and
SPL signals turn to “0” and the operation is stopped.

Reference item
OPERATOR’S MANUAL V.5.5 Single block
(B–63174EN)

480
B–63173EN–1/02 5. AUTOMATIC OPERATION

5.4
MANUAL ABSOLUTE
ON/OFF

General This function selects whether the movement of the tool with manual
operation (such as jog feed and manual handle/step feed) is counted for
calculating the current position in the workpiece coordinate system. A
check signal is also output to indicate whether the manual absolute
function in the CNC is turned on or off.

When manual absolute When manual operation interrupts during automatic operation:
turns on (manual i) At the end of the block where manual operation interrupts, the tool
absolute signal *ABSM position moves in parallel by the manual move amount, regardless of
=0) the absolute or incremental command.
ii) In subsequent blocks, the parallel-moved tool position remains
unchanged until an absolute command block appears. Therefore, if all
blocks are programmed by incremental commands, the tool keeps the
parallel-moved position until machining ends.
In case of incremental commands

Manual
intervention

End
point

Programmed tool path The tool returns to the programmed

tool path when an absolute command
block is encountered.

Fig. 5.4 (a) Manual absolute ON

CAUTION
If the machining end position has shifted by the manual
move amount because all blocks are programmed by
incremental commands only, the present position is
displayed shifted by the manual move amount.

When manual absolute The manual move amount is not counted to the present position on the
turns off (manual workpiece coordinate system. The present position display on the CRT
absolute signal includes the manual move amount. The display is reset to the initial value
*ABSM=1) (before manual operation) when the control is reset, or when operation in
the automatic operation mode AUTO, RMT, or MDI is started after the
manual operation.

481
5. AUTOMATIC OPERATION B–63173EN–1/02

During automatic operation, if manual intervention of a block interrupts,

the tool position moves in parallel by the manual move amount,
regardless of the absolute or incremental command at the end point of that
block, as well as at the end point of subsequent blocks.
Actual tool path
(The tool moves along this path, regardless of The actual end point
absolute command or incremental command) always moves in parallel

Manual in-
tervention

End
Programmed tool path point

Fig. 5.4 (b) Manual absolute OFF

The present position display at the finish of the operation shows an end
point value on the program as if manual intervention had not been
executed. However, the tool position moves in parallel.

Signal

Manual absolute signal

*ABSM <G006#2>
[Classification] Input signal
[Function] Turns the manual absolute function on or off.
[Operation] When this signal is set to 1, the control unit operates as follows:
– Turns off the manual absolute function.
When this signal is set to 0, the control unit operates as follows:
– Turns on the manual absolute function.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G006 *ABSM

Reference item
OPERATOR’S MANUAL V.3.5 Manual absolute ON/OFF
(B–63174EN)

482
B–63173EN–1/02 5. AUTOMATIC OPERATION

5.5
OPTIONAL BLOCK
SKIP

General When a slash followed by a number (/n, where n = 1 to 9) is specified at

the head of a block, and optional block skip signals BDT1 to BDT9 are
set to 1 during automatic operation, the information contained in the block
for which /n, corresponding to signal BDTn, is specified is ignored (from
/n to the end of the block).

(Example) /2 N123 X100. Y200. ;

Input signal Code specified at the head of a block
BDT1 / or /1 (Note)
BDT2 /2
BDT3 /3
BDT4 /4
BDT5 /5
BDT6 /6
BDT7 /7
BDT8 /8
BDT9 /9

NOTE
Number 1 for /1 can be omitted. However, when two or more
optional block skip switches are used in one block, number
1 for /1 cannot be omitted.

(Example)
//3 N123 X100. Y200. ; — Invalid
/1 /3 N123 X100. Y200. ;— Valid
The following figures show the relationship between the timing, when
optional block skip signals (BDT1 to BDT9) are set to 1, and the ignored
information:
1. When BDTn is set to 1 before the CNC starts reading a block
containing /n, the block is ignored.
BDTn ”1”
”0”

ÄÄÄÄ
Reading by CNC ³ ...; /n N123 X100. Y200. ; N234
....
Ignored

483
5. AUTOMATIC OPERATION B–63173EN–1/02

2. When BDTn is set to 1 while the CNC is reading a block containing

/n, the block is not ignored.
BDTn ”1”
”0”

Reading by CNC ³ ...; /n N123 X100. Y200. ; N234 ....

Not ignored

3. When BDTn, currently set to 1, is set to 0 while the CNC is reading

a block containing /n, the block is ignored.
BDTn ”1”
”0”
Reading by CNC ³

ÄÄÄÄ
...; /n N123 X100. Y200. ; N234 ....
Ignored

4. When two or more optional block skip switches are specified in a block
and BDTn, corresponding to one of them, is set to 1, the block is
ignored.
BDT3 ”1”
”0”

Reading by CNC ³
ÄÄÄÄ
...;/1 /3 /5 N123 X100. Y200. ; N234

ÄÄÄÄ
....
Ignored

Signal

Optional block skip

signals
BDT1 <G044#0>
BDT2 to BDT9 <G045>
[Classification] Input signal
[Function] Select whether a block containing /n is to be executed or ignored.
[Operation] During automatic operation, a block containing /n in the program is
ignored when the corresponding optional block skip signal is set to 1. It
is executed normally when the signal is set to 0.

484
B–63173EN–1/02 5. AUTOMATIC OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G044 BDT1

G045 BDT9 BDT8 BDT7 BDT6 BDT5 BDT4 BDT3 BDT2

Note
NOTE
1 This function is ignored when programs are loaded into
memory. Blocks containing /n are also stored in memory,
regardless of how the optional block skip signal is set.
Programs stored in memory can be output, regardless of
how the optional block skip signals are set.
Optional block skip is effective even during sequence
number search operation.
2 Position of a slash
A slash (/) must be specified at the head of a block. If a slash
is placed elsewhere, the information from the slash to
immediately before the EOB code is ignored.
3 TV and TH check
When an optional block skip signal is “1”. TH and TV checks
are made for the skipped portions in the same way as when
the optional block skip switch is “0”.

Reference item
OPERATOR’S MANUAL II.11.2 Program section configuration
(B–63174EN)

485
5. AUTOMATIC OPERATION B–63173EN–1/02

5.6
EXACT STOP

General NC commands can be used to control a feedrate in continuous cutting feed

blocks as described below.

D Exact stop (G09) The tool is decelerated in a block specifying G09, and an in–position
check (*1) is performed. When the feed motor falls in–position, the tool
is moved by the next block. This function may be used to produce a sharp
edge at the corner of a workpiece.
*1 The term in–position indicates that the servo motor reaches in a range
of positions specified by a parameter. See Section 7.2.6.1 and 7.2.6.2
for details.
(Example) Tool paths from block (1) to block (2)

Y
(2) In–position check

Tool path in the exact stop mode

(1)
Tool path in the other than exact
stop mode
0 X

486
B–63173EN–1/02 5. AUTOMATIC OPERATION

5.7
DNC OPERATION
(Power Mate i–D
(1–PATH CONTROL)

General By starting automatic operation during the DNC operation mode (RMT),
it is possible to perform machining (DNC operation) while a program is
being read in via the reader/puncher interface.
To use the DNC operation function, it is necessary to set the parameters
related to the reader/puncher interface in advance.

Signal

DNC operation select

signal
DNCI<G043#5>
[Classification] Input signal
[Function] Selects the DNC operation mode (RMT).
To select the DNC operation mode (RMT), it is necessary to select the
AUTO operation mode (AUTO) and set the DNC operation select signal
to “1”.
[Operation] When the DNC operation select signal becomes “1”, the control unit
operates as follows:
– If the AUTO mode (AUTO) has not been selected, the signal is
ignored, and nothing happens.
– If the AUTO operation mode (AUTO) has been selected, the DNC
operation mode (RMT) is selected, and DNC operation becomes
possible. In this case, the DNC operation selection confirm signal
MRMT becomes “1”.

DNC operation selection

confirm signal
MRMT<F003#4>
[Classification] Output signal
[Function] Indicates that the DNC operation mode (RMT) has been selected.
[Output condition] The DNC operation selection confirm signal becomes “1” when:
– The DNC operation mode (RMT) is selected.
The DNC operation selection confirm signal becomes “0” when:
– The DNC operation mode (RMT) is not selected.

487
5. AUTOMATIC OPERATION B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G043 DNCI
#7 #6 #5 #4 #3 #2 #1 #0
F003 MRMT

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0100 ND3

This parameter can also be set on the ”Setting screen”.

[Data type] Bit
ND3 In DNC operation, a program is:
0 : Read block by block. (A “DC3” code is output for each block.)
1 : Read continuously until the buffer becomes full. (A “DC3” code is
output when the buffer becomes full.)

NOTE
In general, reading is performed more efficiently when
ND3=1. This specification reduces the number of buffering
interruptions caused by reading of a series of blocks
specifying short movements. This reduces the cycle time.

Alarm and message

Number Message Description

086 DR SIGNAL OFF When entering data in the memory by

using Reader / Puncher interface, the
ready signal (DR) of reader / puncher
was off.
Power supply of I/O unit is off or cable is
not connected or a P.C.B. is defective.
123 CAN NOT USE MACRO Macro control command is used during
COMMAND IN DNC DNC operation.
Modify the program.

Reference item
OPERATOR’S MANUAL V.4.3 DNC OPERATION
(B–63174EN)

488
B–63173EN–1/02 6. INTERPOLATION FUNCTION

6 INTERPOLATION FUNCTION

489
6. INTERPOLATION FUNCTION B–63173EN–1/02

6.1
POSITIONING

General The G00 command moves a tool to the position in the workpiece system
specified with an absolute or an incremental command at a rapid traverse
rate.
In the absolute command, coordinate value of the end point is
programmed.
In the incremental command the distance the tool moves is programmed.
The tool path is determined by selecting one of the following with
parameter LRP (No. 1401#1):
D Linear interpolation type positioning
The tool moves at an appropriate speed so that positioning can be
performed in the shortest time without the speed exceeding the rapid
traverse rate for each axis.
D Non–linear interpolation type positioning
Positioning is performed with each axis independently at the rapid
traverse rate. Generally, the tool path is not a straight line.
The rapid traverse rate in the G00 command is set to the parameter
No.1420 for each axis independently by the machine tool builder. In the
positioning mode actuated by G00, the tool is accelerated to a
predetermined speed at the start of a block and is decelerated at the end
of a block. Execution proceeds to the next block after confirming the
in–position.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 LRP

[Data type] Bit

LRP Positioning (G00)
0 : Positioning is performed with non–linear type positioning so that the
tool moves along each axis independently at rapid traverse.
1 : Positioning is performed with linear interpolation so that the tool
moves in a straight line.

1420 Rapid traverse rate for each axis

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 – 240000 30 – 100000
Inch machine 0.1 inch/min 30 – 96000 30 – 48000
Rotaion axis 1 deg/min 30 – 240000 30 – 100000

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

490
B–63173EN–1/02 6. INTERPOLATION FUNCTION

Note

NOTE
The rapid traverse rate cannot be specified in the address
F.

Reference item
OPERATOR’S MANUAL II.4.1 POSITIONING (G00)
(B–63174EN)

491
6. INTERPOLATION FUNCTION B–63173EN–1/02

6.2
LINEAR
INTERPOLATION

General Tools can move along a straight line.

A tools move along a straight line to the specified position at the feedrate
specified in F.
The feedrate specified in F is effective until a new value is specified. It
need not be specified for each block.
The feedrate commanded by the F code is measured along the tool path.
If the F code is not commanded, the feedrate is regarded as zero.
The feedrate of each axis direction is as follows.
G01ααββγγ Ff ;

Feed rate of α axis direction : Fa + a f

L
b
Feed rate of β axis direction : Fb + f
L
g
Feed rate of γ axis direction : Fg + f
L

L + Ǹa 2 ) b2 ) g2

The feedrate of the rotary axis is commanded in the unit of deg/min (if the
feedrate is 12 deg/min, F12.0 is commanded).
When the straight line axis α(such as X, Y, or Z) and the rotating axisβ
(such as A, B, or C) are linearly interpolated, the feed rate is that in which
the tangential feed rate in the α and β cartesian coordinate system is
commanded by F(mm/min).
β–axis feedrate is obtained ; at first, the time required for distribution is
calculated by using the above fromula, then the β –axis feedrate unit is
changed to deg/min.
A calculation example is as follows.

(Example)
G91 G01 X20.0B40.0 F300.0 ;
This changes the unit of the C axis from 40.0 deg to 40mm with metric
input. The time required for distribution is calculated as follows:

Ǹ20 2 ) 40 2
F 0.14907 (min)
300
The feed rate for the C axis is
40 F 268.3 degńmin
0.14907

In simultaneous 3 axes control, the feed rate is calculated the same way
as in 2 axes control.

492
B–63173EN–1/02 6. INTERPOLATION FUNCTION

Parameter
1411 Cutting feedrate when the power is turned on

This parameter can also be set on the ”Setting screen”.

[Data type] Word
[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 32767 6 – 32767
Inch machine 0.01 inch/min 6 – 32767 6 – 32767

When the machine requires little change in cutting feedrate during

cutting, a cutting feedrate can be specified in the parameter. This
eliminates the need to specify a cutting feedrate (F command) in the NC
command data.
The feedrate set in this parameter is effective between the CNC being
cleared, upon a power–on or a reset, and a feedrate being specified with a
program command (F command). Once a feedrate has been specified with
an F command, that feedrate becomes effective.

1422 Maximium cutting feedrate for all axes

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 96000 6 – 48000

Specify the maximum cutting feedrate.

A feedrate in the tangential direction is clamped in cutting feed so that it
does not exceed the feedrate specified in this parameter.

NOTE
To specify the maximum cutting feedrate for each axis, use
parameter No. 1430 instead. (M series)

1430 Maximum cutting feedrate for each axis

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 96000 6 – 48000
Rotaion axis 1 deg/min 6 – 240000 6 – 100000

Specify the maximum cutting feedrate for each axis.

A feedrate for each axis is clamped in cutting feed so that it does not
exceed the maximum feedrate specified for each axis.

493
6. INTERPOLATION FUNCTION B–63173EN–1/02

NOTE
1 This parameter is effective only in linear and circular
interpolation. In polar coordinate interpolation, the
maximum feedrate for all axes specified in parameter No.
1422 is effective.
2 If the setting for each axis is 0, the maximum feedrate
specified in parameter No. 1422 is applied to all axes and
the feedrate is clamped at the maximum feedrate.

#7 #6 #5 #4 #3 #2 #1 #0
3402 G01

[Data type] Bit

G01 Mode entered when the power is turned on or when the control is cleared
0: G00 mode (positioning)
1: G01 mode (linear interpolation)

Alarm and message

No. Message Description

011 NO FEEDRATE COMMAN- Cutting feedrate was not commanded or

DED the feedrate was inadequate. Modify the
program.

Reference item
OPERATOR’S MANUAL II.4.2 LINEAR INTERPOLATION (G01)
(B–63174EN)

494
B–63173EN–1/02 6. INTERPOLATION FUNCTION

6.3
CIRCULAR
INTERPOLATION

General The command below can move a tool along a circular arc in the defined
plane.
“Clockwise”(G02) and “counterclockwise”(G03) on the XpYp plane
(ZpXp plane or YpZp plane) are defined when the XpYp plane is viewed
in the positive–to–negative direction of the Zp axis (Yp axis or Xp axis,
respectively) in the Cartesian coordinate system. See the figure below.

Yp Xp Zp

G03 G03 G03

G02 G02 G02

Xp Zp Yp
G17 G18 G19

The end point of an arc is specified by address Xp, Yp or Zp, and is

expressed as an absolute or incremental value according to G90 or G91.
For the incremental value, the distance of the end point which is viewed
from the start point of the arc is specified with a sign.
The arc center is specified by addresses I, J, and K for the Xp, Yp, and Zp
axes, respectively. The numerical value following I, J, or K, however, is
a vector component in which the arc center is seen from the start point,
and is always specified as an incremental value, as shown below.
I, J, and K must be signed according to the direction.

End point (x,y) End point (z,x) End point (y,z)

y x z
x Start z Start y
i k j Start
point point point
j i k
Center Center Center

I0, J0, and K0 can be omitted. When Xp, Yp , and Zp are omitted (the end
point is the same as the start point) and the center is specified with I, J,
and K, a 360_ arc (circle) is specified.
G02 I; Command for a circle
If the difference between the radius at the start point and that at the
end point exceeds the value in a parameter (No.3410), an alarm (No.020)
occurs.

495
6. INTERPOLATION FUNCTION B–63173EN–1/02

The distance between an arc and the center of a circle that contains the arc
can be specified using the radius, R, of the circle instead of I, J, and K.
In this case, one arc is less than 180_, and the other is more than 180_ are
considered.
Specify an arc more than 180_ with a negative radius value commanded.
If Xp, Yp, and Zp are all omitted, if the end point is located at the same
position as the start point and when R is used, an arc of 0°is programmed.
G02R_ ; (The tool does not move.)

(Example)
For arc (1) (less than 180_)
G91 G02 X60.0 Y20.0 R50.0 F300.0 ;
For arc (2) (greater than 180_)
G91 G02 X60.0 Y20.0 R–50.0 F300.0 ;

(2)
r=50mm

End point

(1)

Start point r=50mm

Y

The feedrate in circular interpolation is equal to the feedrate specified by

the F code, and the feedrate along the arc (the tangential feedrate of the
arc) is controlled to be the specified feedrate.
The error between the specified feedrate and the actual tool feedrate is
±2% or less.

Parameter
1022 Setting of each axis in the basic coordinate system

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

[Data type] Byte axis

To determine the following planes used for circular interpolation, etc.,
each control axis is set to one of the basic three axes X, Y, and Z, or an
axis parallel to the X, Y, or Z axis.

496
B–63173EN–1/02 6. INTERPOLATION FUNCTION

G17: Plane Xp–Yp

G18: Plane Zp–Xp
G19: Plane Yp–Zp

Only one axis can be set for each of the three basic axes X, Y, and Z, but
two or more parallel axes can be set.
Set value Meaning
0 Neither the basic three axes nor a parallel axis

1 X axis of the basic three axes

2 Y axis of the basic three axes

3 Z axis of the basic three axes

5 Axis parallel to the X axis

6 Axis parallel to the Y axis

7 Axis parallel to the Z axis

#7 #6 #5 #4 #3 #2 #1 #0
3402 G19 G18

[Data type] Bit

G18 and G19 Plane selected when power is turned on or when the control is cleared

G19 G18 G17, G18 or G19 mode

0 0 G17 mode (plane XY)

0 1 G18 mode (plane ZX)

1 0 G19 mode (plane YZ)

3410 Tolerance of arc radius

[Data type] Two–word

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric input 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch

[Valid data range] 1 to 99999999

When a circular interpolation command (G02, G03) is executed, the
tolerance for the radius between the start point and the end point is set. If
the difference of radii between the start point and the end point exceeds the
tolerance set here, a P/S alarm No. 20 is informed.

NOTE
When the set value is 0, the difference of radii is not
checked.

497
6. INTERPOLATION FUNCTION B–63173EN–1/02

Alarm and message

Number Message Description

011 NO FEEDRATE Cutting feedrate was not commanded

COMMANDED or the feedrate was inadequate.
Modify the program.
020 OVER TOLERANCE OF In circular interpolation (G02 or G03),
RADIUS difference of the distance between the
start point and the center of an arc
and that between the end point and
the center of the arc exceeded the
value specified in parameter No.
3410.
021 ILLEGAL PLANE AXIS An axis not included in the selected
COMMANDED plane (by using G17, G18, G19) was
commanded in circular interpolation.
Modify the program.
028 ILLEGAL PLANE In the plane selection command, two
SELECT or more axes in the same direction
are commanded.
Modify the program.

Note
NOTE
1 If I, J, K, and R addresses are specified simultaneously, the
arc specified by address R takes precedence and the other
are ignored.
2 If an axis not comprising the specified plane is commanded,
an alarm (No.028) is displayed.

Reference item
OPERATOR’S MANUAL II.4.3 CIRCULAR INTERPOLATION
(B–63174EN) (G02,G03)

498
B–63173EN–1/02 6. INTERPOLATION FUNCTION

6.4
POLAR COORDINATE
INTERPOLATION

General Polar coordinate interpolation is a function that exercises contour control

in converting a command programmed in a Cartesian coordinate system
to the movement of a linear axis (movement of a tool) and the movement
of a rotary axis (rotation of a workpiece). This function is useful for
grinding a cam shaft.

Explanation G12.1 starts the polar coordinate interpolation mode and selects a polar
coordinate interpolation plane (Fig. 6.4). Polar coordinate interpolation
is performed on this plane.
D Polar coordinate
interpolation plane Rotary axis (hypothetical axis)
(unit:mm or inch)

Linear axis
(unit:mm or inch)

Origin of the workpiece

coordinate system

Fig. 6.4 Polar coordinate interpolation plane

When the power is turned on or the system is reset, polar coordinate

interpolation is canceled (G13.1).
The linear and rotation axes for polar coordinate interpolation must be set
in parameters (No. 5460 and 5461) beforehand.

Parameter
1422 Maximum cutting feedrate for all axes

[Data type] Two–word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 96000 6 – 48000

Specify the maximum cutting feedrate.

A feedrate in the tangential direction is clamped in cutting feed so that it
does not exceed the feedrate specified in this parameter.

NOTE
To specify the maximum cutting feedrate for each axis, use
parameter No. 1430 instead.

499
6. INTERPOLATION FUNCTION B–63173EN–1/02

5460 Axis (linear axis) specification for polar coordinate interpolation

5461 Axis (rotary axis) specification for polar coordinate interpolarion

[Data type] Byte

[Valid data range] 1, 2, 3, ... control axes count
These parameters set control axis numbers of linear and rotary axes to
execute polar interpolation.

5462 Maximum cutting feedrate during polar coordinate interpolation

[Data type] Two–word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 0, 6 – 240000 0, 6 – 100000
Inch machine 0.1 inch/min 0, 6 – 96000 0, 6 – 48000
Rotation axis 1 deg/min 0, 6 – 240000 0, 6 – 100000

This parameter sets the upper limit of the cutting feedrate that is effective
during polar coordinate interpolation. If a feedrate greater than the
maximum feedrate is specified during polar coordinate interpolation, it
is clamped to the feedrate specified by the parameter. When the setting is
0, the feedrate during polar coordinate interpolation is clamped to the
maximum cutting feedrate usually specified with parameter No. 1422.

Alarm and message

No. Message Description

145 ILLEGAL CONDITIONS The conditions are incorrect when the polar
IN POLAR COORDINATE coordinate interpolation starts or it is can-
INTERPOLATION celed.
An error is found in the plane selection.
Parameters No. 5460 and No. 5461 are in-
correctly specified.
Modify the value of program or parameter.

Reference item
OPERATOR’S MANUAL II.4.6 Polar Coordinate Interpolation
(B–63174EN)

500
B–63173EN–1/02 6. INTERPOLATION FUNCTION

6.5
HELICAL
INTERPOLATION
(Power Mate i–H)

General Helical interpolation which moved helically is enabled by specifying up

to two other axes which move synchronously with the circular
interpolation by circular commands.

The command method is to simply add one or two move command axes
which is not circular interpolation axes. An F command specifies a
feedrate along a circular arc. Therefore, the feedrate of the linear axis is
as follows:
Length of linear axis
F×
Length of circular arc
Determine the feedrate so that the linear axis feedrate does not exceed any
of the various limit values.

Tool path

X Y

The feedrate along the circumference of two cir-

cular interpolated axes is the specified feedrate.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1404 HFC

HFC The feedrate for helical interpolation is:

0 : Clamped so that the feedrates along an arc and linear axis do not
exceed the maximum cutting feedrate specified by parameter.
1 : Clamped so that the composite feedrate along an arc and linear axis
does not exceed the maximum cutting feedrate specified by
parameter.
When HFC is 1, and two linear axes exist, the combined feedrate for
the four axes (two axes (arc) + two axes (straight line)) is clamped so
that it does not exceed the maximum cutting feedrate.

501
6. INTERPOLATION FUNCTION B–63173EN–1/02

<Parameters used for clamping>

When HFC is 0
No. 1430: Maximum cutting feedrate for each axis
Since the cutting feedrate for the arc is clamped to the above
parameter value, the feedrate along the linear axis is clamped
to the smaller parameter value.
Example: No. 1430 X 1000
Y 1200
Z 1400
G17 G03 X0. Y100. R100. Z1000. F5000;
The feedrate along the linear axis is clamped to 1000.
No. 1422: Maximum cutting feedrate (common to all axes)
If parameter No. 1430 is set to 0, the feedrate is clamped to
the value set in this parameter.
When HFC is 1
No. 1422: Maximum cutting feedrate (common to all axes)
The cutting feedrate is clamped to the value set in this
parameter. The value set with parameter No. 1430 is
ignored.

Alarm and message If more than two axes are specified together with the two axes for circular
interpolation in a block specifying a helical interpolation operation, P/S
alarm No. 232 is issued.
No. Message Description

0232 TOO MANY HELICAL Three or more axes are specified as

AXIS COMMANDS helical axes.

Reference item
OPERATOR’S MANUAL II.4.7 Helical Interpolation
(B–63174EN)

502
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7 FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

503
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.1 The feed functions control the feedrate of the tool. The following two feed
functions are available:
FEEDRATE
CONTROL 1. Rapid traverse
When the positioning command (G00) is specified, the tool moves at
a rapid traverse rate set in the CNC (parameter No. 1420).
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.

7.1.1
Rapid Traverse Rate

General 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

In rapid traverse, the next block is executed after the specified rate
becomes 0 and the servo motor reaches a certain range set by the
parameter (No.1826) (in–position check).
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, 25, 50, 100%
F0: Allows a fixed feedrate to be set for each axis by parameter No. 1421.
In addition, the use of the 1% rapid traverse override selection signal
enables a rapid traverse override of between 0% and 100% to be applied
in 1% steps.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 RDR RFO LRP

[Data type] Bit

LRP Positioning (G00)
0 : Positioning is performed with non–linear type positioning so that the
tool moves along each axis independently at rapid traverse.
1 : Positioning is performed with linear interpolation so that the tool
moves in a straight line.
RFO When cutting feedrate override is 0% during rapid traverse,
0 : The machine tool does not stop moving.
1 : The machine tool stops moving.

504
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

RDR Dry run for rapid traverse command

0 : Disabled
1 : Enabled

1420 Rapid traverse rate for each axis

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 – 240000 30 – 100000
Inch machine 0.1 inch/min 30 – 96000 30 – 48000
Rotation axis 1 deg/min 30 – 240000 30 – 100000

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

1424 Manual rapid traverse rate for each axis

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 – 240000 30 – 100000
Inch machine 0.1 inch/min 30 – 96000 30 – 48000
Rotation axis 1 deg/min 30 – 240000 30 – 100000

Set the rate of manual rapid traverse for each axis when the rapid traverse
override is 100% for each axis.

NOTE
If 0 is set, the rate set in parameter No. 1420 is assumed.

Reference item
OPERATOR’S MANUAL II.5.2 Rapid traverse
(B–63174EN)

505
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.1.2
Cutting Feedrate
Clamp
General 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.
The upper limit can be set on the cutting feedrate for each axis with
parameter No. 1430.

Parameter
1422 Maximum cutting feedrate for all axes

[Data type] Two–word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 96000 6 – 48000

Specify the maximum cutting feedrate.

A feedrate in the tangential direction is clamped in cutting feed so that it
does not exceed the feedrate specified in this parameter.

NOTE
To specify the maximum cutting feedrate for each axis, use
parameter No. 1430 instead.

1430 Maximum cutting feedrate for each axis

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 96000 6 – 48000
Rotation axis 1 deg/min 6 – 240000 6 – 100000

Specify the maximum cutting feedrate for each axis.

A feedrate for each axis is clamped in cutting feed so that it does not
exceed the maximum feedrate specified for each axis.

506
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

NOTE
1 This parameter is effective only in linear and circular
interpolation. In polar coordinate interpolation, the
maximum feedrate for all axes specified in parameter No.
1422 is effective.
2 If the setting for each axis is 0, the maximum feedrate
specified in parameter No. 1422 is applied to all axes and
the feedrate is clamped at the maximum feedrate.

Warning

WARNING
CNC calculation may involve a feedrate error of "2% with
respect to a specified value. However, this is not true for
acceleration/deceleration. To be more specific, this error is
calculated with respect to a measurement on the time the
tool takes to move 500 mm or more during the steady state:

Reference item
OPERATOR’S MANUAL II.5.3 Cutting Feed
(B–63014EN)

507
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.1.3
Feed Per Minute

General
D Feed per minute (G94) 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. At power–on, the feed per minute mode is
set.
An override from 0% to 254% (in 1% steps) can be applied to feed per
minute with the feedrate override signal.
Feed amount per minute
(mm/min or inch/min)

Tool
Workpiece

Table

Fig. 7.1.3 Feed per minute

Format
G94; G code for feed per minute (Group 05)
F_; Feed rate (mm/min or inch/min)

Alarm and message

Number Message Description

011 NO FEEDRATE COM- Feedrate was not commanded to a

MANDED cutting feed or the feedrate was inad-
equate. Modify the program.

Reference item
OPERATOR’S MANUAL II.5.3 Cutting feed
(B–63174EN)

508
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.1.4
Feed Per Revolution/
Manual Feed Per
Revolution
General

D Feed per revolution After specifying G95 (in the feed per revolution mode), the amount of
feed of the tool per spindle revolution is to be directly specified by setting
a number after F. G95 is a modal code. Once a G95 is specified, it is valid
until G94 (feed per minute) is specified.
An override of between 0 and 254% (in steps of 1%) can be applied to feed
per rotation, using the feedrate override signals (*FV0 to *FV7). (See
Subsection 7.1.7.2.)

[T series]
F Feed amount per spindle revolution
(mm/rev or inch/rev)

Fig. 7.1.4 Feed per revolution

Caution
CAUTION
1 When the speed of the spindle is low, feedrate fluctuation
may occur. The slower the spindle rotates, the more
frequently feedrate fluctuation occurs.
2 When specifying G95 and an F feedrate command in the
same block, place the F command after G95. Otherwise, it
is likely that feed per revolution may not be performed
correctly.

Reference item
OPERATOR’S MANUAL II.5.3 Cutting feed
(B–63174EN)

509
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.1.5
Override

7.1.5.1
Rapid traverse override

General An override of four steps (F0, 25%, 50%, and 100%) can be applied to the
rapid traverse rate. F0 is set by a parameter (No. 1421).
Also, 1% rapid traverse override select signal allows rapid traverse
override every 1% in the range of 0 to 100%.

ÇÇ
ÇÇ ÇÇ
ÇÇ ÇÇ
Rapid traverse Override 5m/min
rate10m/min 50%

Fig.7.1.5.1 Rapid traverse override

D 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).

D 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).

D 1% step rapid traverse 1% step rapid traverse override selection signal HROV determines
override selection signal 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 HROV is 0, override is applied to the rapid traverse rate
using signals ROV1 and ROV2.
When signal HROV is 1, ROV1 and ROV2 are ignored, 1% step rapid
traverse override signals *HROV0 to *HROV6 being used to override the
rapid traverse rate.

D PMC axis control These 1% step rapid traverse override signals are also effective to the rapid
traverse rate for the PMC axis. When rapid traverse override is applied
to the PMC axis (using signals ROV1E and ROV2E) with the setting of
the OVE bit (bit 2 of parameter No. 8001) independently of the CNC, the
1% step rapid traverse override signals are ineffective.

510
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Signal

Rapid traverse override

signal
ROV1,ROV2
<G014#0, #1>
[Classification] Input signal
[Function] These signals override the rapid traverse rate
[Operation] These code signals correspond to the rates as follows:

Rapid traverse override

Override value
ROV2 ROV1
0 0 100 %
0 1 50 %
1 0 25 %
1 1 Fo %

Fo: Set in parameter No. 1421

1% step rapid traverse

override selection signal
HROV <G096 #7>
[Classification] Input signal
[Function] Selects whether the rapid traverse override signals or the 1% step rapid
traverse override signals are enabled.
[Operation] When HROV is 1, signals *HROV0 to *HROV6 are effective and rapid
traverse override with signals ROV1 and ROV2 is ignored.
When HROV is 0, signals *HROV0 to *HROV6 are ineffective, and rapid
traverse override with signals ROV1 and ROV2 is effective.

1% step rapid traverse

override signals
*HROV0 to *HROV6
<G096 #0 to #6>
[Classification] Input signal
[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%.

511
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

⋅ Signals *HROV0 to *HROV6 are inverted signals.

To set an override value of 1%, set signals *HROV0 to *HROV6 to
1111110, which corresponds to a binary code of 0000001.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G014 ROV2 ROV1

G096 HROV *HROV6 *HROV5 *HROV4 *HROV3 *HROV2 *HROV1 *HROV0

Parameter
1421 F0 rate of rapid traverse override for each axis

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 30 – 15000 6 – 12000
Inch machine 0.1 inch/min 30 – 6000 6 – 4800
Rotation axis 1 deg/min 30 – 15000 6 – 12000

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

#7 #6 #5 #4 #3 #2 #1 #0
8001 OVE

[Data type] Bit

OVE Dry run and override signals during axis control by the PMC
0 : Use the same signals as CNC
(1) Feedrate override signal *FV0 to *FV7
(2) Override cancel signal OVC
(3) Rapid traverse override signals ROV1 and ROV2
(4) Dry run signal DRN
(5) Rapid traverse selection signal RT
1 : Use dedicated axis control signals by the PMC.
(1) Feedrate override signal *FV0E to *FV7E
(2) Override cancel signal OVCE
(3) Rapid traverse override signals ROV1E and ROV2E
(4) Dry run signal DRNE
(5) Rapid traverse selection signal RTE

Reference item
OPERATOR’S MANUAL III.5.3 Rapid traverse override
(B–63174EN)

512
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.1.5.2
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 Tool

(Specified by programmed) Check the machining
by altering the feedrate
Feedrate 50 mm/min after from the value speci-
feedrate override fied in the program.

Workpiece

Fig. 7.1.5.2 Feedrate override

Signal

Feedrate Override signal

*FV0 to *FV7
<G012>
[Classification] Input signal
[Function] These signals override the cutting feedrate. Eight binary code signals
correspond to override values as follows:
7
Override value = Σ | 2i×Vi | %
i=0

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%.

513
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

[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.
The override is regarded as 100%, regardless of this signal, in the
following cases:
⋅Override cancel signal OVC is “1”.
⋅During cutting in tap cycle of canned cycle.

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

[Data type] Bit

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

#7 #6 #5 #4 #3 #2 #1 #0
3002 IOV

IOV Specifies which logic type (negative or positive logic) to use for the
feedrate and rapid traverse rate signals, as follows:
0 : Negative logic
1 : Positive logic

Reference item
OPERATOR’S MANUAL II.5.3 Cutting feed
(B–63174EN)

514
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.1.5.3
Override cancel

General The override cancel signal fixes the feedrate override to 100%.

Signal

Override cancel signal

OVC <G006#4>
[Classification] Input signal
[Function] Feedrate override is fixed to 100%.
[Operation] When the signal is “1”, the CNC operates as follows:
⋅ Feedrate override is fixed to 100% irrespective of feedrate override
signal.
⋅ Rapid traverse override and spindle speed override are not affected.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G006 OVC

515
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.1.6
Feed Stop Function

General 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 positioning deviation for each axis

[Data type] Two–word axis

[Unit of data] Detection unit
[Valid data range] 0 to 99999999
Set the feed stop positioning deviation for each axis.
If the positioning deviation exceeds the feed stop positioning deviation
during movement, pulse distribution and acceleration/deceleration
control are stopped temporarily. When the positioning deviation drops to
the feed stop positioning deviation or below, pulse distribution and
acceleration/deceleration control are resumed.
The feed stop function is used to reduce overshoot in acceleration/decel-
eration mainly by large servo motor.
Setting the parameter with 0 disables the function.
To use the function, generally set a mid–value between the positioning
deviation limit during motion and the positioning deviation at rapid
traverse as the feed stop positioning deviation.

516
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.1.7
Advanced Preview
Feed–Forward Control

General This function is designed for high–speed and high–precision axis motion.
With this function, the delay due to acceleration/deceleration and the
delay in the servo system which increase as the feedrate becomes higher
can be suppressed.
The tool can then follow specified values accurately and the errors of tool
path can be reduced.
This function becomes effective when advanced preview feed–forward
control mode is entered by G08P1 command.

D Available function In advanced preview feed–forward control mode, the ”linear acceleration/
deceleration before interpolation for cutting feed” becomes automatically
effective. For details on the function, see another section.

Signal

Advanced preview
feed–forward control
mode signal
G08MD<F066#0>
[Classification] Output signal
[Function] Informs it is in the advanced preview feed–forward control mode
[Output condition] The signal is ”1” in the following case:
⋅ It is in the advanced preview feed–forward control mode.
The signal is ”0” in the following case:
⋅ It is not in the advanced preview feed–forward control mode.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F066 G08MD

517
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Parameter
1431 Maximum cutting feedrate for all axes in the advanced preview feed–forward
control mode

[Data type] Two–word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 0 – 240000 0 – 100000
Inch machine 0.1 inch/min 0 – 96000 0 – 48000
Rotation axis 1 deg/min 0 – 240000 0 – 100000

Specify the maximum cutting feedrate for all axes in the advanced
preview feed–forward control mode.
A feedrate in the tangential direction is clamped in cutting feed so that it
does not exceed the feedrate specified in this parameter.

WARNING
In a mode other than the advanced preview feed–forward
control mode, the maximum cutting feedrate specified in
parameter No.1422 or No.1430 is applied and the feedrate
is clamped at the maximum feedrate.

NOTE
To specify the maximum cutting feedrate for each axis, use
parameter No.1432 instead.

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

[Data type] Two–word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 0 – 240000 0 – 100000
Inch machine 0.1 inch/min 0 – 96000 0 – 48000
Rotation axis 1 deg/min 0 – 240000 0 – 100000

Specify the maximum cutting feedrate for each axis in the advanced
preview feed–forward control mode.
A feedrate for each axis is clamped during cutting feed so that it does not
exceed the maximum cutting feedrate specified for each axis.

WARNING
In a mode other than the advanced preview feed–forward
control mode, the maximum cutting feedrate specified in
parameter No.1422 or No.1430 is applied and the feedrate
is clamped at the maximum feedrate.

518
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

NOTE
1 This parameter is effective only in linear and circular
interpolation. In polar coordinate, the maximum feedrate for
all axes specified in parameter No.1431 is effective.
2 If a setting for each axis is 0, the maximum feedrate
specified in parameter No.1431 is applied to all axes and the
feedrate is clamped at the maximum feedrate.

#7 #6 #5 #4 #3 #2 #1 #0
1602 LS2 FWB

[Data type] Bit

FWB Cutting feed acceleration/deceleration before interpolation
0 : Type A of acceleration/deceleration before interpolation is used.
1 : Type B of acceleration/deceleration before interpolation is used.
Type A: When a feedrate is changed by a command,
acceleration/deceleration starts after the program enters the
block in which the command is specified.
Type B: When a feedrate is changed by a command, deceleration starts
and terminates at the block before the block in which the
command is specified.
When a feedrate is changed by a command, acceleration starts
after the program enters the block in which the command is
specified.

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

Feedrate Specified feedrate Feedrate Specified feedrate

Feedrate after acceleration/ Feedrate after acceleration/

deceleration before deceleration before
Point 1 interpolation is applied interpolation is applied
F3 F3
Type A

F2 F2
Type B

F1 F1
N1 N2 Time N1 N2 Time
To change the feedrate from F3 to F2, it is necessary to start reducing the feedrate at point 1.

LS2 Acceleration/deceleration after interpolation for cutting feed in the

advanced preview feed–forward control mode is:
0 : Exponential acceleration/deceleration
1 : Linear acceleration/deceleration (The function for linear
acceleration/deceleration after interpolation for cutting feed is
required.)

519
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

1762 Exponential acceleration/deceleration time constant for cutting feedin the advanced
preview feed–forward control mode

[Data type] Word axis

[Unit of data] 1ms
[Valid data range] 0 to 4000
Set an exponential acceleration/deceleration time constant for cutting
feed in the advanced preview feed–forward control mode.

1763 Minimum speed in exponential acceleration/deceleration for cutting feedin the

advanced preview feed–forward control mode

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 15000 6 – 12000
Inch machine 0.1 inch/min 6 – 6000 6 – 4800
Rotation axis 1 deg/min 6 – 15000 6 – 12000

Set a minimum speed (FL) in exponential acceleration/deceleration for

cutting feed in the advanced preview feed–forward control mode.

1768 Time constant for linear acceleration/deceleration during cutting feedin the
advanced preview feed–forward control mode

[Data type] Word

[Unit of data] ms
[Valid data range] 8 to 512
This parameter sets a time constant for linear acceleration/deceleration for
cutting feed in the advanced preview feed–forward control mode.

1770 Parameter 1 for setting an acceleration for linear acceleration/decelerationbefore

interpolation in the advanced preview feed–forward control mode(maximum cutting
speed during linear acceleration/deceleration before interpolation)

[Data type] Two–word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 9600 6 – 48000

This parameter is used to set an acceleration for linear acceleration/

deceleration before interpolation in the advanced preview feed–forward
control mode. In this parameter, set the maximum cutting speed during
linear acceleration/deceleration before interpolation. Set the time used to
reach the maximum cutting speed in parameter No.1771.

520
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Speed

Parameter 1
(No.1770)

Time
Parameter 2 (No.1771)

NOTE
When 0 is set in parameter No.1770 or parameter No.1771,
linear acceleration/deceleration before interpolation is
disabled.

1771 Parameter 2 for setting an acceleration for linear acceleration/decelerationbefore inter-

polation in the advanced preview feed–forward control mode (time used to reach the-
maximum cutting speed during linear acceleration/deceleration before interpolation)

[Data type] Word

[Unit of data] 1ms
[Valid data range] 0 to 4000
This parameter is used to set an acceleration for linear
acceleration/deceleration before interpolation in the advanced preview
feed–forward control mode. In this parameter, set the time (time constant)
used to reach the speed set in parameter No.1770.

NOTE
1 When 0 is set in parameter No.1770 or parameter No.1771,
linear acceleration/deceleration before interpolation is
disabled.
2 In parameters No.1770 and No.1771, set values that satisfy
the following: (Parameter No.1770)/(Parameter No.1771)
w5

1784 Speed when overtravel alarm has generated during acceleration/decelerationbefore

interpolation

[Data type] Word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 15000 6 – 12000
Inch machine 0.1 inch/min 6 – 6000 6 – 4800

521
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Deceleration is started beforehand to reach the feedrate set in the

parameter when an overtravel alarm is generated (when an axis reaches a
limit) during linear acceleration/deceleration before interpolation. By
using this parameter, the overrun distance that occurs when an overtravel
alarm is output can be reduced.

WARNING
The control described above is applicable only to stored
stroke check 1.

NOTE
1 When 0 is set in this parameter, the control described above
is not executed.
2 Use type–B linear acceleration/deceleration before
interpolation (by setting bit 0 (FWB) of parameter No.1602
to 1).

Parameters for advanced (Parameters for the cutting feed acceleration/deceleration before
preview feed–forward interpolation)
control mode and normal
Parameter No.
mode
Parameter description Advanced preview
Normal mode feed–forwardcontrol
mode

Acceleration/deceleration
FWB(1602#0) FWB(1602#0)
type ( type A / type B )

Acceleration (Parameter 1) 1630 1770

Acceleration (Parameter 2) 1631 1771

Speed when overtravel

1784 1784
alarm has generated

Alarm and message

Number Message Description

109 FORMAT ERROR IN G08 A value other than 0 or 1 was speci-

fied to P in the G08 code, or no value
was specified.

522
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Note

NOTE
1 In the advanced preview feed–forward control mode, the
functions listed below cannot be specified. To specify these
functions, it is necessary to cancel the advanced preview
feed–forward control mode. After the desired function is
completed, then set advanced preview feed–forward
control mode again.
S Rigid tapping function S Feed per revolution
S Handle interruption S Simple synchronous control
S Polar coordinate interpolation function S Feed stop
S High–speed skip function
S Constant surface speed control
S Interrupt type custom macro
S Small–hole peck drilling cycle
S G28 (low–speed reference position return)
S Skip cutting S Electronic CAM
2 Advanced preview feed–forward control is not available in
the high response mode.
3 In addition to the parameters described here, the
parameters about servo motor should be set. For details,
refer to the parameter manual about servo motor.

Reference item
OPERATOR’S MANUAL II.16.4 Advanced preview feed–forward
(B–63174EN) control (G08)

FANUC AC SERVO Advanced preview feed–forward

MOTOR αi/βi series function
PARAMETER MANUAL
(B–65270EN)

523
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.1.8
Positioning by Optimal
Acceleration

Function description When rapid traverse is specified in a block during automatic operation,
positioning by optimal acceleration can change the rapid traverse rate,
time constant, and loop gain according to the distance traveled by the
block. So, it is possible to shorten the time required to perform
positioning and in–position check; hence a shortened cycle time. This
function is optional.

Explanation:
Generally, a motor speed–torque Torque
characteristic is as shown at the right.
The torque is low when the motor
speed is high. Moving the axis at high
speed, therefore, requires using a
large time constant. To the contrary,
moving the axis at low speed enables
a high torque to be generated, and Speed
therefore, it is possible to use a small
time constant. (Reducing the time
constant can shorten the time required
to perform positioning.)
Conventionally, it has been impossible to specify more than
one rapid traverse rate or time constant. Using this new
function, however, enables more than one rapid traverse rate
to be set up. It also makes it possible to set up as short a time
constant as possible within the torque range available with the
specified rapid traverse rate. With the new function, therefore,
it is possible to shorten the cycle time.

If rapid traverse is specified in a block during automatic operation, the

rapid traverse rate, time constant, and loop gain are changed according to
the distance traveled by the block. If the distance at which the
change–over takes place (changing distance) is specified in common to
all axes, they can be changed at up to seven stages. If it is specified for
each axis separately, they can be changed at up to four stages. The
relationships between the distance to be traveled and the corresponding
rapid traverse rate, time constant, or loop gain can be specified using
parameters.
This function is unusable for cutting feed.

524
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Example: [Specifying the changing distance in common to all axes and

changing the feedrate at seven stages]
Assume the changing distance is set up as state below, using
parameters. (This example assumes only the feedrate is to
be changed, for sake of simplicity. In practice, the time
constant and servo loop gain can also be changed.)
Distance D1 to stage 1 = 150 mm, rapid traverse rate at stage
1 = 100 mm/min
Distance D2 to stage 2 = 250 mm, rapid traverse rate at stage
2 = 200 mm/min
Distance D3 to stage 3 = 350 mm, rapid traverse rate at stage
3 = 300 mm/min
Distance D4 to stage 4 = 450 mm, rapid traverse rate at stage
4 = 400 mm/min
Distance D5 to stage 5 = 550 mm, rapid traverse rate at stage
5 = 500 mm/min
Distance D6 to stage 6 = 650 mm, rapid traverse rate at stage
6 = 600 mm/min
Rapid traverse rate at stage 7 = 700 mm/min
Programs to be executed
N10 G00 G91 X100.;
N20 G00 G91 X200.;
N30 G00 G91 X300.;
N40 G00 G91 X400.;
N50 G00 G91 X500.;
N60 G00 G91 X600.;
N70 G00 G91 X700.;
Execution result

Feedrate
Block
N70
700 Block
N60
600 Block
N50
500 Block
N40
400 Block
N30
300 Block
N20
200 Block
N10
100

Time

D Valid commands This function is valid not only for the G00 command but also for all
operations that involve rapid traverse during automatic operation, such as
canned cycle (for the Power Mate i–D only) and automatic reference
position return.
If an attempt is made to specify the automatic reference position return
(G28) when no origin has been established, however, this function
becomes invalid, and the feedrate, time constant, and loop gain specified,
respectively, in parameter Nos. 1420, 1620, and 1825 are used.

525
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

D Cutting feed This function is invalid for cutting feed. (In this case, the loop gain
specified in parameter No. 1825 is used.)

D Manual operation This function is invalid for manual operation.

D Manual intervention If rapid traverse is suspended by feed hold or mode change–over during
automatic operation and then intervened manually, the loop gain is
changed to the value set in parameter No. 1825. When the program is
restarted, the rest of the suspended block is executed with the loop gain
used in manual operation. One of the values specified in parameters Nos.
6181 to 6187 becomes valid in the subsequent blocks.

D PMC axis control Specifying bit 1 of parameter No. 6131 (EOA) = 1 enables this function
for motion under PMC axis control. It is unusable for an improved
version of PMC axis control, however. (Specify bit 7 of parameter No.
8003 = 0.)

D Rapid traverse overlap When this function is enabled, rapid traverse overlap (bit 4 of parameter
No. 1601 (RTO)) is enabled only if the same axis is not specified in two
blocks.
Example)
With the following commands, overlap takes place.
G00 G91 X10.;
Z10.;

Feedrate
X Y

Time

(The figure applies when parameter No. 1722 (overlap deceleration ratio)
= 100)
With the following commands, in which the same axis is specified in two
blocks, no overlap takes place.
G00 G91 X10.;
X10.;

Feedrate
X X

Time

526
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

D Rapid traverse When using rapid traverse bell–shaped acceleration/deceleration, switch

bell–shaped the feedrate between T1 and T2 shown in the following figure.
acceleration/deceleration

Rapid
traverse
rate

T2/2 T1 T2/2 Time

D Simple synchronous When using this function together with simple synchronous control,
control enable the function for both master and slave axes (bit 0 of parameter No.
6131 (OADE) = 1) and set each of the feedrate, time constant, and loop
gain to the same value for both master and slave axes.

D Linear interpolation–type The feedrate rate, time constant, and loop gain are changed even when
rapid traverse linear interpolation–type rapid traverse is used (bit 1 of parameter No.
1401 (LRP) = 1). However, it is not necessarily true that each axis moves
at the feedrate specified in parameters (Nos. 6161 to 6167), because the
feedrate of each axis is determined in such a way that the motion path
becomes linear.

D High response function This function is disabled during the execution of the high response
function.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6131 EOA OAD

[Data type] Bit axis

OAD Specifies whether to enable or disable positioning by optimal
acceleration, as follows:
0 : To disable
1 : To enable
EOA Specifies whether to enable or disable positioning by optimal acceleration
for motion under PMC axis control, as follows:
0 : To disable
1 : To enable
(Note 1) It is also necessary to set the OAD parameter to ”1”.
(Note 2) Positioning by optimal acceleration is enabled regardless of
what the setting of bit 0 (RPD) of parameter No. 8002 is.

527
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

NOTE
If this parameter is re–set, it is necessary to turn the power
off and on again.

#7 #6 #5 #4 #3 #2 #1 #0
6132 ILG

[Data type] Bit

ILG Specifies whether to change the loop gain for positioning by optimal
acceleration, as follows:
0 : To change (parameter Nos. 6181 to 6187 are used.)
1 : Not to change (parameter No. 1825 is used.)

6136 Distance D1 to stage 1

6137 Distance D2 to stage 2

6138 Distance D3 to stage 3

[Data type] 2–word axis

[Unit of data] Increment system IS-A IS-B IS-C Unit
Metric machine 0.001 0.001 0.0001 mm
Inch machine 0.001 0.001 0.00001 inch
Rotary axis 0.01 0.001 0.0001 deg

[Valid data range] 0 to 99999999

These parameters specify the positioning distances to be used when
positioning by optimal acceleration is used.
(Axis–specific setting)
(Note 1) The settings must satisfy the condition: D1 < D2 < D3
(Note 2) Change–over is possible at up to four stages. When only three
stages are used, however, specify D3 = 99999999.
(Note 3) These parameters take precedence even if parameters Nos. 6141
to 6156 have also been set with values.

6141 Distance D1 to stage 1 (metric input or rotary axis)

6142 Distance D2 to stage 2 (metric input or rotary axis)

6143 Distance D3 to stage 3 (metric input or rotary axis)

6144 Distance D4 to stage 4 (metric input or rotary axis)

6145 Distance D5 to stage 5 (metric input or rotary axis)

6146 Distance D6 to stage 6 (metric input or rotary axis)

528
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

6151 Distance D1 to stage 1 (inch input)

6152 Distance D2 to stage 2 (inch input)

6153 Distance D3 to stage 3 (inch input)

6154 Distance D4 to stage 4 (inch input)

6155 Distance D5 to stage 5 (inch input)

6156 Distance D6 to stage 6 (inch input)

[Data type] 2–word axis

[Unit of data] Increment system IS-A IS-B IS-C Unit
Metric input or 0.01 0.001 0.0001 mm, deg
rotary axis
Inch input 0.001 0.0001 0.00001 inch

[Valid data range] 0 to 99999999

These parameters specify the positioning distances to be used when
positioning by optimal acceleration is used.
(Setting common to all axes)
(Note 1) The settings must satisfy the condition: D1 < D2 < D3 < D4 <
D5 < D6
(Note 2) Change–over is possible at up to seven stages. When only four
stages are used, however, specify D4 = 99999999.
(Note 3) These parameters specify distances rather than block lengths for
individual axes. If the command ”G00 X10. Z10.;” is issued,
for example, the block length will be 14.142 mm. However,
decision on the distance is made by comparing 10.000 mm,
which is a value specified for an individual axis, with each of
the settings of these parameters.

6161 Rapid traverse rate for stage 1

6162 Rapid traverse rate for stage 2

6163 Rapid traverse rate for stage 3

6164 Rapid traverse rate for stage 4

6165 Rapid traverse rate for stage 5

6166 Rapid traverse rate for stage 6

6167 Rapid traverse rate for stage 7

[Data type] 2–word axis

[Unit of data] Increment system Unit of data Valid data range

[Valid data range] Metric machine 1 mm/min 30 – 240000

Inch machine 0.1 inch/min 30 – 96000

These parameters specify a rapid traverse rate for individual axes.

529
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

6171 Rapid traverse time constant for stage 1

6172 Rapid traverse time constant for stage 2

6173 Rapid traverse time constant for stage 3

6174 Rapid traverse time constant for stage 4

6175 Rapid traverse time constant for stage 5

6176 Rapid traverse time constant for stage 6

6177 Rapid traverse time constant for stage 7

[Data type] Word axis

[Unit of data] ms
[Valid data range] 8 to 4000
These parameters specify a rapid traverse time constant for individual
axes.

6181 Servo loop gain for stage 1

6182 Servo loop gain for stage 2

6183 Servo loop gain for stage 3

6184 Servo loop gain for stage 4

6185 Servo loop gain for stage 5

6186 Servo loop gain for stage 6

6187 Servo loop gain for stage 7

[Data type] Word axis

[Unit of data] 0.01 s–1
[Valid data range] 1 to 9999
These parameters specify a servo loop gain for individual axes.
If any of these parameters is set with 0, a value set in parameter No. 1825
is used for the servo loop gain of the corresponding axis.

530
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

6191 Rapid traverse bell–shaped acceleration/deceleration time constant T2 for stage 1

6192 Rapid traverse bell–shaped acceleration/deceleration time constant T2 for stage 2

6193 Rapid traverse bell–shaped acceleration/deceleration time constant T2 for stage 3

6194 Rapid traverse bell–shaped acceleration/deceleration time constant T2 for stage 4

6195 Rapid traverse bell–shaped acceleration/deceleration time constant T2 for stage 5

6196 Rapid traverse bell–shaped acceleration/deceleration time constant T2 for stage 6

6197 Rapid traverse bell–shaped acceleration/deceleration time constant T2 for stage 7

[Data type] Word axis

[Unit of data] ms
[Valid data range] 8 to 512
These parameters specify rapid traverse bell–shaped acceleration/
deceleration time constant T2 for individual axes.
Correspondence between positioning distances and parameter numbers
a. If parameters Nos. 6136 to 6138 are set with 0
(As for the servo loop gain, however, parameter No. 1825 is used
provided that bit 0 of parameter No. 6132 (ILG) = 1.)
Rapid Rapid
Positioning Rapid traverse traverse
Servo
Stage distance traverse time time
loop gain
d rate constant constant
T1 T2

1 0<dxD1 6161 6171 6191 6181

2 D1<dxD2 6162 6172 6192 6182

3 D2<dxD3 6163 6173 6193 6183

4 D3<dxD4 6164 6174 6194 6184

5 D4<dxD5 6165 6175 6195 6185

6 D5<dxD6 6166 6176 6196 6186

7 D6<d 6167 6177 6197 6187

(D1 to D6 are the values, respectively, of parameter Nos. 6141 to 6146

or parameter Nos. 6151 to 6156.)

531
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

b. If parameter Nos. 6136 to 6138 are set with nonzero values

(As for the servo loop gain, however, parameter No. 1825 is used
provided that bit 0 of parameter No. 6132 (ILG) = 1.)
Rapid Rapid
Positioning Rapid traverse traverse
Servo
Stage distance traverse time time
loop gain
d rate constant constant
T1 T2

1 0<dxD1 6161 6171 6191 6181

2 D1<dxD2 6162 6172 6192 6182

3 D2<dxD3 6163 6173 6193 6183

4 D3<d 6164 6174 6194 6184

(D1 to D3 are the values, respectively, of parameters Nos. 6136 to 6138.)

WARNING
Never re–set these parameters (as well as the other
parameters) during axis motion. Re–setting parameter No.
1825, in particular, during axis motion cause the servo loop
gain to be changed to a value specified in parameter No.
1825, leading to a mechanical shock to the machine, even
when positioning by optimal acceleration is enabled.
Re–setting other parameters may also cause the feedrate
to be changed momentarily, leading to a mechanical shock
to the machine.

532
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.2
ACCELERATION/
DECELERATION
CONTROL

7.2.1
Automatic
Acceleration/
Deceleration

General

D Automatic acceleration/ To prevent a mechanical shock, acceleration/deceleration is automatically

deceleration applied when the tool starts and ends its movement (Fig. 7.2.1).

Rapid traverse rate

FR FR : Rapid traverse rate

T R : Acceleration/
deceleration time
constant for rapid
traverse rate

0 Time

TR TR

Cutting feedrate

FC FC : Cutting feedrate
T C : Acceleration/
deceleration time
constant for a cutting
feedrate

0 Time

TC TC

Fig. 7.2.1 Automatic acceleration/deceleration (example)

Acceleration and deceleration is performed when starting and ending

movement, resulting in smooth start and stop.
Automatic acceleration/deceleration is also performed when feedrate
changes, so change in speed is also smoothly done.
It is not necessary to take acceleration/deceleration into consideration
when programming.
Rapid traverse:Linear acceleration/deceleration (time constant per axis is
set by parameter No. 1620)

533
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Cutting feed: Exponential acceleration/deceleration (time constant per

axis is set by parameter No. 1622)
Jog feed : Exponential acceleration/deceleration (time constant per
axis is set by parameter No. 1624)
Rate after interpolation Rate after acceleration/deceleration
Servo motor

Acceleration/
deceleraton Servo control
Pulse control
CNC distribution
command (interpolation) Acceleraton/
deceleration Servo control
control

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1610 JGLx CTBx CTLx

[Data type] Bit axis

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

NOTE
To use bell–shaped acceleration/deceleration after
interpolation, set this parameter to 0 and select the
acceleration/deceleration using CTBx, bit 1 of parameter
No. 1610.

Parameter
Acceleration/deceleration
CTBx CTLx
0 0 Exponential acceleration/deceleration

0 1 Linear acceleration/deceleration after

interpolation

1 0 Bell–shaped acceleration/decelera-
tion after interpolation

CTBx Acceleration/deceleration in cutting feed including feed in dry run

0 : Exponential acceleration/deceleration or linear acceleration/decel-
eration after interpolation is applied (depending on the setting in
CTLx, bit 0 of parameter No. 1610).
1 : Bell–shaped acceleration/deceleration after interpolation is applied.
JGLx Acceleration/deceleration in manual continuous feed (jog feed)
0 : Exponential acceleration/deceleration is applied.
1 : Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation is applied (depending on
which is used for cutting feed).

534
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

1620 Time constant used for linear acceleration/deceleration in rapid traverse for each
axis or time constant T1 used for bell–shaped acceleration/deceleration in rapid
traverse for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000
Specify a time constant used for acceleration/deceleration in rapid tra-
verse.
(1) In the case of ”linear acceleration/deceleration in rapid traverse”
When this function is provided, set this parameter to time constant
used in linear acceleration/deceleration, and set parameter No. 1621
to 0.
(2) In the case of ”bell–shaped acceleration/deceleration in rapid
traverse”
When this function is provided, set this parameter to time constant T1
used in bell–shaped acceleration/deceleration, and set parameter No.
1621 to time constant T2.

1622 Time constant of exponential acceleration/deceleration or linear acceleration/

deceleration after interpolation or bell–shaped acceleration/deceleration
after interpolation, in cutting feed for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] Exponential acceleration/deceleration
0 to 4000
Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation
S If no time constant expansion is used
0 to 8000
S If time constant expansion is used (see Subsection 7.2.9, ”Expansion
of Time Constant”)
Number of controlled axes Setting range

1 to 2 0 – 32000

3 to 4 0 – 16000

5 to 8 0 – 8000

Set the time constant used for exponential acceleration/deceleration,

bell–shaped acceleration/deceleration after interpolation, or liner
acceleration/deceleration after interpolation in cutting feed for each axis
separately. Set the same time constant for all axes except for special
applications. Otherwise, it is impossible to obtain proper straight lines
or arcs.

535
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

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

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 0, 6 – 15000 0, 6 – 12000
Inch machine 0.1 inch/min 0, 6 – 6000 0, 6 – 4800
Rotaion axis 1 deg/min 0, 6 – 15000 0, 6 – 12000

Set the lower limit (FL rate) of exponential acceleration/deceleration in

cutting feed for each axis. Except for special applications, this parameter
must be set to 0 for all axes. If a value other than 0 is specified, proper
straight lines and arcs cannot be obtained.

1624 Time constant of exponential acceleration/deceleration, bell–shaped acceleration/

deceleration after interpolation or linear acceleration/deceleration
after interpolation, in jog feed for each axis.

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000 (For exponential acceleration / deceleration)
0 to 8192 (For linear acceleration / deceleration after interpolation or
bell–shaped acceleration/deceleration after interpolation)
Set the time constant used for exponential acceleration/deceleration,
bell–shaped acceleration/deceleration after interpolation or linear
acceleration/deceleration after interpolation in jog feed for each axis.
The type of acceleration/deceleration is determined depending on the
setting in parameter No. 1610.

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

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 15000 6 – 12000
Inch machine 0.1 inch/min 6 – 6000 6 – 4800
Rotaion axis 1 deg/min 6 – 15000 6 – 12000

Set the lower limit (FL rate) of exponential acceleration/deceleration in

jog feed for each axis.

536
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

1722 Rapid traverse feedrate reduction ratio for overlapping rapid traverse blocks

[Data type] Byte axis

[Unit of data] %
[Valid data range] 0 to 100
This parameter is used when rapid traverse blocks are arranged
successively, or when a rapid traverse block is followed by a block that
does not cause movement. When the feedrate for each axis of a block is
reduced to the ratio set in this parameter, the execution of the next block is
started.

NOTE
The parameter No. 1722 is effective when parameter No.
1601 #4 (RTO) is set to 1.

Example
Fh: Rapid traverse feedrate
X–axis feedrate α: Setting of parameter No. 1722 (feedrate reduction ratio)
Fd: Feedrate where deceleration is terminated: = Fh×α/ 100

N1 G00 X- - ; N2 G00 X- - ;

When the function of overlapping rapid traverse

blocks is enabled
Fh
When the function of overlapping rapid traverse
Fd blocks is disabled
t

537
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.2.2
Rapid Traverse
Bell–shaped
Acceleration/
Deceleration
General Rapid traverse bell–shaped acceleration/deceleration smoothly increases
or decreases the rapid traverse rate, reducing the stress and strain imposed
on the machine due to the variation in the acceleration with changes in the
feedrate. As the time constant for bell–shaped acceleration/deceleration
can be smaller than that for linear acceleration/deceleration, the time
needed for acceleration/deceleration can be reduced.

<Rapid traverse linear acceleration/deceleration> <Rapid traverse bell–shaped acceleration/deceleration>

Feedrate Feedrate

0
Time Time

Acceleration Acceleration

0
Time Time

This function is enabled when the time constants for rapid traverse
bell–shaped acceleration/deceleration T1 and T2 are specified in
parameter Nos. 1620 and 1621, respectively.

538
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

<Rapid traverse linear acceleration/deceleration>

Speed

Rapid traverse rate

Time T: Time constant for linear

T acceleration/deceleration
T

<Rapid traverse bell shaped acceleration/deceleration>

Speed
Rapid
traverse rate T1: Set a time constant used for lin-
ear acceleration/deceleration
T2: Set a time for rounding.
Total time=T1 + T2
Time for linear=T1 – T2
Time for rounding part=T2

TIme
T2/2 T1 T2/2
T2

Set a time when rapid traverse override is 100% . When it is less than
100%, the total time is reduced (constant acceleration method).
Value of T1 is determined from motor torque. Set a value of T2 to 24 ms
or 32 ms.

Parameter
1620 Time constant used for linear acceleration/deceleration in rapid traverse for each
axis or time constant T1 used for bell–shaped acceleration/deceleration in rapid
traverse for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000
Specify a time constant used for acceleration/deceleration in rapid tra-
verse.
(1) In the case of ”linear acceleration/deceleration in rapid traverse”
When this function is provided, set this parameter to time constant
used in linear acceleration/deceleration, and set parameter No. 1621
to 0.

539
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

(2) In the case of ”bell–shaped acceleration/deceleration in rapid

traverse”
When this function is provided, set this parameter to time constant T1
used in bell–shaped acceleration/deceleration, and set parameter No.
1621 to time constant T2.

1621 Time constant T2 used for bell–shaped acceleration/deceleration

in rapid traverse for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 512
Specify time constant T2 used for bell–shaped acceleration/deceleration
in rapid traverse for each axis.

NOTE
1 Set parameter No. 1620 to time constant T1 used for
bell–shaped acceleration/deceleration in rapid traverse,
and set this parameter to time constant T2.
For details of time constants T1 and T2, see the description
of General of this section.
2 When this parameter is set to 0, linear acceleration/
deceleration is applied in rapid traverse. The setting in
parameter No. 1620 is used as a time constant in linear
acceleration/deceleration.

Reference item
CONNECTION MANUAL 7.2.1 AutomaticAcceleration/Deceleration
(This manual)

540
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.2.3
Linear Acceleration/
Deceleration after
Cutting Feed
Interpolation

General If linear acceleration/deceleration after interpolation for cutting feed is

enabled (bit 0 of parameter No. 1610, CTL), acceleration/deceleration is
performed as follows:
Cutting feed: Linear acceleration/deceleration (constant acceleration
time)
Specify the acceleration/deceleration time constant for
each axis in parameter No. 1622.
Jog feed: Exponential or linear acceleration/deceleration (constant
acceleration time)
Specify the acceleration/deceleration time constant for
each axis in parameter No. 1624.

If an identical time constant is specified, linear acceleration/deceleration

can halve the delay relative to the programmed time, in comparison with
exponential acceleration/deceleration, thus reducing the time needed for
acceleration and deceleration. If circular interpolation is performed,
especially when high–speed cutting is being performed, the actual tool
path created after acceleration/deceleration will deviate from the
programmed arc in the radial direction. This deviation can also be
reduced, in comparison with exponential acceleration/deceleration, by
applying linear acceleration/deceleration.

Feedrate Feedrate

Acceleration/
⇒ deceleration ⇒
circuit

Time Time
t t
Feedrate Feedrate

Acceleration/
⇒ deceleration ⇒
circuit

Time Time
t t
t : Time
constant

541
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Linear acceleration/deceleration after cutting feed interpolation is

enabled when the CTL bit (bit 0 of parameter No. 1610) is specified. The
time constants for cutting feed and jog feed for each axis are specified in
parameter Nos. 1622 and 1624 respectively, in the same way as for
exponential acceleration/deceleration. The values specified for the FL
feedrate for cutting feed (parameter No. 1623) and the FL feedrate for jog
feed (parameter No. 1625) are ignored (always assumed to be 0).

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1610 JGLx CTLx

[Data type] Bit axis

CTLx Acceleration/deceleration in cutting feed including feed in dry run
0 : Exponential acceleration/deceleration is applied.
1 : Linear acceleration/deceleration after interpolation is applied.
Parameter
Acceleration/deceleration
CTBx CTLx

0 0 Exponential acceleration/deceleration

0 1 Linear acceleration/deceleration after interpolation

1 0 Bell–shaped acceleration/deceleration after interpolation

JGLx Acceleration/deceleration in jog feed

0 : Exponential acceleration/deceleration is applied.
1 : Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation is applied (depending on
which is used in cutting feed).

1622 Time constant of exponential acceleration/deceleration, linear acceleration/

deceleration after interpolation or bell–shaped acceleration/deceleration
after interpolation, in cutting feed for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] Exponential acceleration/deceleration
0 to 4000
Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation
S If no time constant expansion is used
0 to 8000
S If time constant expansion is used (see Subsection 7.2.9, ”Expansion
of Time Constant”)
Number of controlled axes Setting range

1 to 2 0 – 32000

3 to 4 0 – 16000

5 to 8 0 – 8000

542
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Set the time constant used for exponential acceleration/deceleration,

linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation in cutting feed for each axis.
Except for special applications, the same time constant must be set for all
axes in this parameter. If the time constants set for the axes differ from
each other, proper straight lines and arcs cannot be obtained.

1624 Time constant of exponential acceleration/deceleration, bell–shaped

acceleration/deceleration after interpolation or linear acceleration/
deceleration after interpolation, in jog feed for each axis.

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000 (For exponential acceleration/deceleration)
0 to 8192 (For linear acceleration/deceleration after interpolation or
bell–shaped acceleration/deceleration after interpolation)
Set the time constant used for exponential acceleration/deceleration, bell
shaped acceleration/deceleration after interpolation or linear
acceleration/deceleration after interpolation in jog feed for each axis.
The type of acceleration/deceleration is determined depending on the
setting in parameter No. 1610.

543
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Note

NOTE
1 If linear acceleration/deceleration after interpolation for
cutting feed is enabled, linear acceleration/deceleration is
executed during cutting feed and during a dry run. Linear
acceleration/deceleration can also be executed during jog
feed if the JGL bit (bit 4 of parameter No. 1610) is specified
accordingly.
2 In circular interpolation especially when circular cutting is
executed at high speed, the actual path of the accelerated
or decelerated tool deviates from the specified arc in the
direction of the radius.

Y
Dr Specified path
Dr :Maximum radius error (mm)
Actual path
v :Feedrate (mm/s)
r :Radius of arc (mm)
T1 :Acceleration/deceleration time constant (s)
r T2 :Time constant of servo loop (s)
(Reciprocal of position loop gain)
X

The maximum error in the radial direction (Dr) can be

approximated by the following expressions:

1 T 2+  v2
1 T 2)
Dr=( 1 2 …Exponential acceleration/deceleration
2 2 r

1 1 v2
Dr=( T12+  T22 )  …Linear acceleration/deceleration or bell
24 2 r
shaped acceleration /deceleration
after interpolation

If the error caused by the time constant of the servo loop is

excluded, the error cause by linear acceleration/
deceleration or bell shaped acceleration/deceleration after
interpolation is 1/12 of that caused by exponential
acceleration/deceleration.
3 Linear acceleration/deceleration can be executed both for
cutting feed and for jog feed along a PMC axis.
Acceleration/deceleration for cutting feed is executed even
if acceleration/deceleration for jog feed is selected. In jog
feed along the PMC axis, the time constant for cutting feed
is used instead of that for jog feed.

544
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.2.4
Bell–shaped
Acceleration/Deceleration
after Cutting Feed
Interpolation

General The bell–shaped acceleration/deceleration after cutting feed interpolation

provides smooth acceleration and deceleration to reduce stress and strain
on the machine. If this function is enabled (bit 1 of parameter No. 1610,
CTB), acceleration/deceleration is performed as follows:
Cutting feed: Bell–shaped acceleration/deceleration (constant accel-
eration time)
Specify the acceleration/deceleration time constant for
each axis in parameter No. 1622.
Jog feed: Exponential or bell–shaped acceleration/deceleration
(constant acceleration time)
Specify the acceleration/deceleration time constant for
each axis in parameter No. 1624.

Speed Speed Bell–shaped Acceleration/

Deceleration

Acceleration/
deceleration
function

Time Time

T T
T:Time Constant

Bell–shaped acceleration/deceleration after cutting feed interpolation is

enabled when the CTB bit (bit 1 of parameter No. 1610) is specified. The
time constants for cutting feed and for jog feed for each axis are specified
in parameter Nos. 1622 and 1624 respectively, in the same way as for
exponential acceleration/deceleration. The values specified for the FL
feedrate for cutting feed (parameter No. 1623) and the FL feedrate for jog
feed (parameter No. 1625) are ignored (always assumed to be 0).

545
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1610 JGLx CTBx CTLx

[Data type] Bit axis

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

NOTE
To use bell–shaped acceleration/deceleration after
interpolation, set this parameter to 0 and select the
acceleration/deceleration using CTBx, bit 1 of parameter
No. 1610.

Parameter
Acceleration/deceleration
CTBx CTLx

0 0 Exponential acceleration/deceleration

0 1 Linear acceleration/deceleration after interpolation

1 0 Bell–shaped acceleration/deceleration after interpolation

CTBx Acceleration/deceleration in cutting feed including feed in dry run

0 : Exponential acceleration/deceleration or linear acceleration/decel-
eration after interpolation is applied (depending on the setting in
CTLx, bit 0 of parameter No. 1610).
1 : Bell–shaped acceleration/deceleration after interpolation is applied.
JGLx Acceleration/deceleration in manual continuous feed (jog feed)
0 : Exponential acceleration/deceleration is applied.
1 : Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation is applied (depending on
which is used in cutting feed).

546
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

1622 Time constant of exponential acceleration/deceleration, linear acceleration/

deceleration after interpolation or bell–shaped acceleration/deceleration
after interpolation, in cutting feed for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] Exponential acceleration/deceleration
0 to 4000
Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation
S If no time constant expansion is used
0 to 8000
S If time constant expansion is used (see Subsection 7.2.9, ”Expansion
of Time Constant”)
Number of controlled axes Setting range

1 to 2 0 – 32000

3 to 4 0 – 16000

5 to 8 0 – 8000

Set the time constant used for exponential acceleration/deceleration,

linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation in cutting feed for each axis.
Except for special applications, the same time constant must be set for all
axes in this parameter. If the time constants set for the axes differ from
each other, proper straight lines and arcs cannot be obtained.

<Bell–shaped acceleration/deceleration after cutting feed interpolation>

Speed
Cutting
T : Total time. It is constant irrespective of
feedrate
feedrate. (Time constant is constant).
The curve corresponds to that T1 = T/2 and T2
= T/2 set in parameter No. 1620 and 1621.
No linear part exists.

Time
T

547
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

1624 Time constant of exponential acceleration/deceleration, bell–shaped

acceleration/deceleration after interpolation or linear acceleration/
deceleration after interpolation, in jog feed for each axis.

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000 (For exponential acceleration/deceleration)
0 to 8192 (For linear acceleration/deceleration after interpolation or
bell–shaped acceleration/deceleration after interpolation)
Set the time constant used for exponential acceleration/deceleration,
bell–shaped acceleration/deceleration after interpolation or linear
acceleration/deceleration after interpolation in jog feed for each axis.
The type of acceleration/deceleration is determinded depending on the
setting in parameter No. 1610.

Note

NOTE
1 Bell–shaped acceleration/deceleration is executed during
cutting feed and during a dry run. Bell–shaped
acceleration/deceleration can also be executed during jog
feed if the JGL bit (bit 4 of parameter No. 1610) is specified
accordingly.
2 In circular interpolation, the actual tool path after
acceleration/deceleration deviates from the programmed
arc in the radial direction. To overcome this radial deviation,
see the note on linear acceleration/deceleration after
interpolation for cutting feed in Subsection 7.2.3.
3 Bell–shaped acceleration/deceleration can be executed
both for cutting feed and for jog feed along a PMC axis. The
time constant for acceleration/deceleration for jog feed is
the same as that for cutting feed. In jog feed along the PMC
axis, the time constant for cutting feed is used instead of that
for jog feed.

548
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.2.5
Linear Acceleration/
Deceleration before
Cutting Feed
Interpolation

General A specified cutting feedrate can be linearly increased or decreased before

interpolation. This function eliminates machining profile errors caused
by the delay occurring in acceleration or deceleration. The time required
for acceleration or deceleration by this function is significantly shorter
than that by the function of exponential acceleration/deceleration.

CNC command Servo motor

Move data Pulse Servo control

distribution
Feedrate (interpolation) Servo control

F Linear accel-
eration/decel-
Feedrate eration before
command interpolation
F: Value of feedrate command
Speed
F

Time

The function of linear acceleration/deceleration before interpolation in-

creases or decreases the feedrate specified in the tangential direction.
If the feedrate command is changed
Acceleration/deceleration is started in the block in which a new
feedrate command is specified.
<Deceleration Example> <Acceleration Exapmle>

Command feedrate Command feedrate

Feedrate Feedrate
Feedrate after accel- Feedrate after accel-
eration/deceleration eration/deceleration
before interpolation before interpolation
F3 F3
A type

F2 F2

F1 Time F1 Time
N1 N2 N1 N2

With B type, to decelerate from F3 to F2,

deceleration must start with point P.

549
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

If an overtravel alarm occurs during linear acceleration/deceleration

before interpolation, the movement is decelerated and stopped. As
deceleration and stop are performed after the alarm occurs, the tool will
overrun by an amount equal to the distance required for the deceleration.
The actual overrun depends on the feedrate when the overtravel alarm
occurs.
The distance can be minimized by starting deceleration in advance, such
that the feedrate has fallen to the value specified in parameter No. 1784
when an overtravel alarm occurs. Because deceleration is executed such
that the feedrate at the time an overtravel alarm occurs does not exceed
the feedrate specified in the corresponding parameter, deceleration may
be completed earlier. After deceleration is completed, the feedrate
specified in the parameter is maintained.
Deceleration is performed when the following condition is
satisfied:
Distance needed to reduce the cur-
Distance to stored stroke limit 1 rent feedrate (tangential feedrate)
for each axis < to that specified in parameter No.
1784

The overrun is calculated as follows:

[FIX ( FOT T) ) 1.5] 2 F

F 8 T
Overrun x
1875
F : Maximum cutting feedrate in linear acceleration/deceleration before
interpolation (parameter No. 1630)
T : Time needed to attain the maximum cutting feedrate in linear
acceleration/deceleration before interpolation (parameter No. 1631)
FOT: Feedrate at the time an overtravel alarm occurs during linear accel-
eration/deceleration before interpolation (parameter No. 1784)
FIX: Any fractional part is truncated.

Parameter
1630 Parameter 1 for setting an acceleration for linear acceleration/deceleration
before interpolation (maximum machining feedrate during linear
acceleration/decelerationbeforeinterpolation)

[Data type] Two–word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 240000 6 – 100000
Inch machine 0.1 inch/min 6 – 96000 6 – 48000

This parameter is used to set an acceleration for linear acceleration/decel-

eration before interpolation. In this parameter, set a maximum machining
feedrate during linear acceleration/deceleration before interpolation. In

550
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

parameter No. 1631, set a time used to reach the maximum machining fee-
drate.

Feedrate

Parameter 1: Parameter No. 1630

Parameter 1 Parameter 2: Parameter No. 1631

Time
Parameter 2

NOTE
When 0 is set in parameter No. 1630 or parameter No. 1631,
linear acceleration/deceleration before interpolation is
disabled.

1631 Parameter 2 for setting an acceleration for linear acceleration/deceleration

before interpolation (time used to reach the maximum machining feedrate
during linear acceleration/deceleration before interpolation.)

[Data type] Word

[Unit of data] 1 ms
[Valid data range] 0 to 4000
This parameter is used to set an acceleration for linear acceleration/decel-
eration before interpolation. In this parameter, set the time (time constant)
used to reach the feedrate set in parameter No. 1630.

NOTE
1 When 0 is set in parameter No. 1630 or parameter No. 1631,
linear acceleration/deceleration before interpolation is
disabled.
2 In parameter Nos. 1630 and 1631, set values that satisfy the
following:
Parameter No. 1630
y5
Parameter No. 1631

551
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

1784 Feedrate when overtravel alarm has generated during

acceleration/decelerationbeforeinterpolation

[Data type] Word

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 – 15000 6 – 12000
Inch machine 0.1 inch/min 6 – 6000 6 – 4800

Deceleration is started beforehand to reach the feedrate set in the

parameter when an overtravel alarm is issued (when a limit is reached)
during linear acceleration/deceleration before interpolation. By using
this parameter, the overrun distance that occurs when an overtravel alarm
is output can be reduced.

WARNING
The control described above is applicable only to stored
stroke limit 1.

NOTE
1 When 0 is set in this parameter, the control described above
is not exercised.
2 Use type–B linear acceleration/deceleration before
interpolation (by setting bit 0 (FWB) of parameter No. 1602
to 1).

552
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Note
NOTE
1 If a block without a move command is found during
acceleration/deceleration before interpolation, the
movement is decelerated and temporarily stopped in the
previous block.
2 If a one–shot G code is specified during acceleration/
deceleration before interpolation, the movement is
decelerated and temporarily stopped in the previous block.
3 If an M, S, or T code is specified in a block containing a move
command during acceleration/deceleration before
interpolation, the movement is decelerated and temporarily
stopped in that block.
4 Even during acceleration/deceleration before interpolation,
the block of G31 (skip function) is not subjected to
acceleration/deceleration.
5 Even during acceleration/deceleration before interpolation,
acceleration/deceleration after interpolation can be
executed. So that acceleration/deceleration is executed
only before interpolation, set the time constant for
acceleration/deceleration after interpolation to zero.

553
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.2.6
Corner Control

7.2.6.1
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. 1826).

Signal

In–position signals
INP1 to INP8 <F104>
[Classification] Output signal
[Function] These signals indicate that the control axes are set to the in-position
condition.
They are provided for each control axis, and the number in the signal name
corresponds to the control axis number.

I N P 1
1 . . . . In–position signal for the 1st axis

2 . . . . In–position signal for the 2nd axis

3 . . . . In–position signal for the 3rd axis

: :

: :

[Output condition] These signals turn to “1” in the following case :

⋅ The servo error is within the specified allowance.
These signals turn to “0” in the following cases :
⋅ The servo error of the corresponding control axis exceeds the specified
allowance

554
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Signal address
.
#7 #6 #5 #4 #3 #2 #1 #0
F104 INP8 INP7 INP6 INP5 INP4 INP3 INP2 INP1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1601 NCI

[Data type] Bit

NCI In–position check at deceleration
0 : Performed
1 : Not performed

1826 In–position width for each axis

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
The in–position width is set for each axis.
When the deviation of the machine position from the specified position
(the absolute value of the positioning deviation) is smaller than the
in–position width, the machine is assumed to have reached the specified
position.

Note

NOTE
1 The in–position signals may turn to “1” even during the
movement if the axis is fed at very low speed.
2 The in–position check function is enabled, at the interface
between two cutting blocks, in the following cases:
When the exact stop command (G09) is specified

7.2.6.2
In–position check
independently of
feed/rapid traverse

General If separate in–position check for cutting feed and rapid traverse is
executed, a small in–position check range can be specified between those
cutting feed blocks that require a high degree of precision. A large
in–position check range can be specified between those rapid traverse
blocks that require quick positioning.

555
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Signal See Subsection 7.2.6.1.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1601 NCI

[Data type] Bit

NCI Inposition check at deceleration
0 : Performed
1 : Not performed

#7 #6 #5 #4 #3 #2 #1 #0
1801 CIN CCI

[Data type] Bit

CCI The in–position area for cutting feed is:
0 : Set in parameter No. 1826 (same as for rapid traverse).
1 : Set in bit 5 (CIN) of parameter No. 1801.
CIN When bit 4 (CCI) of parameter No. 1801 = 1, the in–position area for
cutting feed is:
0 : Use value in parameter No. 1827 if the next block is also for cutting
feed, or use value in parameter No. 1826 if the next block is for rapid
traverse.
1 : Use value in parameter No. 1827, regardless of the next block. (The
setting of parameter No. 1826 is used for rapid traverse, and the
setting of parameter No. 1827 is used for cutting feed.)
Parameter CIN (No. 1801#5)

0 1

Rapid→Rapid No. 1826 Rapid→Rapid No. 1826

Rapid→Feed No. 1826 Rapid→Feed No. 1826
0
Feed→Feed No. 1826 Feed→Feed No. 1826
Parameter
Feed→Rapid No. 1826 Feed→Rapid No. 1826
CCI
(No. Rapid→Rapid No. 1826 Rapid→Rapid No. 1826
1801#4) Rapid→Feed No.1826 Rapid→Feed No. 1826
1
Feed→Feed No.1827 Feed→Feed No. 1827
Feed→Rapid No. 1826 Feed→Rapid No. 1827

1826 In–position width for each axis

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
The in–position width is set for each axis.
When the deviation of the machine position from the specified position
(the absolute value of the positioning deviation) is smaller than the
in–position width, the machine is assumed to have reached the specified
position.

556
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

1827 In–position width in cutting feed for each axis

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set an in–position width for each axis in cutting feed. This parameter is
valid when bit 4 (CCI) of parameter No. 1801=1.

Note

NOTE
If the NCI bit (bit 5 of parameter No. 1601) is set to 1, so that
position check is not performed during deceleration, this
function is invalid. The system starts execution of the next
block as soon as deceleration has been completed, without
checking whether the servo position error is within the
specified range.

557
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

7.2.7
Axis Status Signals

General This signal indicates the operation status of an axis being controlled by
the Power Mate.

Signal

Acceleration/
deceleration signals
SUPn <F220>
[Classification] Output signal
[Function] This signal indicates that pulses (specified pulses) are left in the
acceleration/deceleration control section.
SUP1
1: Acceleration/deceleration signal for 1st axis.
2: Acceleration/deceleration signal for 2nd axis.
: :
: :

[Output condition] The signal becomes 1 if:

– Any pulse (specified pulse) is left in the acceleration/deceleration
control section.
The signal is 0 if:
– There is no pulse (specified pulse) left in the acceleration/deceleration
control section.

Distributing signals IPLn

<F221>
[Classification] Output signal
[Function] This signal indicates that pulses (specified pulses) are left in the
distributor.
I P L1
1: Distributing signal for 1st axis.
2: Distributing signal for 2nd axis.
: :
: :

[Output condition] The signal becomes 1 if:

– Any pulse (specified pulse) is left in the distributor
The signal is 0 if:
– There is no pulse (specified pulse) left in the distributor

558
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Axis movement command ×fff

1. Distribution pulse

2. Pulses left in the accelera-

tion/deceleration control sec-
tion

INPn

IPLn

SUPn

Fig. 7.2.7 Axis Movement Status Signal Output Timing

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F220 SUP8 SUP7 SUP6 SUP5 SUP4 SUP3 SUP2 SUP1

#7 #6 #5 #4 #3 #2 #1 #0
F221 IPL8 IPL7 IPL6 IPL5 IPL4 IPL3 IPL2 IPL1

559
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1610 JGLx CTBx CTLx

[Data type] Bit axis

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

NOTE
To use bell–shaped acceleration/deceleration after
interpolation, set this parameter to 0 and select the
acceleration/deceleration using CTBx, bit 1 of parameter
No.1610.

Parameter
Acceleration/deceleration
CTBx CTLx
0 0 Exponential acceleration/deceleration
0 1 Linear acceleration/deceleration after interpolation
1 0 Bell–shaped acceleration/deceleration after interpolation

CTBx Acceleration/deceleration in cutting feed including feed in dry run

0 : Exponential acceleration/deceleration or linear acceleration/decel-
eration after interpolation is applied (depending on the setting in
CTLx, bit 0 of parameter No.1610).
1 : Bell–shaped acceleration/deceleration after interpolation is applied.
JGLx Acceleration/deceleration in jog feed
0 : Exponential acceleration/deceleration is applied.
1 : Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation is applied (depending on
which is used for cutting feed).

560
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

1620 Time constant used for linear acceleration/deceleration in rapid traverse for each
axis or time constant T1 used for bell–shaped acceleration/deceleration in rapid
traverse for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000
Specify a time constant used for acceleration/deceleration in rapid tra-
verse.
(1) In the case of ”linear acceleration/deceleration in rapid traverse”
When this function is provided, set this parameter to time constant
used in linear acceleration/deceleration, and set parameter No. 1621
to 0.
(2) In the case of ”bell–shaped acceleration/deceleration in rapid
traverse”
When this function is provided, set this parameter to time constant T1
used in bell–shaped acceleration/deceleration, and set parameter No.
1621 to time constant T2.
<Rapid traverse linear acceleration/deceleration>
Speed

Rapid traverse feed rate

Time T: Time constant for linear

T acceleration/deceleration
T

<Rapid traverse bell shaped acceleration/deceleration>

Speed
Rapid
traverse rate T1: Set a time constant used for lin-
ear acceleration/deceleration
T2: Set a time for rounding.
Total time=T1 + T2
Time for linear=T1 – T2
Time for rounding part=T2

TIme
T2/2 T1 T2/2
T2

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

561
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

Time constant T2 used for bell–shaped acceleration/deceleration in rapid traverse

1621
for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 512
Specify time constant T2 used for bell–shaped acceleration/deceleration
in rapid traverse for each axis.

NOTE
1 Set parameter No.1620 to time constant T1 used for
bell–shaped acceleration/deceleration in rapid traverse,
and set this parameter to time constant T2.
For details of time constants T1 and T2, see the description
of parameter No.1620.
2 When this parameter is set to 0, linear acceleration/
deceleration is applied in rapid traverse. (The setting in
parameter No.1620 is used as a time constant in linear
acceleration/deceleration.)

Time constant of exponential acceleration/deceleration or bell–shaped accelera-

1622 tion/deceleration after interpolation, or linear aceeleration/deceleration after
interpolation in cutting feed for each axis

[Data type] Word axis

[Unit of data] ms
[Valid data range] Exponential acceleration/deceleration
0 to 4000
Linear acceleration/deceleration after interpolation or bell–shaped
acceleration/deceleration after interpolation
S If no time constant expansion is used
0 to 8000
S If time constant expansion is used (see Subsection 7.2.9, ”Expansion
of Time Constant”)
Number of controlled axes Setting range

1 to 2 0 – 32000

3 to 4 0 – 16000

5 to 8 0 – 8000

Set the time constant used for exponential acceleration/deceleration in

cutting feed, bell–shaped acceleration/deceleration after interpolation or
linear acceleration/deceleration after interpolation in cutting feed for each
axis. Use parameters CTLx and CTBx (bits 0 and 1 of parameter No.
1610) to specity what type to use. Except for special applications, the
same time constant must be set for all axes in this parameter. If the time
constants set for the axes differ from each other, proper straight lines and
arcs cannot be obtained.

562
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

Bell–shaped acceleraton/deceleration after cutting feed interpolation

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

The curve corresponds to that T1 = T/2 and T2 = T/2 set in pa-

rameter No.1620 and 1621.

Time
T

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

[Data type] Word axis

[Unit of data]
[Valid data range]
Valid data range
Increment system Unit of data
IS-A, IS-B IS-C
Millimeter machine 1 mm/min 0,6 to 15000 0,6 to 12000
Inch machine 0.1 inch/min 0,6 to 6000 0,6 to 4800
Rotaion axis 1 deg/min 0,6 to 15000 0,6 to 12000

Set the lower limit (FL rate) of exponential acceleration/deceleration in

cutting feed for each axis.

NOTE
Except for special applications, this parameter must be set
to 0 for all axes. If a value other than 0 is specified, proper
straight lines and arcs cannot be obtained.

Time constant of exponential acceleration/deceleration or bell–shaped accelera-

1624 tion/deceleration or linear acceleration/deceleration after interpolation, in jog
feed for each axis.

[Data type] Word axis

[Unit of data] ms
[Valid data range] 0 to 4000(exponential acceleration/deceleration in jog feed)
0 to 8192(linear or bell–shaped acceleration/deceleration after
interpolation in jog feed)
Set the time constant used for exponential acceleration/deceleration,
bell–shaped acceleration/deceleration or linear acceleration/deceleration
after interpolation in jog feed fot each axis.
Use parameters CTLx, CTBx, and JGLx (bits 0, 1 and 4 of parameters No.
1610) to specity what type to use.

563
7. FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL B–63173EN–1/02

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

[Data type] Word axis

[Unit of data]
[Valid data range]
Valid data range
Increment system Unit of data
IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotaion axis 1 deg/min 6 to 15000 6 to 12000

Set the lower limit (FL rate) of exponential acceleration/deceleration in

cutting feed for each axis.

Reference item
CONNECTION MANUAL 7 FEEDRATE CONTROL/ ACCELERA-
(This manual) TION AND DECELERATION CON-
TROL

7.2.8
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 FFR

[Data type] Bit

FFR Feed–forward control is enabled for
0 : Cutting feed only
1 : Cutting feed and rapid traverse

Reference item For details of this function, refer to the “FANUC SERVO MOTOR ai
series Maintenance Manual (B–65285EN).”

564
 7. FEEDRATE CONTROL/ACCELERATION
B–63173EN–1/02 AND DECELERATION CONTROL

7.2.9
Expansion of time
constant

General In case that controlled axes are 1~4, the maximum of time constants, such
as exponential, bell–shaped or linear acceleration/deceleration after
interpolation in cutting feed and in jog feed, can be expanded.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1605 TCE

[Data type] Bit

INI The function of the expansion of time constant is
0 : Not available (maximum Time constant is 8000)
1 : Available (maximum time constant depends on number of controlled
axes)
In case that this function is available, the range of the time constant shown
below is expanded according to the number of controlled axes as follows.
S Exponential, bell–shaped and linear acceleration/deceleration after
interpolation in cutting feed (Normal mode: Parameter No. 1622, High
response mode: Parameter No.1635, No.1638).
S Exponential, bell–shaped and linear acceleration/deceleration after
interpolation in jog feed (Parameter No.1624).
(a) Normal mode
Number of controlled Range of setting value
axes

1 to 2 0 – 32000

3 to 4 0 – 16000

5 to 8 0 – 8000

(b) High speed response mode

Number of controlled Range of setting value
axes

1 to 2 0 – 4000

3 to 4 0 – 2000

5 to 8 0 – 1000

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

565
8. AUXILIARY FUNCTION B–63173EN–1/02

8 AUXILIARY FUNCTION

566
B–63173EN–1/02 8. AUXILIARY FUNCTION

8.1
AUXILIARY
FUNCTION

General
D Auxiliary Function (M When a numeral of up to 8 digits is specified following address M, code
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. Generally, only
one M code can be used in one block. Up to three M codes in total can
be specified in the Power Mate i–D, while up to five M codes in total can
be specified in the Power Mate i–H. (see 8.3 “Multiple M code per
Block”)
Also, parameter No. 3030 can specify the maximum digits and if a
specified value exceeds the maximum digits, an alarm may be issued.

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.)
Output signal Input signal
Program
Function
address Distribution end Completion
Code signal Strobe signal
signal signal

Auxiliary function M M00 to M31 MF

Spindle–speed S S00 to S31 SF

DEN FIN
function

Tool function T T00 to T31 TF

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 auxiliary function is described below. The
procedures for the spindle–speed function and tool function are obtained
simply by substituting S or T in place of M.)
(1) Suppose that Mxxx is specified in a program.
For xxx, the number of specifiable digits is specified in parameters
Nos. 3030 to 3032 for each function. If more digits than the specified
value are specified, an alarm occurs.
(2) Code signal M00 to M31 is sent. After period TMF, specified in
parameter No. 3010 (standard value: 16 msec), 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 auxiliary function, the execution of
the other function is started when the code signal of the auxiliary
function is sent.
(3) When the strobe signal is set to 1, the PMC reads the code signal and
performs the corresponding operation.
(4) To execute an operation after the completion of the move, dwell or
other function specified in the block, wait until distribution end signal
DEN is set to 1.

567
8. AUXILIARY FUNCTION B–63173EN–1/02

(5) Upon completion of the operation, the PMC sets completion signal
FIN to 1. The completion signal is used by the auxiliary function,
spindle–speed function, tool function 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. 3011 (standard value: 16 msec), the CNC
sets the strobe signal to 0 and reports that the completion signal has
been received.
(7) When the strobe signal is set to 0, set the completion signal to 0 in the
PMC.
(8) When the completion signal is set to 0, the CNC sets all code signals
to 0 and completes all sequences of the auxiliary function.(*1)
(9) Once all other commands in the same block have been completed, the
CNC executes the next block.
*1 When the spindle–speed function or tool function is executed, the code
signal is maintained until a new code for the corresponding function
is specified.
The timing diagram is shown below:

Example 1 Single auxiliary function specified in a block

(1)(2) (3) (5) (6) (7)(8) (9)
M command
(independent) Mxxx
code signals M00–M31 (*2)
Strobe signals MF

PMC side action

End signal FIN

Distribution
end signals DEN

TMF TFIN

568
B–63173EN–1/02 8. AUXILIARY FUNCTION

Example 2 Move command and auxiliary function in the same block

2a. Execution of a auxiliary function without waiting for move command completion
(1)(2) (3) (5) (6) (7) (8) (9)
M command Mxxx
Move command
Code signals M00–M31 (*2)
Strobe signal MF
PMC side action
End signal FIN
Distribution
end signals DEN

TMF TFIN

2b. Execution of a auxiliary function after move command completion

(1)(2) (3) (4) (5) (6)(7)(8) (9)

M command Mxx
Move command
Code signals M00–M31 (*2)
Strobe signal MF
PMC side action
End signal FIN
Distribution
end signals DEN

TMF TFIN

Signal

Auxiliary function
code signals
M00 to M31 <F010 to
F013>
Auxiliary function
strobe signal
MF <F007#0> [Classification] Output signal

[Function] These signals report the specification of auxiliary functions.

[Output condition] For the output conditions and procedure, see the description of “Basic
procedure” above.

569
8. AUXILIARY FUNCTION B–63173EN–1/02

NOTE
1 The following auxiliary functions are only processed
internally by the control unit; they are not subject to output
even when specified:
· M98, M99
· M code that calls a sub program (parameter No. 6071 to
6079)
· M code that calls a custom macro (parameter No. 6080
to 6089)
2 Decode signals as well as the code signals and strobe
signal are output for the auxiliary functions listed below.
M00, M01, M02, M30

Decode M signals
DM00 <F009#7>,
DM01 <F009#6>,
DM02 <F009#5>,
DM30 <F009#4>
[Classification] Output signal
[Function] These signals report particular auxiliary functions are specified. The
auxiliary 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 auxiliary 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
auxiliary 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

570
B–63173EN–1/02 8. AUXILIARY FUNCTION

Spindle–speed code
signals S00 to S31
<F022–F025>
Spindle–speed strobe
signal SF <F007#2>

[Classification] Output signal

[Function] These signals report that spindle speed functions have been specified.
[Output condition] For the output conditions and procedure, see the description of “Basic
procedure” above.

Tool function code

signals T00 to T31
<F026–F029>
Tool function strobe
signal TF <F007#3>

[Classification] Output signal

[Function] These signals report that tool functions have been specified.
[Output condition] For the output conditions and procedure, see the description of “Basic
procedure” above.

End signal FIN <G004#3>

[Classification] Input signal

[Function] This signal reports the completion of a auxiliary function, spindle–speed
function or tool 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. 3011) or longer. The FIN signal driven “1” is ignored if
the FIN signal goes “0” before TFIN elapses.

WARNING
Only one end signal is used for all functions above. The end
signal must go “1” after all functions are completed.

571
8. AUXILIARY FUNCTION B–63173EN–1/02

Distribution end signal

DEN <F001#3> [Classification] Output signal
[Function] These signals report that all commands (such as move commands and
dwell) are completed except those auxiliary functions, spindle–speed
functions, and so forth that are contained in the same block and have been
sent to the PMC. They also report that the end signal from the PMC is
being awaited.
[Output condition] The DEN signal turns to “1” when:
· The completion of auxiliary functions, spindle–speed functions, tool
functions and so forth is being awaited, all other commands in the same
block are completed, and the current position is in the in–position.
The DEN signal turns to “0” when:
· The execution of one block is completed

NOTE
A parameter NCI (No.1601#5) 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.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 FIN

#7 #6 #5 #4 #3 #2 #1 #0
F001 DEN

F007 TF SF MF

F009 DM00 DM01 DM02 DM30

F010 M07 M06 M05 M04 M03 M02 M01 M00

F011 M15 M14 M13 M12 M11 M10 M09 M08

F012 M23 M22 M21 M20 M19 M18 M17 M16

F013 M31 M30 M29 M28 M27 M26 M25 M24

F022 S07 S06 S05 S04 S03 S02 S01 S00

F023 S15 S14 S13 S12 S11 S10 S09 S08

F024 S23 S22 S21 S20 S19 S18 S17 S16

F025 S31 S30 S29 S28 S27 S26 S25 S24

F026 T07 T06 T05 T04 T03 T02 T01 T00

F027 T15 T14 T13 T12 T11 T10 T09 T08

F028 T23 T22 T21 T20 T19 T18 T17 T16

F029 T31 T30 T29 T28 T27 T26 T25 T24

572
B–63173EN–1/02 8. AUXILIARY FUNCTION

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

[Data type] Word

[Unit of data] 1 ms
[Valid data range] 16 to 32767
The time required to send strobe signals MF, SF, and TF after the M, S,
and T codes are sent, respectively.

M, S, T code

MF, SF, TF signal

Delay time

Fig. 8.1 (a) Delay time of the strobe signal

NOTE
The time is counted in units of 8 ms. If the set value is not
a multiple of eight, it is raised to the next multiple of eight.
Example : When 30 is set, 32 ms is assumed.
When 32 is set, 32 ms is assumed.
When 100 is set, 104 ms is assumed.

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

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

[Data type] Word

[Unit of data] 1 ms
[Valid data range] 16 to 32767
Set the minimum signal width of the valid M, S, and T function
completion signal (FIN).

M, S, T code

MF, SF, TF
signal

FIN sigal

Ignored because Valid because

shorter than min. longer than min.
signal width signal width
Fig. 8.1 (b) Valid Width of the FIN (M,S, T, and B Function Completion)
Signal

573
8. AUXILIARY FUNCTION B–63173EN–1/02

NOTE
The time is counted in units of 8 ms. If the set value is not
a multiple of eight, it is raised to the next multiple of eight.
Example: When 30 is set, 32 ms is assumed.

3030 Allowable number of digits for the M code

3031 Allowable number of digits for the S code

3032 Allowable number of digits for the T code

[Data type] Byte

[Valid data range] 1 to 8
Set the allowable numbers of digits for the M, S, and T codes.

NOTE
Up to 5 digits can be specified in the S code

#7 #6 #5 #4 #3 #2 #1 #0
3401 DPI

[Data type] Bit

DPI When a decimal point is omitted in an address that can include a decimal
point
0 : The least input increment is assumed.
1 : The unit of mm, inches, or second is assumed. (Pocket calculator type
decimal point input)

#7 #6 #5 #4 #3 #2 #1 #0
3404 M02 M30

[Data type] Bit

M30 When M30 is specified in a memory operation:
0 : M30 is sent to the machine, and the head of the program is automati-
cally searched for. So, when the end signal FIN is returned and a reset
or reset and rewind operation is not performed, the program is
executed, starting from the beginning.
1 : M30 is sent to the machine, but the head of the program is not searched
for. (The head of the program is searched for by the reset and rewind
signal.)

574
B–63173EN–1/02 8. AUXILIARY FUNCTION

M02 When M02 is specified in memory operation

0 : M02 is sent to the machine, and the head of the program is automati-
cally searched for. So, when the end signal FIN is returned and a reset
or reset and rewind operation is not performed, the program is
executed, starting from the beginning.
1 : M02 is sent to the machine, but the head of the program is not searched
for. (The head of the program is searched for by the reset and rewind
signal.)

3411 M code preventing buffering 1

3412 M code preventing buffering 2

3413 M code preventing buffering 3

L L

3420 M code preventing buffering 10

[Data type] Byte

[Valid data range] 0 to 255
Set M codes that prevent buffering the following blocks. If processing
directed by an M code must be performed by the machine without
buffering the following block, specify the M code.
M00, M01, M02, and M30 always prevent buffering even when they are
not specified in these parameters.

575
8. AUXILIARY FUNCTION B–63173EN–1/02

Note

NOTE
1 When a move command and auxiliary 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
auxiliary function commands.
ii) Executing auxiliary function commands upon completion
of move command execution.
The selection of either sequence depends on the
sequence of PMC.
2 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.
3411 to 3420).
3 For M00 and M01 only, auxiliary 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.
4 When the automatic operation is stopped by M02 or M30,
it is necessary to send the external reset signal from the
machine side to the CNC, instead of the FIN signal, When
the external reset signal is returned against the M02 or M30,
the control returns to the top of the program recently
executed and enters the reset state. When the FIN signal
is returned, the control returns to the beginning of the
program recently executed and executes it from the top.

Reference item
OPERATOR’S MANUAL II.10.1 Auxiliary function (M code)
(B–63174EN)

576
B–63173EN–1/02 8. AUXILIARY FUNCTION

8.2
AUXILIARY
FUNCTION LOCK
General Inhibits execution of a specified M, S, and T 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 <G005#6>
[Classification] Input signal
[Function] This signal selects auxiliary function lock. That is, this signal disables
the execution of specified M, S, and T functions.
[Operation] When this signal turns to “1”, the control unit functions as described
below.
(1) The control unit does not execute M, S, and T functions specified for
AUTO operation, DNC operation, or MDI operation. That is, the
control unit stops the output of code signals and strobe signals (MF,
SF, TF).
(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 auxiliary 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 auxiliary functions, even when this signal is “1”, those
functions (M98 and M99) that are executed in the control unit without
outputting their execution results are executed in the ordinary manner.

WARNING
Even when this signal is “1”, spindle analog output or
spindle serial output is executed.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 AFL

Reference item
OPERATOR’S MANUAL V.5.1 Machine lock and auxiliary function
(B–63174EN) lock

577
8. AUXILIARY FUNCTION B–63173EN–1/02

8.3
MULTIPLE M
COMMANDS IN A
SINGLE BLOCK

General So far, one block has been able to contain only one M code. However, this
function allows up to five M codes to be contained in a block in case of
Power Mate i–H, and up to three M codes in case of Power Mate i–D.
Up to five M codes (three, in case of Power Mate i–D) specified in a block
are simultaneously output to the machine. This means that a shorter cycle
time can be realized in machining as compared with the conventional
method of a single M command in a single block.

(Example) (In case of Power Mate i–H)

One M command Multiple M commands
in a single block in a single block
M40 ; M40 M50 M60 M70 M80 ;
M50 ; G28G91X0Y0Z0 ;
M60 ; :
M70 ; :
M80 ; :
G28G91X0Y0Z0 ; :
: :
: :
: :

Basic procedure The following is the procedure in case five M codes are specified in a
block in Power Mate i–H. Note that only up to three M codes can be
specified in a block in Power Mate i–D.
(1) Assume that ”Maa Mbb Mcc Mdd Mee ;” was commanded by the
program.
(2) The first M command(Maa) sends the code signals M00 to M31. The
strobe signal MF is set to ”1” after a time TMF set by the parameter
No.3010(Standard setting:16 msec).
The second M command(Mbb) sends the code signals M200–M215,
the third M command(Mcc) sends the code signals M300–M315, the
fourth M command (Mdd) sends the code signals M400–M415, the
fifth M command(Mee) sends the code signals M500–M515, and the
strobe signals MF, MF2, MF3, MF4, and MF5 are set to ”1”
respectively.
Furthermore, the five code signals are sent simultaneously.
The strobe signals MF, MF2, MF3, MF4, and MF5 become ”1” at the
same time.
The code signal is a binary notation of the program command aa, bb,
cc, dd, and ee.
(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”.

578
B–63173EN–1/02 8. AUXILIARY FUNCTION

(5) When the end signal stays ”1” for a time (TFIN) set by the parameter
No.3011 (Standard: 16 msec), all strobe signals(MF, MF2, MF3,
MF4, and MF5) are set to ”0” at the same time and the reception of the
end signal is reported.
(6) On the PMC side, when MF, MF2, MF3, MF4, and MF5 are set to ”0”,
the end signal is set to ”0”.
A time chart for this procedure is shown below:

Mcommand(MaaMbbMccMddMee;)

Maa
The 1st M code signal M00–M31
Strobe signal MF
PMC side operation

The 2nd M code signal M200–M215 Mbb

Strobe signal MF2
PMC side operation

The 3rd M code signal M300–M315 Mcc

Strobe signal MF3
PMC side operation

The 4th M code signal M400–M415 Mdd

Strobe signal MF4
PMC side operation

Mee
The 5th M code signal M500–M515
Strobe signal MF5
PMC side operation

End signal FIN

TMF TFIN

Signal

Auxiliary function code

signal
M00 – M31
<F010 – F013>
Auxiliary function strobe
signal
MF <F007#0>
[Classification] Output signal
[Function] Indicate that the auxiliary function has been issued.
[Output condition] For the output conditions and procedures, see the description of ”Basic
procedure”.

579
8. AUXILIARY FUNCTION B–63173EN–1/02

The 2nd, 3rd, 4th and 5th

Auxiliary function code
signal
M200 to M215
<F014, F015>
M300 to M315
<F016, F017>
M400 to M415
<F018, F019>
M500 to M515
<F020, F021>
The 2nd, 3rd, 4th and 5th
Auxiliary function strobe
signal
MF2 <F008#4>
MF3 <F008#5>
MF4 <F008#6>
MF5 <F008#7>
[Classification] Output signal
[Function] Indicate that the second, third, fourth and the fifth auxiliary functions
have been issued.
[Output condition] For the output conditions and procedures, see the description of ”Basic
procedure”.

M, S, T function end
signal
FIN <G004#3>
[Classification] Input signal
[Function] Indicates that the M function, S function and T function have been
completed.
[Operation] For the operations and procedures of the control unit when this signal
turns to ”1”, see the description of ”Basic procedure”.

580
B–63173EN–1/02 8. AUXILIARY FUNCTION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 MFIN5 MFIN4 MFIN3 MFIN2 FIN

G005 MFIN

#7 #6 #5 #4 #3 #2 #1 #0
F007 MF

F008 MF5 MF4 MF3 MF2

#7 #6 #5 #4 #3 #2 #1 #0
F010 M07 M06 M05 M04 M03 M02 M01 M00

F011 M15 M14 M13 M12 M11 M10 M09 M08

F012 M23 M22 M21 M20 M19 M18 M17 M16

F013 M31 M30 M29 M28 M27 M26 M25 M24

F014 M207 M206 M205 M204 M203 M202 M201 M200

F015 M215 M214 M213 M212 M211 M210 M209 M208

F016 M307 M306 M305 M304 M303 M302 M301 M300

F017 M315 M314 M313 M312 M311 M310 M309 M308

F018 M407 M406 M405 M404 M403 M402 M401 M400

F019 M415 M414 M413 M412 M411 M410 M409 M408

F020 M507 M506 M505 M504 M503 M502 M501 M500

F021 M515 M514 M513 M512 M511 M510 M509 M508

581
8. AUXILIARY FUNCTION B–63173EN–1/02

8.4
HIGH–SPEED M/S/T
INTERFACE

General To accelerate M/S/T function execution, the high–speed M/S/T interface

has simplified the transfer of the strobe and completion signals of the
M/S/T functions.
Acceleration of the execution of the M/S/T function reduces the time
required for mechanical machining.
Whether to use the usual system or high–speed system for strobe signal
and completion signal handling can be specified by parameter MHI (No.
3001#7).

The description below uses the auxiliary functions (M code commands)

as an example. The same description applies to the spindle–speed
function (S code), and tool function (T 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 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 functions. This new system uses a different
completion signal for each of the M, S, and T functions; the completion
signals for the M, S, and T functions are MFIN, SFIN, and TFIN,
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.

582
B–63173EN–1/02 8. AUXILIARY FUNCTION

Next block
Code signal
Mxx Myy

Strobe signal MF

PMC side operation

Auxiliary 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. In this case, a completion signal is available for three and
five M codes, respectively, in the Power Mate i–D and Power Mate i–H
separately, and these completion signals are the MFIN (same as for single
M code in one block), MFIN2, MFIN3, MFIN4, and MFIN5. The signal
transfer sequence for multiple M codes per block is the same as that for
a single M code per block.

Signal

Auxiliary function
completion signal
MFIN <G005#0>
[Classification] Input signal
[Function] Reports that the execution of a auxiliary function using the high–speed
M/S/T interface is completed.
[Operation] For the operation and aprocedure of the contol unit when this signal turns
to “1” and “0”, see the description of “Basic procedure” above.

583
8. AUXILIARY FUNCTION B–63173EN–1/02

Spindle function
completion signal
SFIN <G005#2>
[Classification] Input signal
[Function] Reports that the execution of a spindle speed function using the
high–speed M/S/T interface is completed.
[Operation] For the operation and procedure of the control unit when this signal turns
to “1” and “0”, see the description of “Basic procedure” above.

Tool function completion

signal TFIN <G005#3>

[Classification] Input signal

[Function] Reports that the execution of a tool function using the high–speed M/S/T
interface is completed.
[Operation] For the operation and procedure of the control unit when this signal turns
to “1” and “0”, see the description of “Basic procedure” above.

2nd, 3rd M function

completion signals
MFIN2, MFIN3, MFIN4,
MFIN5
<G004#4, #5, #6, #7>
[Classification] Input signal
[Function] Indicate that when the high–speed interface is used for multiple M com-
mands per block, the second to 3rd M functions have been completed.
[Operation] See “Basic procedure” for how the control unit operates and what it per-
forms when the signal turns to “1” and “0”.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 MFIN5 MFIN4 MFIN3 MFIN2

G005 TFIN SFIN MFIN

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3001 MHI

MHI Exchange of strobe and completion signals for the M, S, and T codes
0 : Normal
1 : High–speed

584
B–63173EN–1/02 8. AUXILIARY FUNCTION

Note

NOTE
1 The strobe signals MF, SF, and TF are “0” when the power
is turned on.
2 When the control unit is reset, MF, SF, and TF are set to “0”.

Reference item
OPERATOR’S MANUAL II.10.1 AUXILIARY FUNCTION
(B–63174EN)
II.10.2 MULTIPLE M COMMANDS IN A
BLOCK

585
8. AUXILIARY FUNCTION B–63173EN–1/02

8.5
WAITING FUNCTION

General This function allows for easier waiting for other machines and peripheral
equipment through the specially prepared M code.
When the waiting M code is specified, the corresponding waiting signal
is output. The block waits for the start of operation until the
corresponding wait completion signal is input.

Format
N___M8ffG___X___F___ ;
M8ff : Waiting M code (M801–M815)

Basic procedure
Table 8.5 Waiting M Code and Input and Output Signal

M code Output signal Complete input signal

condition

WAT4 WAT3 WAT2 WAT1 WFN4 WFN3 WFN2 WFN1

M801 0 0 0 1 X X X 1

M802 0 0 1 0 X X 1 X

M803 0 0 1 1 X X 1 1

M804 0 1 0 0 X 1 X X

M805 0 1 0 1 X 1 X 1

M806 0 1 1 0 X 1 1 X

M807 0 1 1 1 X 1 1 1

M808 1 0 0 0 1 X X X

M809 1 0 0 1 1 X X 1

M810 1 0 1 0 1 X 1 X

M811 1 0 1 1 1 X 1 1

M812 1 1 0 0 1 1 X X

M813 1 1 0 1 1 1 X 1

M814 1 1 1 0 1 1 1 X

M815 1 1 1 1 1 1 1 1

X : either 0 or 1 is acceptable
1 When the waiting M code (M8ff) is specified, the block which
includes a waiting M code becomes in the state of waiting for the
execution of axis moving. And the output signals (waiting signals),
WAT1 to WAT4, become ”1” as shown in the Table 1.
Also, the diagnostic number 008 is ON in the self–diagnostic screen
during waiting.

586
B–63173EN–1/02 8. AUXILIARY FUNCTION

2 Other machines and peripheral equipment move during waiting for the
execution of axis moving.
3 After the motions of other machines and peripheral equipment are
completed, turn the corresponding complete input signals (waiting
complete signals) into ”1” as shown in the Table 8.5.
4 Then all the output signals (waiting signals), WAT1 to WAT4, become
”0”, and the block which includes a waiting M code begins to execute
the axis moving.
Also, the diagnostic number 008 becomes OFF.
Fig. 8.5(a) shows the time chart.

Execution of the
previous block Axis movement Axis movement
command execution command
Execution of the waiting executing
block including
waiting M code
À Ã
Output signal
(WAT1–WAT4)

Complete input signal

(WFN1–WFN4) Á Â

Fig. 8.5(a) Time chart

Notes
D In case the When the waiting M code is specified and the corresponding complete
corresponding complete input signal condition is already satisfied, the axis movement command
input signals have been is executed without delay, just the same as if the waiting signal M code
already ON command had not been issued. In this case, the output signal (WAT1 –
WAT4) is never turned ON. (See Fig. 8.5(b).)

Execution of the
previous block Axis movement
command
Execution of the executing
block including
waiting M code

Output signal
(WAT1–WAT4) (Not output)

Complete input signal

(WFN1–WFN4)

Fig. 8.5(b) In case the corresponding complete input signal

condition is already satisfied

587
8. AUXILIARY FUNCTION B–63173EN–1/02

D In case the waiting M When the waiting M code commands are carried out by continuous
codes are specified in blocks, if the latter block execution starts before the complete input
continuous blocks signals of the former block become ”0”, the complete input signals may
be regarded as the signals of the latter block. In this case, the axis
movement in the latter block is executed without delay as mentioned
above. To avoid the situation, select the combination of M codes in which
the waiting complete signals of the former block are not recognized as
those of the latter block.
Below are the three types of examples that the waiting M codes are
specified in continuous two blocks.
(1) The case that the latter block is executed after the complete input
signals in the former block become ”0”
Suppose that M803 is specified in the former block and M801 in the
latter block. As shown in Fig. 8.5(c), the waiting of M801 is executed
if the complete input signals of M803 are ”0” when the execution of
the former block is completed.

Execution of Axis movement

the block with Waiting executing
M803
Axis movement
Execution of Waiting executing
the block
with M801

Output
signals
WAT1
WAT2

Complete
input signals
WFN1
WFN2

Fig. 8.5(c) The case that the latter block is executed after the complete
input signals in the former block become ”0”

588
B–63173EN–1/02 8. AUXILIARY FUNCTION

(2) The case that the latter block is executed before the complete input
signals in the former block become ”0” and the waiting of the latter
block is not executed
Suppose that M803 is specified in the former block and M801 in the
latter block. As shown in Fig. 8.5(d), the waiting of M801 is not
executed if the complete input signals of M803 are ”1” when the
execution of the former block is completed.

Execution of Axis movement

the block with Waiting executing
M803
Axis movement
Execution of executing
the block
with M801
(Not output)
Output
signals
WAT1
WAT2

Complete
input signals
WFN1
WFN2

Fig. 8.5(d) The case that the latter block is executed before the
complete input signals in the former block become ”0” and
the waiting of the latter block is not executed

589
8. AUXILIARY FUNCTION B–63173EN–1/02

(3) The case that the latter block is executed before the complete input
signals in the former block become ”0” but the waiting of the latter
block is executed
Suppose that M803 is specified in the former block and M812 in the
latter block. As shown in Fig. 8.5(e), the waiting of M812 is executed
even if the complete input signals of M803, WFN1 and WFN2 are ”1”
when the execution of the former block is completed, because the
complete input signals of M812, WFN3 and WFN4 are ”0”.

Axis movement
Execution of Waiting executing
the block
with M803
Axis movement
Waiting executing
Exection of
the block
with M812

Output
signals
WAT1
WAT2
WAT3
WAT4

Complete
input signals
WFN1
WFN2
WFN3
WFN4

Fig. 8.5(e) The case that the latter block is executed before the
complete input signals in the former block become ”0”
but the waiting of the latter block is executed

Signal

Waiting signal
WAT1–WAT4
<F209#0–#3>
[Classification] Output signal
[Function] Indicate that the waiting M codes have been issued.
[Output condition] These signals are output in the way shown in Table 8.5 according to the
commanded M codes.

590
B–63173EN–1/02 8. AUXILIARY FUNCTION

Waiting complete signal

WFN1–WFN4
<G214#0–#3>
[Classification] Input signal
[Function] Release the waiting conditions by waiting M codes.
[Operation] To find which signals release the waiting conditions by some waiting M
codes, see Table 8.5.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G214 WFN4 WFN3 WFN2 WFN1

#7 #6 #5 #4 #3 #2 #1 #0
F209 WAT4 WAT3 WAT2 WAT1

591
8. AUXILIARY FUNCTION B–63173EN–1/02

8.6 Auxiliary function BINARY code signals (output)

EM11a–EM28a <F132, F135, F138,F141, F502, F505, F508, F511>
M CODE IN
Auxiliary function strobe signals (output)
MULTIPATH MODE EMFa <F131#0, F134#0, F137#0, F140#0, F501#0, F504#0,
(Power Mate i–H) F507#0, F510#0>
Auxiliary function end signals (input)
EFINa <G142#0, G154#0, G166#0, G178#0, G464#0, G476#0,
G488#0, G500#0>
Auxiliary function executing signals (output)
EDENa <F130#3, F133#3, F136#3, F139#3, F500#3, F503#3,
F506#3, F509#3>
Group M code MF FIN DEN

EM11A–EM28A EMFA EFINA EDENA

AXIS 1
(F132) (F131#0) (G142#0) (F130#3)

EM11B–EM28B EMFB EFINB EDENB

AXIS 2
(F135) (F134#0) (G154#0) (F133#3)

EM11C–EM28C EMFC EFINC EDENC

AXIS 3
(F138) (F137#0) (G166#0) (F136#3)

EM11D–EM28D EMFD EFIND EDEND

AXIS 4
(F141) (F140#0) (G178#0) (F139#3)

EM11E–EM28E EMFE EFINE EDENE

AXIS 5
(F502) (F501#0) (G464#0) (F500#3)

EM11F–EM28F EMFF EFINF EDENF

AXIS 6
(F505) (F504#0) (G476#0) (F503#3)

EM11G–EM28G EMFG EFING EDENG

AXIS 7
(F508) (F507#0) (G488#0) (F506#3)

EM11H–EM28H EMFH EFINH EDENH

AXIS 8
(F511) (F510#0) (G500#0) (F509#3)

NOTE
a indicates A, B, C, D, E, F, G or H.

Explanations In multipath mode, an M code is output through the PMC axis control
interface.
Each path has its own interface area and 8 interface areas at maximum are
prepared.
The M code specified for each path is output to the address corresponding
to the smallest–numbered axis for that path (see the example below).

592
B–63173EN–1/02 8. AUXILIARY FUNCTION

Examples)
In the 4–axes system that consists of the X–axis as 1st axis, Y–axis as
2nd axis, Z–axis as 3rd axis and U–axis as 4th axis, when multipath
control is applied, the M code for each path is output as follows:
G130 P1 X1 Y1; The X–axis (1st axis) and Y–axis (2nd axis) are
. assigned to path 1.
M10 ; The M code for 1st path is output to the addresses
. for 1st axis
G130 P2 Z1 U1; The Z–axis (3rd axis) and U–axis (4th axis) are
. assigned to 2nd path.
M20; The M code for 2nd path is output to theaddresses
for Z–axis (3rd axis) which is the 1st axis of 2nd
path.

Note

NOTE
In the multipath mode there are following limitation for
M–code function.
S The range of M–code value is 0 to 255.
S The M–code function cannot be used together with other
command. It must be specified alone in a single block.
S The Auxiliary function lock signal ”AFL” is not available.
S The control of wait for the auxiliary function end signal by
#3003 is not available.
S The decode M–code signal of DM00/DM01/DM02/DM30
is not available. When the M00,M01,M02,M30 is
commanded, only the binary code is output like other
M–code.
S The high speed M interface signal is available by setting
’1’ to the parameter No.3001#7.

593
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9 SPINDLE SPEED FUNCTION (Power Mate i–D)

594
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.1
SPINDLE SPEED
FUNCTION
(S CODE OUTPUT)

General When up to five digits are specified after address S, code and strobe
signals are sent out and used to control the spindle speed. The code
signals are retained until another S code is issued.

One S code is used for each block. Parameter No. 3031 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 Refer to section 8.1.

Parameter
3031 Allowable number of digits for the S code

[Data type] Byte

[Valid data range] 1 to 5
Set the allowable numbers of digits for the S codes.

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 PMC
processing sequence.
2 For S code output when the spindle serial output/spindle
analog output is used, refer to section 9.3.

595
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

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 one serial spindle. The
spindle analog output interface can control one analog spindle.

The following table lists spindle serial output and spindle analog output
functions.

Function

Thread cutting/feed per revolution (synchronous feed)

Constant surface speed control

Rigid tapping

Spindle control unit functions (Note), such as spindle orientation, spindle out-
put switching, spindle switching, and etc.

Spindle output control by the PMC

NOTE
These functions belong to the spindle control unit. They
cannot be used unless the spindle control unit supports
those functions.

The signals and parameters for spindle speed control are common to both
spindle serial output and spindle analog output. (See Section 9.3.)

The table below lists the differences related to direct control of the spindle
control unit.

596
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Spindle control unit for Spindle control unit for

spindle serial output inter- spindle analog output in-
face terface
Parameters for Specified as CNC parame- Directly specified for the
the spindle con- ters spindle control unit
trol unit (No. 4000 to 4351)
Used after being transferred
to the spindle control unit
Control signal for Connected to the PMC via Connected to the PMC via
the spindle con- the CNC an external contact
trol unit G0070 to G0073 and F0045
to F0048
Spindle speed Digital data in a range from Analog voltage from 0 to
command inter- 0 to"maximum spindle mo- "10 V (excluding portion
face tor speed for offset voltage adjust-
ment)

Position coder Connected to the CNC via Connected directly to the

interface the spindle control unit CNC

Signal · Spindle control unit signals for the serial spindle

<G0070 to G0073> (input), <F0045 to F0048> (output)

→ for the first 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 ai series Descriptions (B–65282EN)

FANUC AC SPINDLE MOTOR ai/bi series Descriptions (B–65272EN)
FANUC SERVO MOTOR ai series Maintenance Manual (B–65285EN)

Signal address
D For 1st SERIAL SPINDLE
#7 #6 #5 #4 #3 #2 #1 #0
G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA

G071 RCHA RSLA SOCNA MCFNA SPSLA *ESPA ARSTA

G072 RCHHGA MFNHGA INCMDA OVRIDA DEFMDA NRROA ROTAA INDXA

G073 MPOFA SLVA MORCMA

#7 #6 #5 #4 #3 #2 #1 #0
F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA

F046 MORA2A MORA1A PORA2A SLVSA RCFNA RCHPA CFINA CHPA

F047 INCSTA PC1DEA

F048

597
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Parameter
D Connection of serial
spindle control unit #7 #6 #5 #4 #3 #2 #1 #0
3701 ISI

[Data type] Bit

ISI Specifieds whether the serial spindle interface is used.
0 : Used
1 : Not used

NOTE
This parameter is enabled only when the serial spindle
interface option is provided. The parameter is used when
the CNC is started after serial spindle interface control is
temporarily disabled during startup adjustment of the CNC.
This bit should normally set to be 0.

D Parameters of serial No. 4000 to 4351: For serieal spindle

spindle control unit
The above parameters are on the CNC, but actually they are used for the
spindle control unit of serial spindle.
For details of these parameters, refer to the following manual:

FANUC AC SPINDLE MOTOR αi/βi series PARAMETER MANUAL

(B–65280EN)

FANUC SERVO MOTOR αi series MAINTENANCE MANUAL

(B–65285EN)

598
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Alarm and message

Number Message Description

749 S–SPINDLE LSI ERROR Acommunication error occurred for the serial
spindle. The cause may be noises, discon-
nection of an optical cable or the interruption
of the power to the spindle amplifier.
(Note) Unlike alarm No. 750, this alarm oc-
curs when a serial communication alarm is
detected after the spindle amplifier is normal-
ly activated.

750 SPINDLE SERIAL LINK This alarm is generated when the spindle
ERROR control unit is not ready for starting correctly
when the power is turned on in the system
with the serial spindle.
The three reasons can be considered as fol-
lows:
1) An improperly connected optic cable, or
the spindle control unit’s power is OFF.
2) When the NC power was turned on under
alarm conditions other than SU–01 or
AL–24 which are shown on the LED dis-
play of the spindle control unit.
In this case, turn the spindle amplifier
power off once and perform startup
again.
3) Other reasons (improper combination of
hardware)
Note) This alarm does not occur after the
system including the spindle control
unit is activated.
See diagnostic display No. 409 for details.

751 SPINDLE ALARM DETECT This alarm indicates the NC that an alarm is
(AL–XX) generatedin the spindle control unit of the se-
rial spindle. The alarm is displayed in form
AL–XX (XX is a number). Refer to the manu-
als for serial spindle. The alarm number XX
is the number indicated on the spindle ampli-
fier. The CNC holds this number and displays
on the screen.

752 SPINDLE MODE CHANGE This alarm is generated if the system does
ERROR not properly terminate a mode change. The
modes include the rigid tapping and spindle
control modes. The alarm is activated if the
spindle control unit does not respond correct-
ly to the mode change command issued by
the CNC.

599
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

DIAGNOSIS SCREEN
D Information on spindle
control #7 #6 #5 #4 #3 #2 #1 #0
400 SAI SSR POS SIC

SIC 0: No module is available for spindle serial output.

1: A module for spindle serial output is available.
POS 0: No module is available for spindle analog output.
1: A module for spindle analog output is available.
SSR 0: Spindle serial output is not used.
1: Spindle serial output is used.
SAI 0: Spindle analog output is not used.
1: Spindle analog output is used.

401 Alarm condition for the serial spindle unit for the spindle (AL–??)

D Communication error on
spindle serial output #7 #6 #5 #4 #3 #2 #1 #0
interface 408 SSA SCA CME CER SNE FRE CRE

CRE 1 : CRC error (warning)

FRE 1 : Framing error (warning)
SNE 1 : Mismatch between sending and receiving sections
CER 1 : Abnormal reception
CME 1 : No answer during auto scanning
SCA 1 : Communication error in the spindle amplifier
SSA 1 : System error in the spindle amplifier
(These errors are reflected in spindle alarm 749. They are caused by noise,
disconnection, or instantaneous power interruption.)
D Information related to the
activation of the spindle
serial output interface #7 #6 #5 #4 #3 #2 #1 #0
409 SPE S1E SHE

SHE 1 : Abnormal operation in the serial spindle communication module of

the CNC
S1E 1 : Abnormal operation on the first spindle during activation
SPE 1 : Serial spindle parameter not meeting activation conditions
(These errors are reflected in spindle alarm 750.)

600
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

D Load and speed meter

readings for the serial
spindle 410 Serial spindle: Load meter reading (%)

411 Serial spindle: Speed meter reading (min–1)

To display the load and speed meter readings, the following parameters
must be specified correctly.
Maximum motor speed: Parameter No. 4020 (main) and 4196 (sub)
Load meter reading at maximum output:
Parameter No. 4127 (main) and 4276 (sub)

NOTE
The spindle switch function is used for main/sub switching.
Select main if the spindle switch function is not used.

601
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.3
SPINDLE SPEED
CONTROL
General This section describes spindle speed control. It also explains the position
coder and the spindle speed arrival signal (SAR).

602
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Command flow of The following chart summarizes spindle speed control.

spindle speed control

CNC PMC and machine

Machining program, etc.
↓

Gear select signal output Output to the PMC

⋅ S command
(GR3O, GR2O, GR1O) (to change the machine gear).

⋅S code/SF signal output . Output to the PMC

(to be used for ladders).

⋅Spindle stop signal/spindle orientation signal

Switching in the machine
⋅Spindle override signal (*SSTP/SOR, SOV0 to SOV7)

⋅ Processing for gear change Input the gear select

(S command → spindle motor speed con- ←From the PMC
signal (GR1, GR2).
version)
Clamp the speed according to parameters.

CNC output specification

(result of speed conversion) Output to the PMC
S12 bit code output (R12O to R01O) (used for ladders)

⋅ Determine the output. ← Output specification by the PMC ←From the PMC
(Selected by the SIND signal) (set to R12I to R01I)

Specify output polarity in the CNC.

(M03/M04 and parameter No. 3706 =
TCW, CWM)

⋅ Determination of output polarity ← Polarity specification by the PMC ←From the PMC
(Selected by the SSIN signal) (set to SGN)

Feed per revolu- ⋅ Control over the ← Input the spindle

tion, etc. start of cutting speed arrival
feed. signal (SAR).

⋅ Position coder Monitor the arrival

⋅ Command output to the spindle speed
feedback
spindle, spindle enable sig-
signal
nal output, gain, and offset

Spindle Spindle Position

amplifier motor coder

Gear change Sensors

Input the spindle amplifier Spindle
control signal from the mechanism
PMC, etc. Mechanical section of the machine

603
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

D S command The S command specifies the spindle speed entered from machining
programs, etc. for the CNC.
For constant surface speed control (during G96 mode), the CNC converts
the specified surface speed to the spindle speed.
With bit 4 (GTT) of parameter No. 3706 = 0 without the constant surface
speed control option, the CNC specifies the gear stage for the desired
spindle speed to the PMC according to parameter No. 3741, 3742, and
3743, and the S command.
(GR3O, GR2O, GR1O <F034#2, #1, #0>)

D S code/SF signal output With the spindle serial output or spindle analog output option, the spindle
control function in the CNC converts the S command value to the output
value for the spindle motor. For correspondence to gear change and
constant surface speed control, the S code/SF signals output is different
as follows in case of the spindle serial output and spindle analog output
are not used.
Outputs the S code.
The SF signal is output only when the CNC directs the PMC to change
the gear.
If you use the S code for processing in the PMC ladder, you must specify
parameters related to parameter No. 3705.

D Spindle stop signal This signal sets the S command value in the CNC to 0. If the CNC has
(*SSTP) the spindle output specified (see descriptions on the SIND signal), this
signal sets the speed command for the spindle to 0.

Even if the function of the spindle stop signal is not used, the signal must
be set to logical 1 for the CNC to perform spindle speed control.

D Spindle orientation If the spindle orientation signal is logical 1 and the spindle stop signal is
signal (SOR) logical 0, the spindle rotates in the direction specified by bit 5 (ORM) of
parameter No. 3706 at a constant speed specified by parameter No. 3732.
Because the spindle rotates at a constant speed regardless of the gear
stage, this signal can be used to rotate the spindle to drive the stopper or
pin during mechanical spindle positioning.
Specifying bit 1 (GST) of parameter No. 3705 causes the spindle motor
to rotate at constant speed. This function can be used for gear shifting
because it maintains a constant speed of the gear change mechanism.
D Gear shift signal (*GST) When spindle orientation is in progress, setting this signal to 1 keeps the
gear shift mechanism at a constant rotation speed, so the signal can be
used for gear shifting. This signal implements a function equivalent to
that of the GST parameter (bit 1 of parameter No. 3705). It is valid if GST
is 0.
D Spindle speed override This signal specifies an override of 0% to 254% for the specified S value
signal (SOV00 to SOV07) for spindle control.
However, the spindle speed override function is disabled when the CNC
is in the following state:

604
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Tapping cycle (G84, G74)

When the spindle speed control is performed but the spindle speed
override is not used, set the override value to 100%.

D Processing for gear Although the S command contains the spindle speed, the object that is
changing actually controlled is the spindle motor. Therefore, the CNC must have
some provision to detect the gear stage between the speed and spindle
motor.

There are two types of gear selection methods:

M type

The CNC selects a gear stage according to the range of speed for each gear
stage previously specified in a parameter, as directed by the S command,
and informs the PMC of the selected gear stage (one of the three gear
stages ) using the gear select signal output (GR3O, GR2O, GR1O).

Also, the CNC outputs the spindle speed based on the selected gear stage
(output as the gear select signal).

T type

The gear stage (one of the four gear stages ) being currently used by the
machine is input in response to the gear select signal inputs (GR1, GR2).

The machine determines which gear to use.

The CNC outputs the spindle speed that corresponds to the gear stage
input.

D Selection of gear change Poower Mate i system can be use either M or tyoe.
system M type ← Without constant surface speed control option, and bit 4
(GTT) of parameter No. 3706 = 0
T type ← With constant surface speed control, or bit 4 (GTT) of
parameter No. 3706 = 1

D Details of M type By specifying from S0 to S99999 in memory or MDI operation, the CNC
(Output of GR1O, GR2O, outputs a command corresponding to the spindle speed. There is a
GR3O) two-speed (GR1O and GR2O) or three-speed range (GR1O, GR2O,
GR3O), set by parameter Nos. 3741-3743, and the gear selection signal
is output simultaneously. When the gear selection signal is changed, the
SF signal is output at the same time (parameter SFA no. 3705#6).
The meaning of the gear signals is shown below:
Gear 2–stage Gear 3–state Remarks
GR1O Low Low
Low: Low Gear
GR2O High Middle Middle: Middle Gear
High: High Gear
GR3O High

605
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

The speed commands output to the spindle motor are as follows:

⋅ For the serial spindle, the speed commands are processed as values 0 to
16383 between the CNC and spindle control unit.
⋅ For the analog spindle, the speed commands are output to the analog
voltage signal SVC as analog voltages 0 to 10 V.

The following descriptions exemplify the analog spindle. However, they

can be applied to the serial spindle on the assumption that spindle motor
speed with analog voltage 10 V corresponds to the maximum spindle
motor speed.
D M type gear change method A (Fig. 9.3 (a))

Spindle motor speed command

(Analog voltage command)
For gear 2-stage

10V

Upper limit of
spindle speed
(Vc)
GR2O (GR3O)
GR1O (GR2O)
(GR1O)
C

Spindle speed
A B command
(S code input)

Vmin Vmax Vmax Vmax ( ) for gear 3-stage

A× A× B× C×
4095 4095 4095 4095

Fig. 9.3 (a) S code input and output voltage

Set the following values as parameters:

· Constant Vmax: for upper limit of spindle speed (parameter No. 3736)
Upper limit of spindle speed
Vmax=4095×
Spindle speed at command voltage 10V

· Constant Vmin; for lower limit of spindle speed (parameter No. 3735)

Vmin=4095× Lower limit of spindle speed

Spindle speed at command voltage 10V

· Spindle speed A (min–1) ; at command voltage 10V and low gear

(parameter No. 3741)
· Spindle speed B (min–1) ; at command voltage 10V and high gear (or
middle-high gear) (parameter No. 3742)
· Spindle speed C (min–1) ; at command voltage 10V and high gear
(parameter No. 3743)

606
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

NOTE
If a specified voltage of 10 V is already higher than the
acceptable input voltage for the spindle drive system,
calculate the spindle speed that corresponds to 10 V using
a proportional calculation method and use it instead. Now,
in response to the specified S code, the speed command
and gear select commands (G3O, G2O, G1O) are output to
the spindle motor as shown in Fig. 9.3. (a).

D Gear change point during tapping cycle mode (G84, G74)

In case of G84 (tapping cycle) or G74 (counter tapping cycle) the gear
shift speed is changed by parameter SGT(No. 3705#3). In this case,
gear shift is performed at the speed set by parameters Nos. 3761 and
3762 (Fig. 9.3 (b)).

Spindle motor speed command

(analog voltage output)

10V

Upper limit
voltage of
spindle GR1O
motor speed
(Vc)
GR2O

Spindle speed
command
(S code input)
D A E B C
D : Gear shift point (parameter No. 3761) for low/high speed change (or low/medium speed change) (set by
parameter as min–1 value) during tapping.
E : Gear shift point (parameter No. 3762) (3-stage gear) for medium/high speed change (set by parameter as
min–1 value) during tapping.

Fig. 9.3 (b) S code input and output voltage (in tapping)

D M type gear change method B (Fig. 9.3 (c))

The speed (min–1) at which the low-speed and the high-speed gears are
changed over can be set as a parameters (Nos. 3751, 3752) by setting
parameter SGB (No. 3705# 2). When a 3-stage gear is used, it is possible
to set the speeds (min–1) for switching low-speed and medium-speed
gears, and medium-speed and high-speed gears, using parameters Nos.
3751, 3752.

607
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Spindle motor speed command

(analog voltage output)

10V

VC
VH
GR3O
VL
GR1O GR2O

Spindle speed
command
A B C (S code input)
Vmin Vmaxl Vmaxh Vmax
A× A× B× C×
4095 4095 4095 4095
VC: Voltage corresponding to the upper limit of output value to spindle motor.
VH: Voltage corresponding to the upper limit of output value to spindle motor with high-speed gears (medium
speed gear for 3-stage gear)
VL: Voltage corresponding to the upper limit of output value to spindle motor at low-speed gear

Fig. 9.3 (c) M type gear change B

When using this function, set the following parameters:

· Constant Vmax (Parameter No.3736) related to the upper limit of
spindle motor speed (min–1)
Upper limit of spindle motor speed (min–1)
Vmax = 4095×
Spindle motor speed (min–1) when the command voltage is 10V

· Constant Vmin (Parameter No. 3735) related to the lower limit of

spindle motor speed (min–1)
Lower limit of spindle motor speed (min–1)
Vmin = 4095×
Spindle motor speed (min–1) when the command voltage is 10V

· Constant Vmaxl (Parameter No. 3751) related to the upper limit of

spindle motor speed (min–1) with low-speed gears
Upper limit of spindle motor speed (min–1) with low-speed gears
Vmaxl = 4095×
Spindle motor speed (min–1) when the command voltage is 10V

· Constant Vmaxh (Parameter No. 3752) related to the upper limit of

spindle motor speed (min–1) with high-speed gears (medium-speed
gear for 3-stage gear)
Upper limit of spindle motor speed (min–1) with high-speed gears
(medium-speed gear for 3-stage gear)
Vmaxh = 4095×
Spindle motor speed (min–1) when the command voltage is 10V

608
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

· Spindle speed A (Parameter No.3741) (min–1) with low-speed gears

when the command voltage is 10V
· Spindle speed B (Parameter No.3742) (min–1) with high-speed gears
when the command voltage is 10V (medium-speed gear for 3-stage)
· Spindle speed C (Parameter No.3743) (min–1) with high-speed gears
when the command voltage is 10V (3-stage gear)
Spindle motor speed commands (0 to 10V) and gear selecting signals
(GR1O, GR2O, GR3O) are issued on each S code command as shown in
the figure:

CAUTION
1 In a tapping cycle when parameter SGT (No. 3705 #3 ) is
set, the gears are changed over at the gear changing point
for tapping. (See Item ”Gear change point during tapping
cycle mode (G84, G74)”.)
2 For this function (parameter SGB=1 (No. 3705#2)), when
only one-stage gear is used, the voltage corresponding to
the upper limit value to the spindle motor is calculated using
Vmaxl, and when 2-stage gear is used, it is calculated
according to Vmaxh. Therefore, when SGB is 1, set Vmaxl
when only one-stage gear is used, Vmaxl and Vmaxh when
2-stage gear is used.

D Time chart When S code is commanded, the I/O signal time chart is :
D When Gear select signal does not change

S code read

To next block

Spindle speed
command output
VH
VL
0V

Fig. 9.3 (d) Time chart when gear select signal does not change

In this case, the SF signal is not output and the CNC advances to the next
block automatically after the next spindle speed command is output.

609
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

D When Gear select signal change

S code read
To next block

Gear select signal

TMF
GR3O
/GR2O
/GR1O SF

FIN
TMF

TFIN

Spindle speed command

VH
VL
0V

Fig. 9.3 (e) Time chart when gear select signal changes

In this case, the gear select signal is output; after elapse of the time
constant set by parameter (TMF), the SF signal is output. After another
TMF elapse, the spindle speed command is output. On the PMC side,
change the gears by this signal, and return the FIN signal after the end of
gear change. The time chart for SF and FIN signals is the same as in S
code output.TMF, set by parameter No. 3010, is common to M, S and T
functions.

Moreover, specifying bit 6 (SFA) of parameter No. 3705 can specify that
the SF signal be output even if no gear change is used.

D Details of T type To perform the T type gear changing, the maximum spindle speed for each
(Input of GR1, GR2) gear select signal issued from the PMC side must be set by parameters
Nos. 3741-3744.
The gear select signal is a 2 bit code signal (GR1, GR2). The relationship
between the signal and gear number is :
Parameter No. for max.
GR1 GR2 Gear No.
spindle speed
0 0 1 No. 3741

1 0 2 No. 3742

0 1 3 No. 3743

1 1 4 No. 3744

The following descriptions exemplify the analog spindle. Like the

descriptions of the M type, they also apply to the serial spindle on the
assumption that spindle motor speed with analog voltage 10 V
corresponds to the maximum spindle motor speed.

610
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

In addition, for the speed command output to the spindle motor, analog
voltages 0 to 10 V for analog spindle control correspond to digital data
0 to 16383 for serial spindle control. However, it might be easier if you
consider them code signals from 0 to 4095 for convenience sake without
distinguishing between serial and analog spindles.

Assume that gear switching is two stage switching. If the spindle speed
with the output voltage 10 V is 1000 min–1 for the low speed gear (G1)
and 2000 min–1 for the high speed gear (G2), set these speeds by the
parameter No. 3741, 3742. In this case, the analog voltage has the linear
relationship shown below.

N
2000min–1 When gear
2 selected

When gear
1000min–1 1 selected
600min–1

Volt
0 V2 V1 10

When spindle speed S=600 is given, V1 (for G1) or V2 (for G2) is

calculated inside the CNC and output to the machine side.
V1: 6(V)
V2: 3(V)
The value of output voltage V is calculated automatically from the
following equations:
10N
V=
R

R: Spindle speed at 10V output voltage

N: Spindle speed given by S5-digits
This is equivalent to the G97 mode for constant surface speed control.

See Section 9.4 for operations during the constant surface speed control
mode (G96).

In addition, parameter No. 3772 (upper limit to the spindle speed) can
specify speed clamping for all gear positions.

611
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Reference→ Block Diagram for Analog Voltage Output

With the constant surface speed control option equipped.

CNC Power magnetics cabinet
[Surface speed]
M code Gear change command
S(m/min)
Spindle speed
X–axis pres-
command
ent value Constant
r S (min–1)
surface
min–1/10V speed control
Gear change
G97
G96
Parameter GR1, GR2
Motor speed conversion gear select signal
Full scale conversion
(contact)
Spindle motor

D-A SVC
Speed
converter control

SF signal is not sent.

D Determination of output Using the above processing for gear change, the CNC calculates the speed
R12O–R01O (Output) command output to the spindle motor that is necessary to obtain the
R12I–R01I (Input) specified spindle speed with the gear.
SIND (Input)
For either serial spindle or analog spindle control, the calculation results
are output as the S12 bit code signal from 0 to 4095 to the PMC.

(R12O to R01O<F037#3 to F036#0>)

After the calculation results are received, the SIND signal <G033#7>
determines which is to be used, the speed command output calculated by
the CNC or the data specified in the PMC. Thus speed command output
control for the spindle motor is determined. (See also Section 15.4.)

D Determination of output The speed command output to the spindle motor is determined as
polarity SSIN/SGN (Input) described above, but the actually used output polarity is determined by the
CNC as follows:
⋅ If bit 7 (TCW) of parameter No. 3706 = 0
→ Determined according to bit 6 (CWM) of parameter No. 3706
⋅ If bit 7 (TCW) of parameter No. 3706 = 1
→ Determined according to bit 6 (CWM) of parameter No. 3706 and
M03/M04 given to the CNC

After that, the SSIN signal <G033#6> determines which is to be used, the
output polarity calculated by the CNC or the polarity specified in the
PMC. In this way, the output polarity of the speed command output to
the spindle motor is determined. (See also Section 15.4.)

612
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Keep in mind the following: Even with bit 7 (TCW) of parameter No.
3706 = 1, the CNC cannot determine the output polarity if it has not issued
M03/M04, and therefore, actual output does not work even if the speed
command output has been specified.

D Command output to According to the speed command output and the polarity determined so
spindle far, the command is sent to the spindle control unit as follows:

⋅ For serial spindle → Digital data 0 to"16383

⋅ For analog spindle → Analog voltage 0 to"10 V

D Requirement of output After power is switched on, a nonzero command is output to the spindle
only when the following conditions are met: A nonzero spindle speed
command is specified, and the output polarity is determined.
With bit 7 (TCW) of parameter No. 3706 = 1, no command output is sent
to the spindle, because the output polarity is not determined until an
M03/M04 is issued.

D Requirement to stop The command output to the spindle is reset to 0 when a command to
output specify so (such as *SSTP = 0 or S0 command) is issued.
M05, emergency stop, or reset does not cause the CNC to reset the
command output to the spindle to 0.

D Spindle enable signal Another output related to spindle control is the spindle enable signal
ENB <F001#4> ENB.
The ENB signal is logical 1 when a nonzero command output is sent to
the spindle. If the command is logical 0, the ENB signal becomes logical
0.
When the analog spindle is being used, an offset voltage in the spindle
motor speed amplifier may cause the spindle motor to rotate at low speed
even if the command output (in this case, analog voltage) to the spindle
is zero. The ENB signal can be used to stop the motor in such a case.

D 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.

→ Gain adjustment data: Parameter No. 3730
Offset voltage compensation: Parameter No. 3731
D Electrical specification The signals related to analog spindle interface are described below.
of analog spindle
interface The ENB1 and ENB2 signals are turned on and off under the same
condition as for the ENB signal <F001#4>. They can be used also for the
serial spindle.

613
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Control unit

max+10V SVC
SVC Spindle speed
2mA analog voltage Name Connector/Pin
ES
Output ES output SVC JA8A/7
impedance
100Ω ES JA8A/5
ENB1
ENB Enable signal
ENB1 JA8A/8
ENB2
ENB2 JA8A/9

WARNING
Since the output voltage is a weak signal, do not relay it
through contacts.

D Position coder feedback The position coder is necessary for feed per revolution.
signal
The position coder detects the actual spindle speed.

Ideally, the position coder should be connected directly to the spindle

(with a gear ratio of 1:1). If it is necessary to use a gear, select a gear ratio
from 1:1, 1:2, 1:4, and 1:8 that reduces the position coder speed.

When using a gear between the spindle and position coder, specify the
gear ratio in bits 1 and 0 (PG2, PG1) of parameter No. 3706.

See Section 9.5 for position coder connection for rigid tapping.

D Speed arrival signal The spindle speed arrival signal SAR is an input signal used as a condition
(SAR) to cause the CNC to start cutting feed. This signal is used generally when
cutting feed should be started after the spindle reaches the specified speed.

In this case, a sensor is used to check the spindle speed. The detected
speed is sent to the CNC via the PMC.

When the above operation is performed using the PMC ladder regularly,
however, cutting feed may be started based on the SAR signal indicating
the previous spindle state (spindle speed before change), if the spindle
speed change command and the cutting feed command are issued at the
same time.

To avoid the above problem, monitoring the SAR signal can be deferred
for a time specified by parameter No. 3740 after the S command or cutting
feed command was issued.

When using the SAR signal, set bit 0 (SAR) of parameter No. 3708 to 1.

Item No. 06 (SPINDLE SPEED ARRIVAL CHECK) on the diagnosis

screen is kept at 1 while this function is keeping the cutting feed block at
a halt.

614
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Signal

Spindle stop signal

*SSTP<G029#6>
[Classification] Input signal
[Function] The command output to the spindle is held.
[Operation] When the spindle stop signal turns to “0” , the output voltage becomes 0V
and the enable signal ENB turns to “0” (M05 is not output). When this
signal turns to “1”, the analog voltage returns to its original value and the
ENB signal turns to “1”.

S××××
Input command M03 M05 M04 S0

Auxiliary function
processing
“1”
Spindle stop signal “0”
*SSTP

Command output to
the spindle 0

Enable signal ENB

The above time chart is an example. Actually, the time chart should meet
the specification of the spindle control unit.
· When this signal is not used, always set the signal to “1”.
· M03, M04, M05 are not processed inside the CNC.

Spindle orientation
signal SOR <G029#5>
[Classification] Input signal
[Function] The spindle or the spindle motor is rotated at a constant speed.
[Operation] When the spindle orientation signal turns to “1” and the spindle stop
signal *SSTP turns to “0”, a spindle speed command which lets the
spindle rotate at the constant speed set by parameter No. 3732 is output.
The enable signal ENB also turns to “1”. This signal is disabled when the
spindle stop signal is “1”.
When the spindle speed for orientation is set by parameter GST (No.
3705#1)=0 and the SOR signal is input, the CNC outputs the spindle
speed command corresponding to the speed set to parameter 3732 with
an output polarity set by parameter ORM (No. 3706#5), but the gear select
signal does not change. For example, if the SOR signal is turned to “1”
with high gear selected, and the speed set to parameter No. 3732 is in the

615
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

low gear range, the gear select signal does not change and the command
output is calculated and output to obtain the set speed at high gear.
When the spindle motor speed is set by parameter GST (No. 3705#1)=1,
the command output is output regardless of gear select signal. When the
spindle motor speed is set, it is used for gear shift.
Example of usage is shown below:

Input command
M19 M03

Auxiliary function
processing
Stop command Orientation
detection
Spindle stop signal
*SSTP

Spindle orientation signal

SOR
Max. 70ms Max. 70ms

Command output to 0
the spindle
Enable signal
ENB

Spindle speed

0
min–1
RL: Constant speed set by parameter No. 3732

Gear shift signal GST

<G212#5>
[Classification] Input signal
[Function] This signal keeps the spindle motor at a constant rotation speed, if a gear
shift occurs when spindle orientation is in progress.
[Operation] When spindle orientation is in progress, setting the gear shift signal to 1
causes a constant command output to be generated regardless of the gear
position, if the rotation speed of the spindle motor has been specified. The
signal can be used for gear shifting if the spindle motor rotation speed has
been specified. The signal implements a function equivalent to that of the
GST parameter (bit 1 of parameter No. 3705). It is valid if GST is 0.

616
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Spindle speed override

signal SOV0 to SOV7
<G030>
[Classification] Input signal
[Function] The spindle speed override signal specifies an override from 0% to 254%
in 1% units for the S command sent to the CNC.
[Operation] An override value in binary must be set in 8 bits from SOV7 to SOV0.
The spindle speed override function is disabled (an override of 100% is
applied) under the following conditions:
⋅ Tapping cycle (G84, G74)
→ When this function is not in use, specify an override of 100%;
otherwise, an override of 0% becomes effective, thus disabling the
spindle from rotating.

Spindle speed arrival

signal SAR <G029#4>
[Classification] Input signal
[Function] The SAR signal initiates cutting feed. In other words, if the signal is
logical 0, cutting feed will not start.
[Operation] Generally, this signal is used to inform the CNC that the spindle has
reached the specified speed.
For this purpose, the signal must be set to 1 only after the actual speed of
the spindle has reached the specified speed.
Setting parameter No. 3740 with a wait time before the start of checking
the SAR signal inhibits cutting feed from starting under a condition of
SAR = 1 specified before the change of the spindle command.
To use the SAR signal, it is necessary to set bit 0 (SAR) of parameter No.
3708 to 1.
The CNC checks the SAR signal under the following conditions:
a. Bit 0 (SAR) of parameter No. 3708 is set to 1.
b. Before starting distribution of the first feed (move command) block
after shifting from the rapid traverse mode to the cutting feed mode.
This checking is performed after the time set by parameter No. 3740
has elapsed after the feed block is read.
c. Before starting distribution of the first feed command block after an
S code is commanded. The wait time for checking is the same as in
item b.
d. When an S code and feed are programmed in the same block, the S
code (or command output to the spindle) is output, and the SAR signal
is checked after a fixed time elapses. If the SAR signal is set to “1”,
feed begins.

617
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

CAUTION
According to the conditions of item d above, note that if the
circuit is so designed that SAR is turned to “0”
simultaneously with the output of an S code and the change
of spindle speed is gated with DEN signal, the operation will
stop. That is, the spindle speed does not reach the
commanded speed because the CNC is waiting for the DEN
signal and distribution is not started because the CNC is
waiting for the SAR signal.

Spindle enable signal

ENB <F001#4>
[Classification] Output signal
[Function] Informs absence or presence of spindle output command.
[Output condition] The ENB signal becomes logical 0 when the command output to the
spindle becomes logical 0. Otherwise, the signal is logical 1.
During analog spindle control, S0 may not be able to stop the spindle from
rotating at low speed because of an offset voltage in the spindle motor
speed control amplifier. In such a case, the ENB signal can be used to
provide a condition to determine whether to stop the motor.

Gear selection signal

GR1O, GR2O, GR3O
<F034#0 to #2>

[Classification] Output signal

[Function] The gear select signal specifies a gear stage to the PMC.
[Output condition] For details of this signal, see descriptions on the M type gear selection
method in General.

Gear selection signal

GR1, GR2 <G028#1, #2>

[Classification] Input signal

[Function] This signal informs the CNC of the gear stage currently selected.
[Output condition] For details of this signal, see descriptions on the T type gear selection
method in General.

618
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

S12–bit code signal

R01O to R12O
<F036#0 to F037#3>

[Classification] Output signal

[Function] This signal converts the spindle speed command value calculated by the
CNC to code signals 0 to 4095.
[Output condition] The relationship between the spindle speed command value (calculated
by the CNC) and the value output by this signal is as shown below.

S12 bit code

signal

4095

0
16383 (Digital data) ← Serial spindle
0 10V (Analog voltage) ← Analog spindle

This signal converts the spindle speed command value calculated by the
spindle control function of the CNC to data from 0 to 4095 (for both serial
and analog spindle control) and outputs the result. Note that the
conversion result is not the actual output value. (See Section 15.4.)

Other signals

Spindle speed function See Sections 9.1 and 15.4 for these signals.
code signal S00 to S31
<F025 to F022> (Output)
Spindle speed function
strobe signal
SF<F007#2> (Output)

Spindle speed output See Section 15.4 for these signals.

control signal by PMC
SIND<G033#7> (Input)
R01l to R12l
<G032#0 to G033#3>
(Input)
SSIN <G033#6> (Input)
SGN <G033#5> (Input)
619
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Signal address
G028 GR2 GR1

G029 *SSTP SOR SAR

G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

G032 R08I R07I R06I R05I R04I R03I R02I R01I

G033 SIND SSIN SGN R12I R11I R10I R09I

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB

F007 SF

F022 S07 S06 S05 S04 S03 S02 S01 S00

F023 S15 S14 S13 S12 S11 S10 S09 S08

F024 S23 S22 S21 S20 S19 S18 S17 S16

F025 S31 S30 S29 S28 S27 S26 S25 S24

F036 R08O R07O R06O R05O R04O R03O R02O R01O

F037 R12O R11O R10O R09O

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3705 SFA NSF SGT SGB GST ESF

[Data type] Bit

ESF When the spindle control function (S analog outpu or S serial output) is
used, and the constant surface speed control function is used or bit 4
(GTT) of parameter No. 3706 is set to 1:
0 : S codes and SF are output for all S commands.
1 : S codes and SF are not output for an S command in constant surface
speed control mode (G96 mode) or for an S command used to specify
maximum spindle speed clamping (G50S–––;).

NOTE
In the following cases, SF is not output:
(1)For an S command used to specify maximum spindle
speed clamping (G92S–––;) in constant surface speed
control mode
(2)When bit 5 (NSF) of parameter No. 3705 is set to 1

GST: The SOR signal is used for:

0 : Spindle orientation
1 : Gear shift

620
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

SGB: Gear switching method

0 : Method A (Parameters Nos. 3741 to 3743 for the maximum spindle
speed at each gear are used for gear selection.)
1 : Method B (Parameters Nos. 3751 and 3752 for the spindle speed at the
gear switching point are used for gear selection.)
SGT: Gear switching method during tapping cycle (G84 and G74)
0 : Method A (Same as the normal gear switching method)
1 : Method B (Gears are switched during tapping cycle according to the
spindle speed set in parameters No. 3761 and 3762).
NSF: When an S code command is issued in constant surface speed control,
0 : SF is output.
1 : SF is not output.
SFA: The SF signal is output:
0 : When gears are switched
1 : Irrespective of whether gears are switched

#7 #6 #5 #4 #3 #2 #1 #0
3706 TCW CWM ORM GTT PG2 PG1

[Data type] Bit

PG2, PG1 Gear ratio of spindle to position coder
Magnification PG2 PG1
1 0 0
Spindle speed
2 0 1 Magnification=
4 1 0 Number of position coder revolutions
8 1 1
GTT Selection of a spindle gear selection method
0 : Type M
1 : Type T

621
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

NOTE
1 Type M:
The gear selection signal is not entered. In response to an
S command, the CNC selects a gear according to the speed
range of each gear specified beforehand in parameters.
Then the CNC reports the selection of a gear by outputting
the gear selection signal. The spindle speed corresponding
to the gear selected by the gear selection signal is output.
Type T:
The gear selection signal is entered. The spindle speed
corresponding to the gear selected by this signal is output.
2 When the constant surface speed control option is selected,
type T is selected, regardless of whether this parameter is
specified.
3 When type T spindle gear switching is selected, the
following parameters have no effect:
No. 3705#2 SGB, No. 3751, No. 3752, No. 3705#3 SGT,
No. 3761, No. 3762, No. 3705#6 SFA, No. 3735, No. 3736
However, parameter No. 3744 is valid.

ORM Voltage polarity during spindle orientation

0 : Positive
1 : Negative
TCW, CWM Voltage polarity when the spindle speed voltage is output

TCW CWM Voltage polarity

0 0 Both M03 and M04 positive
0 1 Both M03 and M04 negative
1 0 M03 positive, M04 negative
1 1 M03 negative, M04 positive

Data used for adjusting the gain of the analog output of spindle speed
3730

[Data type] Word

[Unit of data] 0.1 %
[Valid data range] 700 to 1250
Set data used for adjusting the gain of the analog output of spindle speed.

[Adjustment method] (1) Assign standard value 1000 to the parameter.

(2) Specify the spindle speed so that the analog output of the spindle speed
is the maximum voltage (10 V).
(3) Measure the output voltage.
(4) Assign the value obtained by the following equation to parameter No.
3730.
10 (V)
Set value= × 1000
Measured data (V)

622
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

(5) After setting the parameter, specify the spindle speed so that the analog
output of the spindle speed is the maximum voltage. Confirm that the
output voltage is 10V.

NOTE
This parameter needs not to be set for serial spindles.

Compensation value for the offset voltage of the analog output of the spindle
3731 speed

[Data type] Word

[Unit of data] Velo
[Valid data range] –1024 to +1024
Set compesation value for the offset voltage of the analog output of the
spindle speed.
Set value =–8191 Offset voltage (V)/12.5
[Adjustment method] (1) Assign standard value 0 to the parameter.
(2) Specify the spindle speed so that the analog output of the spindle speed
is 0.
(3) Measure the output voltage.
(4) Assign the value obtained by the following equation to parameter No.
3731.
–8191 × Offset voltage (V)
Set value=
12.5
(5) After setting the parameter, specify the spindle speed so that the analog
output of the spindle speed is 0. Confirm that the output voltage is 0V.

NOTE
This parameter need not to be set for serial spindles.

The spindle speed during spindle orientation or the spindle motor speed during
3732 spindle gear shift

[Data type] Two–word

[Valid data range] 0 to 20000
Set the spindle speed during spindle orientation or the spindle motor
speed during gear shift.
When GST, #1 of parameter 3705, is set to 0, set the spindle speed during
spindle orientation in min–1.
When GST, #1 of parameter 3705, is set to 1, set the spindle motor speed
during spindle gear shift calculated from the following formula.
Spindle motor speed during spindle gear shift
Set value = ×16383 (For a serial spindle)
Maximum spindle motor speed

623
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Spindle motor speed during spindle gear shift

Set value = ×4095 (For an analog spindle)
Maximum spindle motor speed

Minimum clamp speed of the spindle motor

3735

[Data type] Word

[Valid data range] 0 to 4095
Set the minimum clamp speed of the spindle motor.
Minimum clamp speed of the spindle motor
Set value = ×4095
Maximum spindle motor speed

Maximum clamp speed of the spindle motor

3736

[Data type] Word

[Valid data range] 0 to 4095
Set the maximum clamp speed of the spindle motor.
Maximum clamp speed of the spindle motor
Set value = ×4095
Maximum spindle motor speed

Spindle motor speed

Max. speed (4095, 10V)

Spindle motor max.

clamp speed
(Parameter No. 3736)

Spindle motor minimum

clamp speed
(Parameter No. 3735)
Spindle speed (S command)

Time elapsed prior to checking the spindle speed arrival signal

3740

[Data type] Byte

[Unit of data] msec
[Valid data range] 0 to 225
Set the time elapsed from the execution of the S function up to the
checking of the spindle speed arrival signal.

624
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Maximum spindle speed for gear 1

3741

Maximum spindle speed for gear 2

3742

Maximum spindle speed for gear 3

3743

Maximum spindle speed for gear 4

3744

[Data type] Word

[Unit of data] min–1
[Valid data range] 0 to 32767
Set the maximum spindle speed corresponding to each gear.

Spindle motor speed

Max. speed (4095, 10V)

Spindle motor max.

clamp speed
(Parameter No. 3736)

Spindle motor mini-

mum clamp speed
(Parameter No. 3735) Spindle speed
command
Gear 1 Gear 2 Gear 3 (S command)
Max. speed Max. speed Max. speed

625
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Spindle motor speed when switching from gear 1 to gear 2

3751

Spindle motor speed when switching from gear 2 to gear 3

3752

[Data type] Word

[Valid data range] 0 to 4095
For gear switching method B, set the spindle motor speed when the gears
are switched.
Spindle motor speed when the gears are switched
Set value = ×4095
Maximum spindle motor speed

Spindle motor speed

Max. speed (4095, 10V)

Spindle motor max. clamp speed Parameter No. 3736

Speed at gear 2–3 change point Parameter No. 3752

Speed at gear 1–2 change point Parameter No. 3751

Spindle motor minimum clamp Parameter No. 3735

speed

Spindle speed
Gear 1 Gear 2 Gear 3 command
max. max. max (S command)
speed speed speed
parameter parameter parameter
No. 3741 No. 3742 No. 3743

Gear 1–2 Gear 2–3

change point change point

626
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Spindle speed when switching from gear 1 to gear 2 during tapping

3761

Spindle speed when switching from gear 2 to gear 3 during tapping

3762

[Data type] Word

[Unit of data] min–1
[Valid data range] 0 to 32767
When method B is selected (SGT,#3 of parameter 3705, is set to 1) for the
tapping cycle gear switching method, set the spindle speed when the gears
are switched.

Spindle motor speed

Max. speed (4095, 10V)

Spindle motor max.

clamp speed
(Parameter No. 3736)

Spindle motor minimum

clamp speed
(Parameter No. 3735) Spindle speed
Gear 1 Gear 2 Gear 3 command
Max. Max. Max. (S command)
speed speed speed
Parameter Parameter Parameter
No. 3741 No. 3742 No. 3743

Gear 1–2 Gear 2–3

change point change point
parameter parameter
No. 3761 No. 3762

627
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Maximum spindle speed

3772

[Data type] Word

[Unit of data] min–1
[Valid data range] 0 to 32767
This parameter sets the maximum spindle speed.
When a command specifying a speed exceeding the maximum speed of
the spindle is specified , or the speed of the spindle exceeds the maximum
speed because of the spindle speed override function, the spindle speed is
clamped at the maximum speed set in the parameter.

WARNING
1 When 0 is set in this parameter, the speed of the spindle is
not clamped.
2 When spindle speed command control is applied using the
PMC, this parameter has no effect, and the spindle speed
is not clamped.

NOTE
1 This parameter is valid when the constant surface speed
control option is selected.
2 When the constant surface speed control option is selected,
the spindle speed is clamped at the maximum speed,
regardless of whether the G96 mode or G97 mode is
specified.

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.

628
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.4
CONSTANT
SURFACE SPEED
CONTROL

General With the spindle serial output or analog output function, specifying the
surface speed (m/min or feet/min) directly in an S command makes it
possible to change the spindle output continuously so as to maintain a
constant surface speed at a programmed point. (For the rapid traverse
command, however, the surface speed for the end point is output at the
beginning of rapid traverse.)

Spindle speed N
r

Surface speed S=2πr·N

Whether or not constant surface speed control is performed is selected by

G code.
G96: Constant surface speed control performed. S in the G96 mode is
m/min or feet/min.
G97: Constant surface speed control not performed. S in the G97 mode
is rev/min.

To perform constant surface speed control, the maximum spindle speed

for each gear select signal issued from the PMC side must be set by
parameters Nos. 3741-3744.
The gear select signal is a 2 bit code signal (GR1, GR2). The relationship
between the signal and gear number is :
GR1 GR2 Gear number
0 0 1

1 0 2

0 1 3

1 1 4

Example of Spindle Assume that gear switching is two stage switching. If the spindle speed
Analog Output with the output 10 V is 1000 min–1 for the low speed gear (G1) and 2000
min–1 for the high speed gear (G2), set these speeds to the parameter No.
3741, 3742, respectively. In this case, the spindle output has the linear
relationship shown below:

629
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

N
2000min–1 G2
When gear
2 selected

G1
1000min–1 When gear
1 selected
600min–1

Spindle output
(Volt)
0 V2 V1 10

Here, S = 60 m/min is given as the surface speed; if the position of the

present X-axis cutter is 16 mm from the center, the spindle speed N
becomes 600 min–1 (S = 2πr N). Therefore, V1 (for G1) or V2 (for G2)
is calculated inside the CNC and output to the machine side.
V1: 6(V)
V2: 3(V)
The value of output voltage V is calculated automatically from the
following equations:

(i) G96
10S
V=
2πrR
R: Spindle speed (min–1) at 10V output voltage (that is , spindle speed set
by parameters No. 3741 to No. 3744)
S: Surface speed (m/min) specified by S command
r: Radius value in the X-axis direction (m)

(ii)G97
10N
V=
R
R: Spindle speed at 10V output voltage (min–1)
N: Spindle speed given by S command (min–1)

Spindle Serial Output The output to the spindle in spindle serial output is a digital data.
Therefore assume the following relation for calculation:
Spindle analog output (voltage) 10V = Spindle serial output
(digital data) 4095.
The above calculation becomes as follows:

The value of Spindle output D:

(i) G96
4095S
D=
2πrR

630
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

R: Spindle speed (min–1) at maximum spindle motor speed (that is ,

spindle speed set by parameter No. 3741 to No. 3744)
S: Surface speed (m/min) specified by S
r: Radius value in the X-axis direction (m)

(ii)G97
4095N
D=
R
R: Spindle speed at maximum spindle motor speed (min–1)
N: Spindle speed given by S command (min–1)

Signal

Gear selection signal Refer to section 9.3 “Spindle Speed Control”.

(Input)
GR2, GR1 <G028#2, #1>

Constant surface speed

signal CSS <F002#2>

[Classification] Output signal

[Function] This signal indicates that constant surface speed control is in progress.
[Output condition] “1” indicates that constant surface speed control mode (G96) is in
progress, while “0” indicates it is not.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F002 CSS

631
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Parameter
Maximum spindle speed for gear 1
3741

Maximum spindle speed for gear 2

3742

Maximum spindle speed for gear 3

3743

Maximum spindle speed for gear 4

3744

[Data type] Word

[Unit of data] min–1

Axis as the calculation reference in constant surface speed control

3770

[Data type] Byte

[Valid data range] 0, 1, 2, 3, ..., number of control axes
set the axis as the calculation reference in constant surface speed contorol.

NOTE
When 0 is set, constant surface speed control is always
applied to the X–axis. In this case, specifying P in a G96
block has no effect on the constant surface speed control.

Minimum spindle speed in constant surface speed control mode (G96)

3771

[Data type] Word

[Unit of data] min–1
[Valid data range] 0 to 32767
Set the minimum spindle speed in the constant surface speed control
mode (G96).
The spindle speed in constant surface speed control is clamped to the
speed given by parameter No. 3771.

632
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Maximum spindle speed

3772

[Data type] Word

[Unit of data] min–1
[Valid data range] 0 to 32767
This parameter sets the maximum spindle speed.
When a command specifying a speed exceeding the maximum spindle
speed is specified, or the spindle speed exceeds the maximum speed
because of the spindle speed override function, the spindle speed is
clamped at the maximum speed set in the parameter.

NOTE
1 This parameter is valid when the constant surface speed
control option is selected.
2 When the constant surface speed control option is selected,
the spindle speed is clamped at the maximum speed,
regardless of whether the G96 mode or G97 mode is
specified.

Alarm and message

Number Message Description

190 ILLEGAL AXIS SELECT In the constant surface speed control,

the axis specification is wrong. (See pa-
rameter No. 3770.) The specified axis
command (P) contains an illegal value.
Correct the program.

Caution
CAUTION
1 If the spindle speed corresponding to the calculated surface
speed exceeds the speed specified in the spindle speed
clamp command (G92S_) during the G96 mode, the actual
spindle speed is clamped at the value specified in the
spindle speed clamp command.
If the specified spindle speed is lower than the value
specified in parameter No. 3771, the actual spindle speed
is clamped at the specified speed.
2 If the constant surface speed control function is provided for
a machining center system, it affects gear change under
normal spindle control. (See Section 9.3.)

633
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Reference item
OPERATOR’S MANUAL III.1.3 CONSTANT SURFACE SPEED
(B–63174EN) CONTROL (G96, G97)

634
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.5
RIGID TAPPING

9.5.1 In a tapping cycle (G84/G74), synchronous control is applied to the

General tapping operation of a tapping axis and the operation of the spindle.
This capability eliminates the need to use a tool such as a float tapper, thus
enabling higher–speed, higher–precision tapping.
Whether a tapping cycle is an ordinary tapping cycle or rigid tapping cycle
is determined by the miscellaneous function code for rigid tapping M29.
(A different M code can be used by setting the parameters accordingly, but
M29 is used in the description given here.)
By setting the parameters, G codes for tapping cycles can be changed to
G codes for rigid tapping only. In this case, the CNC specifies M29
internally.
To perform rigid tapping, the following must be added to the ordinary
connections:
· Connection of a position coder to the spindles (described in 9.5.2)
· Addition of a sequence to the PMC (described in 9.5.4 and 9.5.5)
· Setting of related parameters (described in 9.5.8)

CAUTION
When M–type gear selection is used, the maximum spindle
speed for rigid tapping (specified with parameters No. 5241
to 5243) must also be set for parameter No. 5243 regardless
of the number of gear steps. (For a system having a single
gear step, set the same value as that of parameter No. 5241
for parameter No. 5243. For a system having two gear
steps, set the same value as that of parameter No. 5242 for
parameter No. 5243.)

The descriptions given in this section (such as spindle gear switching and
M–type/T–type) are based on the explanation given in Section 9.3. Refer
to Section 9.3 as necessary.

635
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.5.2 As shown in the figure below a gear can be inserted between the spindle
Connection Among and spindle motor, and between the spindle and position coder.
Spindle, Spindle Motor,
and Position Coder

Spindle control

Error Spindle amplifier Spindle motor

counter

Gear ratio n:m

4 Position Gear ratio q:p Spindle

coder

1024 p/rev

(The 512 pulses/rev position coder is incorporated into some

spindle motors. When the serial spindle is used, the system
carries out conversion from 512 pulses/rev to 1024 pulses/rev.)

(1) Gear between spindle Up to three gear stages can be provided between the spindle and the
and spindle motor spindle motor. The gear ratio is arbitrary. The spindle move distance per
spindle motor rotation is different, based on the gear ratio. The speed
command to the spindle motor must be adjusted. See (2), below, for addi-
tional information regarding a spindle motor incorporating a position
coder.
(2) Gear between spindle The position coder is used to detect the position of the spindle.
and position coder The gear ratio for the spindle and position coder is specified in the parame-
ter sets No. 5221 to No. 5223 and No. 5231 to No. 5233, or parameter set
PG1 and PG2 No. 3706 #0, #1. Which parameter set to use is specified
by parameter VGR No. 5200 #1.
S Arbitrary gear ratio This is used if the gear ratio for the spindle motor and position coder
(VGR=1) (built-in or separate) is not 1:1, 1:2, 1:4, or 1:8, set VGR to 1 and set the
gear ratio using parameter No. 5221 to 5223.
When position coder is mounted on a spindle, the gear ratio for the spindle
motor and position coder cannot be changed by shifting the spindle motor
and spindle gears. Parameters No. 5221 to 5223 must all specify the same
value for the teeth of the individual spindle gears. Parameters No. 5231
to 5233 must all specify the same value for the teeth of individual position
coder gears.

The 1024 or 512 pulses/rev position coder is built into the spindle motor.
For the 512 pulses/rev version, specify double the number of teeth on each
gear for the position coder. (Double the number of teeth need not be
specified for the serial spindle.)

636
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Example)

Built–in position coder

Spindle
motor

1st gear set 30 : 70

2nd gear set 50 : 50
3rd gear set 70 : 30

Set value

Parame- 512p/rev 1024p/

rev Meaning
ter No. Position
Position
coder
coder
5221 70 Number of teeth of the 1st gear for the
spindle side
5222 50 Number of teeth of the 2nd gear for the
spindle side
5223 30 Number of teeth of the 3rd gear for the
spindle side
5231 60 Note) 30 Number of teeth of the 1st gear for the
position coder side
5232 100 Note) 50 Number of teeth of the 2nd gear for the
position coder side
5233 140 Note) 70 Number of teeth of the 3rd gear for the
position coder side

NOTE
Double value setting is not required for serial spindle.

637
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

S Gear ratio is 1:1, 1:2, 1:4, If the gear ratio is either 1:1, 1:2, 1:4, and 1:8, it is set using parameters
1:8 (VGR=0) PG1 and PG2 (No. 3706 #0, #1). This applies if the position coder is
mounted in a spindle or built into a spindle motor when only one stage
gear is provided. .
Parameter Gear ratio
Detection unit
PG2 PG1 Spindle Position coder
0 0 1 1 360/4096=0.08789 deg
0 1 1 2 360/4096 2=0.17578
deg
1 0 1 4 360/4096 4=0.35156
deg
1 1 1 8 360/4096 8=0.70313
deg

The spindle motor building in the 512 pulses/rev position coder uses the
values set forth in the following table. A serial spindle does not require
double-value setting; use the same values as for the spindle motor
building in the 1024 pulses/rev position coder.
Gear ratio Parameter Gear ratio
Detection
of spindle
Spindle unit
Built–in Spindle PG2 PG1 to position
motor (deg)
position coder
coder 1 1 0 1 1:2 0.17578
512p/rev
2 1 1 0 1:4 0.35156
4 1 1 0 1:8 0.70313

(3) Rigid tapping and If the M type gear selection method is selected, the CNC determines
machines with whether gears need changing using the gear change specification
multiple gears mentioned in section 9.3. If the gears need to be changed, the CNC
generates the S function code read signal SF (F007#2) and gear selection
signals GR1O, GR2O, and GR3O (F034#0-#2) to notify the PMC.
Change gears using the PMC, based on these signals.
If the T type gear selection method is selected, the CNC does not process
gear changes. When the CNC has the S function code, it outputs signal
SF and S function code signals S00 to S31 (F022#0-F025#7) to the PMC.
(However, parameter No. 3705 and its related parameters need to be set
for S code and SF signal output). Using the PMC, determine whether
gears need changing, and make the change if needed. Input gear selection
signals GR1 and GR2 <G028#1,#2> for the selected gear, and notify the
CNC of them.
To perform rigid tapping with the serial spindle, enter the clutch/gear
selection signals CTH1 and CTH2 (G070#3,#2) from the PMC. Notify
the serial spindle control unit of these signals via the CNC, irrespective
of the gear selection method.

638
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Changing gears during rigid tapping requires a different process from that
for gear changes during normal machining. As described above, changing
gears conforms to the gear change specifications mentioned in section 9.3
when the M type gear selection method has been selected. With the T type
gear selection method, changing gears conforms to the logic programmed
in the PMC.
Regardless of the option’s selection, if the range in which the spindle
speed specified by the S function code does not correspond to the
currently selected gear, the gears are changed.
The following tables list the spindle speed ranges for each gear during
normal machining (assuming no machine restrictions) and rigid tapping:
Spindle speed range (normal machining)
Gear
Lower limit Upper limit
Low– 1 revolution Maximum low–speed gear speed =
speed Maximum spindle motor speed L%
gear Low–speed gear ratio
Medium Maximum low–speed Maximum medium–speed gear speed =
speed gear speed + 1 revo- Maximum spindle motor speed L%
gear lution Medium speed gear ratio
High– Maximum medium– Maximum high–speed gear speed =
speed speed gear speed +1 Maximum spindle motor speed L%
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). L can be
specified for each gear using method B for changing in M
type gear selection method (bit 2 (SGB) of parameter No.
3705 =1).

Spindle speed range (during rigid tapping)

Gear
Lower limit Upper limit
Low– 1 revolution Maximum low–speed gear speed
speed Basic spindle motor speed +α
gear =
Low–speed gear ratio
Medium Maximum low–speed Maximum medium–speed gear speed
speed gear speed + 1 revo- Basic spindle motor speed +α
gear lution =
Medium–speed gear ratio
High– Maximum medium– Maximum high–speed gear speed
speed speed gear speed +1 Basic spindle motor speed +α
gear revolution =
High–speed gear ratio

639
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

NOTE
This table show an example of three gears. For the basic
spindle motor speed, refer to the spindle motor description
manual. “+α” means that the spindle motor speed may
slightly exceed the basic spindle motor speed.

If the M type gear selection method is used, use gear change method B
(bit 3 (SGT) of parameter No. 3705 = 1) in the tapping cycle to specify
the following:
The table above shows the maximum low-speed gear speed during rigid
tapping for low-/medium-speed gear change position D (parameter No.
3761).
The table above shows the maximum medium-speed gear speed during
rigid tapping for medium-/high-speed gear change position E (parameter
No. 3762).
If the T type gear selection method is used, add the rigid tapping logic to
the logic programmed in the PMC.
See Section 9.3, “Spindle Control” for details of the spindle gear change
specifications.
The loop gain can be specified for each gear. Specify “0” for parameter
No. 5280 and specify loop gains for each gear for parameter Nos. 5281
to 5283. Unless “0” is specified for parameter No. 5280, the loop gains
for each gear are disabled, and the loop gain common to all gears, the
value of parameter No. 5280, is enabled.
Specify the time constant and the maximum spindle speed for each gear.
Use parameters Nos. 5261 to 5263 to specify the time constant.
Use parameters Nos. 5241 to 5243 to specify the maximum spindle speed.
For M type gear selection method, set the maximum spindle speed to
parameter No. 5243, irrespective of the number of gear stages used.
Setting bit 2 (TDR) of parameter No. 5201 to “1” enables setting of the
extraction time constant for each gear set. Specify the extraction time
constant for each gear in parameter Nos. 5271 to 5273.
If bit 1 (VGR) of parameter No. 5200 is set to “1”, the gear ratio for the
spindle and position coder can be set to anywhere between 1:32767 and
32767:1 in one-increment units for three gear sets. However 1:8 to 8:1
is the recommended value.

640
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.5.3
Rigid Tapping
Specification
D Feed rate In rigid tapping mode, the tapping axis is fed at a rate specified by F; the
spindle speed is S 360(deg/min). Override is invalid for both of them.
An override of up to 200% can be applied to withdrawal operations by
setting bit 4 (DOV) of parameter No. 5200 to “1”, and setting an
appropriate override value in parameter RGOVR of No. 5211. The time
constant for withdrawal operations can be modified by bit 2 (TDR) of
parameter No. 5201; when it is set to “1”, the values in parameter Nos.
5271 to 5273 are used as the time constant for withdrawal.
D Acceleration and Linear acceleration/deceleration is valid for rigid tapping.
deceleration

D Override Override is invalid for rigid tapping. Fixed override can be applied to
withdrawal operations by setting bit 4 (DOV) of parameters No. 5200 or
RGOVR of No. 5211.
D Dry run Dry run is valid for G84 (G74). When the dry run is applied to the tapping
axis speed of G84 (G74), tapping is performed. The spindle speed will
match the dry run speed.
D Machine lock Machine lock is valid for G84 (G74).
When G84 (G74) is executed with the machine locked, however the
tapping axis and the spindle do not move.
D Reset When the reset operation is performed during rigid tapping, the mode is
reset. The spindle motor goes to the ordinary mode, but G84 (G74) mode
is not reset.
D Feed hold, interlock, and The feed hold, interlock, and single block functions are effective for G84
single block (G74).
The feed hold and single block functions in rigid tapping mode can be
valid by setting bit 6 (FHD) of parameter No. 5200 to “1”.
As with the machine lock signal, the feed hold and single block functions
are also effective for the spindle indirectly, through tapping axis
operations.
D Operation mode G84 (G74) can be executed only in the AUTO and MDI modes.
D Manual feed Rigid tapping cannot be performed in the manual feed mode.
D Backlash compensation In rigid tapping mode, the backlash is compensated for the lost motion at
forward and reverse spindle rotations. Set it using parameter No. 5321.
The backlash compensation is normally made for the tapping axis.

641
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.5.4
Signal

9.5.4.1
Signals for the rigid
tapping function

Rigid tapping signal

RGTAP<G061#0>
[Classification] Input signal
[Function] When M29 (miscellaneous function for preparation for rigid tapping) is
specified, the PMC enters rigid tapping mode, then turns on this signal
to notify the CNC.
1 : The PMC enters in rigid tapping mode.
0 : The PMC does not enter rigid tapping mode.
For an explanation of placing the PMC in rigid tapping mode, see the
description of the interface with the PMC, given later.
This signal posts whether the PMC has entered rigid tapping mode. If this
signal is not set to 1, even when M29 is specified, a P/S alarm is issued
in a G84 (G74) block.

Spindle rotation
direction signals
RGSPM, RGSPP
<F065#1, #0>
[Classification] Output signal
[Function] During rigid tapping, these signals notify the PMC of whether the spindle
is rotating in the forward or reverse direction.
During rigid tapping, the spindle is:
RGSPP 1 : Rotating in the forward direction (CW).
0 : Not rotating in the forward direction.
RGSPM 1 : Rotating in the reverse direction (CCW).
0 : Not rotating in the reverse direction.
[Output condition] These signals are output when the spindle is rotating in rigid tapping
mode. This means that, even in rigid tapping mode, these signals are not
output, for example, when the spindle is being positioned to a hole
position, or a dwell operation is in progress at the bottom of a hole or at
an R point.
These signals are not output in the feed hold state or single block stop
state. When the spindle is placed in the interlock stop state, machine lock
state, or Z–axis ignore state, however, the spindle is not regarded as
having stopped; these signals are output.
These signals are valid only in rigid tapping mode. In normal spindle
control, these signals are not output; both RGSPP and RGSPM are set to
“0”.

642
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Rigid tapping
in–progress signal
RTAP<F076#3>
[Classification] Output signal
[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.
By latching M29, the PMC knows that rigid tapping mode has been
specified, and thus performs the required processing on the PMC side.
This signal can substitute for the latching of M29. Even in this case,
however, FIN for M29 cannot be omitted.

9.5.4.2
Signals related to S code
output

Spindle enable signal

ENB<F001#4>
[Classification] Output signal
[Function] These signals post whether the spindle output is 0. In rigid tapping mode,
these signals are used to cancel rigid tapping in a PMC sequence
associated with rigid tapping.
For details, see the explanation of the interface with the PMC, given later.

Spindle–speed function
code signals
(binary output)
S00 to S31
<F022 to F025>

Spindle–speed function
strobe signal
SF<F007#2>
[Classification] Output signal
[Function] These signals send S codes specified for the CNC, in binary format, to the
PMC.
[Output condition] When an S code is specified, the specified value is output, in binary
format, with the signals. Upon the completion of output, the SF signal
is set to “1”.
Before rigid tapping can be performed, however, parameter setting is
required to output these signals, as described below.
SF output depends on the gear selection method, as described below.
[1] M–type gear selection method
SF output depends on bit 6 (SFA) of parameter No. 3705.

643
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

[2] T–type gear selection method

SF output depends on the setting of bit 5 (NSF) of parameter No. 3705.
In rigid tapping, when SF is to be used by the PMC to read an S code
output signal for gear switching or output switching, set the above
parameters as required.

NOTE
1 The timing charts, given later, give examples of gear
switching by setting the parameters as follows:
SFA = 0, NSF = 0
2 When the constant surface speed control function is being
used, an S code (specifying a surface speed) used for
constant surface control (G96) is output. Such an S code
can be distinguished from an S code used for specifying a
rotation speed. One method is to use, for example, the
constant surface speed control in–progress signal (F002#2)
for the processing performed on the PMC side. Another
method is to mask the S code and SF signal, output by
setting bit 0 (ESF) of parameter No. 3705.

9.5.4.3
Signals related to gear
switching

Gear selection signals

(output)
GR3O, GR2O, GR1O
<F034#2, #1, #0>
[Classification] Output signal
[Operation] When M–type gear selection is being used, these signals are used in a
PMC sequence for rigid tapping.
The signals post, to the PMC, information about a spindle gear to be used,
according to the value of S**** specified at the execution of G84 (G74).
As gear switching becomes necessary, the states of the signals change
together with the SF signal.
The PMC should perform gear switching according to the information
posted by the signals.
Reference information: The table below indicates the relationship
between the output signals and gear selection.
GR3O GR2O GR1O
1st (low) speed gear × × f
2nd (medium) speed gear × f ×
3rd (high) speed gear f × ×

644
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Gear selection signals

(input)
GR2, GR1<G028#2, #1>
[Classification] Input signal
[Operation] When T–type gear selection is being used, these signals are used in a PMC
sequence for rigid tapping.
The signals post, to the CNC, information about a spindle gear to be used.
Reference information: The table below shows the relationship
between the output signals and spindle gear
selection.
GR2 GR1
1st (low) speed gear × ×
2nd (medium) speed gear × f
3rd (high) speed gear f ×

9.5.4.4
Signal addresses
#7 #6 #5 #4 #3 #2 #1 #0
G028 GR2 GR1

G061 RGTAP

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB

F007 SF

F034 GR3O GR2O GR1O

F065 RGSPM RGSPP

F076 RTAP

9.5.4.5 The following describes some notes in designing the interface with the
Notes on interface with PMC.
the PMC

Rigid tapping mode The PMC must manage rigid tapping mode as follows: rigid tapping
management and ENB mode is set using M29, and is canceled upon the issue of a reset or at the
falling edge of the spindle enable signal ENB in rigid tapping mode. ENB
is used during rigid tapping in this way, so the spindle stop signal *SSTP
must not be set to “0”.

However, *SSTP and SOR may be used for gear switching. To do so,
ensure that the PMC does not cancel rigid tapping mode on a falling edge
of ENB while *SSTP is “0”. Rigid tapping mode may be set on a rising
edge of the RTAP signal instead of by using M29, and canceled on a
falling edge of the RTAP signal instead of the ENB signal.

645
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Controlling spindle When the SIND signal is set to “1”, spindle output is controlled by the
output by the PMC signals (SSIN, SGN, R1I to R12I) output from the PMC.
At this time, the effect of ENB is as described above. In addition, when
rigid tapping mode is canceled in a block containing G80;, the momentary
rotation of the spindle, caused by a delay in the PMC processing, can
result. Accordingly, the PMC’s control over spindle output must be
disabled in rigid tapping mode by setting SIND to “0”.

T–type gear selection When T–type gear selection is used, the PMC must determine whether
method gear switching is to be performed, and subsequently perform gear
switching as required. For this purpose, each time a spindle–speed
function code is specified, the spindle–speed function code read signal
(SF) and spindle–speed function code signals (S00 to S31) must be output
to the PMC. The required parameter settings are described below.
Set bit 5 (NSF) of parameter No. 3705 to 0 to output SF.

Gear switching timing In general, a block containing M29 (miscellaneous function for
preparation for rigid tapping) specifies S****, S**** being output when
a block containing G84 (G74) is executed. This means that gear switching
is performed in the block specifying G84 (G74).

When rigid tapping mode M29 (miscellaneous function for preparation for rigid tapping) and S****
is specified specify rigid tapping mode. When M29 is accepted by the PMC, the
following processing must be performed:
D Stop the spindle when it is rotating.
D Check that the spindle has stopped completely, then set the rigid
tapping signal RGTAP <G061#0> to on.
D Activate the spindle motor. Activate the motor so that a positive speed
command rotates the spindle in the forward direction (CCW when
viewed from the – side of the tapping axis).
D Return FIN at least 250 ms after activation.

NOTE
The condition “at least 250 ms after activation” results from
there being no way of checking the completion of spindle
motor activation. Therefore, this wait period serves as an
alternative. The time required for activation to be completed
varies with the spindle motor and amplifier. Therefore, this
value of 250 ms is given as a guideline only.

In an M29 block, S**** is not executed, merely being read in. S**** is
executed in a G84 block. Spindle output is equivalent to the specification
of S0.
The timing chart is shown in the chart indicating the execution of G84
(G74).

Execution of G84 (G74) When M29S****; is specified, S**** is read in, spindle output being
equivalent to the specification of S0;. S**** is output when G84 (G74)
is executed. Thus, the processing described below is performed.

646
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

D When M–type gear When using a machine that features multiple gear stages for use with the
selection is used spindle motor and spindle, and S**** is outside the previously selected
gear range, the spindle–speed function strobe signal SF <F007#2> and
gear selection signals (output) GR3O, GR2O, GR1O <F034#2, #1, #0>
are output to the PMC.
At this time, perform gear switching at the PMC.

D When T–type gear The spindle–speed function strobe signal SF <F007#2> and
selection is used spindle–speed function code signals S00 to S31 <F022 to F025> are
output to the PMC. (However, parameter setting is required to enable
output of the S codes and SF signal. See the description of each bit of
parameter No. 3705.)

At this time, the PMC must determine whether gear switching is to be

performed, and perform gear switching as required. The selected gear
must be reflected in the gear selection signals (input) GR2 and GR1
<G028#2, #1> for notification to the CNC.

From GR2 and GR1, the CNC determines which gear is selected.

Up to three gear stages are supported for the first spindle, and up to two
gear stages for the second spindle. (The gear selection for the second
spindle is notified to the CNC by the signal GR21 <G029#0>)

An S code is output in the first block (positioning to tapping position) of

G84 (G74) execution. However, the spindle motor position loop is closed
in the next block (R point positioning). Accordingly, spindle speed offset
must be adjusted accurately until the position loop has been closed in the
second block of G84 (G74) execution after the PMC activates the spindle
motor with M29. Otherwise, the spindle motor may rotate slightly. (This
applies only to an analog spindle. No offset adjustment is required for a
serial spindle.)

Rigid tapping mode may be specified by specifying M29 before G84,

specifying M29 and G84 in the same block, or by specifying G84 as a G
code for rigid tapping. In each case, PMC processing is the same. (The
M29 code is always output.)

647
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.5.5 The timing chart for rigid tapping specification depends on the method
Timing Charts for Rigid used to specify rigid tapping mode, the gear selection method (M–type or
T–type), and whether to perform gear switching.
Tapping Specification
From the table, find the appropriate timing chart (Fig. 9.5.5.1 (a) to Fig.
9.5.5.3 (d)) and apply the information it contains as necessary.

Specification method
Gear
selection
Gear By parameter setting,
method M29 and G84 (G74) are
switching M29 is specified before G84 (G74) is specified as
M–type specified in the same
G84 (G74). a G code for rigid
T–type block.
tapping.

Not performed Fig. 9.5.5.1 (a) Fig. 9.5.5.2 (a) Fig. 9.5.5.3 (a)
M–type
Performed Fig. 9.5.5.1 (b) Fig. 9.5.5.2 (b) Fig. 9.5.5.3 (b)

Not performed Fig. 9.5.5.1 (c) Fig. 9.5.5.2 (c) Fig. 9.5.5.3 (c)
T–type
Performed Fig. 9.5.5.1 (d) Fig. 9.5.5.2 (d) Fig. 9.5.5.3 (d)

NOTE
For more information about the M/T type gear selection
method, see Section 9.3 SPINDLE CONTROL. Note the
following:
M–type when constant surface speed control is not being
used and bit 4 (GTT) of parameter No. 3706 is
set to 0
T–type when constant surface speed control is being
used, or bit 4 (GTT) of parameter No. 3706 is set to
1

648
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.5.5.1
When M29 is specified before G84 (G74)
M type gear selection method

M29

RTAP
First block Second block

G84 (G74)

ENB
To be masked to the second
block

Spindle
output

SF

GR1O

GR2O

GR3O

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation

Excitation

SFR
Position loop

Fig. 9.5.5.1 (a) Gear is not changed

649
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

M29

RTAP
First block Second block

G84 (G74)

ENB

To be masked to the
second block

Spindle *Gear
output change
motion
SF

GR1O

GR2O

GR3O

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation
Gear change

Excitation SFR

Position loop

Note This time chart show an example where the gear has shifted from low to middle gear. One of the gear select signals (GR1O,
GR2O, GR3O) has turned from “1” to “0”, and one of the two remaining signals has turned from “0” to “1”. This changes
the gear.

Fig. 9.5.5.1 (b) When gear change is performed (from low to middle gear)

650
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

T type gear selection method

M29

RTAP
First bllock Second block

G84 (G74)

ENB
To be masked to the second block

Spindle
output

SF

S code
output

GR1

GR2

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation

Excitation SFR

Position loop

Fig. 9.5.5.1 (c) Gear change is not performed

651
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

M29

RTAP
First block Second block

G84 (G74)

ENB

To be masked to the
second block

Spindle *Gear
output change
motion
SF

S code output

GR1

GR2

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation
Gear change

Excitation SFR

Position loop

Note This time chart shows an example where the gear has changed from low to middle gear. The PMC selects a required gear
through an S code output and selects the gear using the GR1 and GR2 signals to inform CNC of the selected gear.

Fig. 9.5.5.1 (d) When gear–change is performed (low to middle gear)

652
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.5.5.2
M29 and G84 (G74) are specified in the same block
M type gear selection

M29

RTAP
First block Second block

G84 (G74)

ENB
To be masked to the second block

Spindle
output

SF

GR1O

GR2O

GR3O

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation

Excitation SFR

Position
loop

Fig. 9.5.5.2 (a) When gear–change is not performed

653
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

M29

RTAP
First block Second block

G84 (G74)

ENB

To be masked to the
second block

Spindle
output

SF

GR1O

GR2O

GR3O

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation
Gear change

Excitation SFR

Position loop

Note This time chart shows an example where the gear has shifted from middle high gear. One of the gear select signals (GR1O,
GR2O, GR3O) has turned from “1” to “0”, and one of the two remaining signals has tuned from “0” to “1”. This changes
the gear.

Fig. 9.5.5.2 (b) When gear–change is performed (middle to high)

654
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

T type gear selection method

M29

RTAP
First block Second block

G84 (G74)

ENB
To be masked to the
second block

Spindle
output

SF

S code
output

GR1

GR2

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation

Excitation SFR

Position loop

Fig. 9.5.5.2 (c) When gear change is not performed

655
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

M29

RTAP
First block Second block

G84 (G74)

ENB
To be masked to the
second block

Spindle
outpout

SF

S code output

GR1

GR2

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation
Gear change

Excitation SFR

Position loop

Note This time chart shows an example where the gear has changed from middle to high gear. The PMC selects a required gear
through an S code output and selects the gear using the GR1 and GR2 signals to inform CNC of the selected gear.

Fig 9.5.5.2 (d) When gear–change is performed (middle to high gear)

656
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.5.5.3
Specifying G84 (G74) for rigid tapping by parameters
M type gear selection

M29

RTAP
First block Second block

G84 (G74) M29 is commanded

internally.

ENB
To be masked to the
second block

Spindle
output

SF

GR1O

GR2O

GR3O

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation

Excitaiton SFR

Position loop

Fig. 9.5.5.3 (a) When gear–change is not performed

657
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

M29

RTAP
First block Second block

G84 (G74) M29 is commanded

internally.

ENB

To be masked to the
second block

Spindle
output

SF

GR1O

GR2O

GR3O

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation
Gear change

Excitation SFR

Position loop

Note This time chart shows an example where the gear has shifted from high to low gear. One of the gear select signals (GR1O,
GR2O, GR3O) has turned from “1” to “0”, and one of the two remaining signals has turned from “0” to “1”. This changes
the gear.

Fig. 9.5.5.3 (b) When gear change is performed (high to low gear)

658
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

T type gear selection method

M29

RTAP
First block Second block

G84 (G74) M29 is commanded

internally.

ENB
To be masked to the second block

Spindle
outoput

SF

S code
output

GR1

GR2

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation

Excitation SFR

Position loop

Fig. 9.5.5.3 (c) When gear change is not performed

659
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

M29

RTAP
First blcok Second block

G84 (G74) M29 is commanded

internally

ENB

To be masked to the
second blcok
Spindle
output

SF

S code
output

GR1

GR2

*SSTP

SOR

RGTAP 250ms

or more
FIN

Rotation
Gear change

Excitation SFR

Position loop

Note This time chart shows an example where the gear has changed from high to low gear. The PMC selects a required gear
through an S code output and inputs the selected gear using the GR1 and GR2 signals to inform CNC of the selected gear.

Fig. 9.5.5.3 (d) When gear–change is performed (high to low gear)

660
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

9.5.5.4 When rigid tapping is completed, the mode is canceled if a G code (such
Timing to cancel rigid as G80, canned cycle G code, or Group 01 G code) is issued.
The spindle output is produced in the same way as executing S0. Cancel
tapping mode
the PMC rigid tapping mode at the falling edge of the ENB signal by
de-energizing the spindle; then turn off the rigid tapping mode signal. The
system goes to the next block after confirming that the signal is off.

When gear change is performed using *SSTP and SOR, the ENB signal
can be either “1” or “0”. Do not cancel the PMC’s rigid tapping mode at
the falling edge of the ENB signal under these circumstances. The
position loop is also canceled.

When the CNC is reset, the PMC’s rigid tapping mode must be canceled.
When CRG (parameter No. 5200#2) is “1”, the system goes directly to the
next block without checking that the rigid tapping signal is “0”. Set CRG
to “1” for systems in which the rigid tapping signal is always “1”.

G80
(or G code of group 01)

RTAP

ENB

Spindle output

RGTAP

Rotation

Excitation

Position loop

661
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

WARNING
1 If rigid tapping mode is canceled by a Group 01 G code,
such as G00 or G01, the block containing the G code is
executed at the same time the ENB signal is turned to “0”.
Therefore, if a block contains an M code for controlling the
spindle, an error may occur during processing in the PMC.
2 When CRG (Parameter No. 5200#2) is 1, if the next block
contains an M code for controlling the spindle, an error may
occur during processing in the PMC, when:
⋅ Rigid tapping mode is canceled by issuing G80
⋅ Rigid tapping mode is canceled by issuing a Group 01 G
code , such as G00 or G01

NOTE
Rigid tapping mode is canceled as described above
regardless of the gear selection method of M–type or
T–type.

9.5.6
Retraction for Rigid
Tapping

General When rigid tapping is stopped, either as a result of an emergency stop or

a reset, the tap may cut into the workpiece. The tap can subsequently be
drawn out by using a PMC signal. This function automatically stores
information relating to the rigid tapping executed most recently. When
a tap retraction signal is input, only drawn out of the rigid tapping cycle
is executed, based on the stored information. The tap is pulled toward the
R point.
Initial point

Retract
completion
R point point

Center of
rigid tap-
ping
Z point

662
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Basic procedure (1) Start

Reset the CNC, then select JOG mode. Setting rigid tapping retraction
start signal RTNT to “1” starts rigid tapping retraction.
(2) Completion
Upon the completion of rigid tapping retraction, rigid tapping
retraction completion signal RTPT is set to “1”, with which the CNC
automatically enters the reset state. Setting rigid tapping retract start
signal RTNT to “0” sets rigid tapping retraction completion signal
RTPT to “0”.
(3) Stop
During rigid tapping retraction, setting rigid tapping retraction start
signal RTNT to “0” stops rigid tapping retraction, placing the CNC in
the reset state. To resume rigid tapping retraction, set rigid tapping
retraction start signal RTNT to “1”. rigid tapping retraction can also
be stopped by means of a reset or feed hold.
(4) Resume
Once rigid tapping retraction has been stopped, it can be resumed by
performing the same operation as that used for starting rigid tapping
retraction. If rigid tapping retraction has been completed, however,
the start operation does not restart rigid tapping retraction.

Start and completion

time chart

Rigid tapping retraction

start signal RTNT

M29 command

Spindle enable signal ENB

Rigid tapping signal RGTAP

M29 completion signal FIN

Spindle excitation

Retract movement

Rigid tapping retraction

completion signal RTPT

Fig. 9.5.6 Start and completion time chart

663
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

In the reset state, setting rigid tapping retraction start signal RTNT to “1”
in JOG mode causes the rigid tapping M command to be output. For rigid
tapping retraction, specify neither gear switching nor orientation. Spindle
function strobe signal SF is also output if no S command has been
specified after power–on.

Upon the completion of rigid tapping retraction, spindle enable signal

ENB is set to “0”, in the same way as at the end of ordinary rigid tapping.
Therefore, perform the sequence for canceling rigid tapping. Once rigid
tapping retraction has been completed, rigid tapping retraction
completion signal RTPT is set to “1” and the CNC enters the reset state.

Time chart for stopping

rigid tapping retraction
Tapping retraction start signal
RTNT

Spindle enable signal ENB

Rigid tapping signal RGTAP

Spindle excitation

Retract movement

When rigid tapping retract is stopped, spindle enable signal ENB is set to
“0”, in the same way as for ordinary rigid tapping. Therefore, perform the
sequence for canceling rigid tapping. The CNC also automatically enters
the reset state when rigid tapping retract is stopped.

Signal

Rigid tapping retraction

start signal RTNT
<G212#6> [Classification] Input signal
[Function] Starts rigid tapping retraction.
[Operation] When this signal is set to “1”, the control unit operates as follows:
S Starts rigid tapping retraction.

664
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Rigid tapping retraction

completion signal RTPT
<F209#5> [Classification] Output signal
[Function] Notifies the completion of rigid tapping retraction.
[Output condition] This signal is set to “1” in the following case:
S rigid tapping retraction has been completed.
This signal is set to “0” in the following case:
S rigid tapping retraction start signal has been set to “0”.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G212 RTNT

#7 #6 #5 #4 #3 #2 #1 #0
F209 RTPT

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1602 G8S

[Data type] Bit

G8S The advanced preview control for the serial spindle is
0 : Not effective.
(It is not possible to use the advanced preview control for the rigid
tapping. It is necessary to cancel the advanced preview mode before
rigid tapping is executed)
1 : Effective.
(It is possible to use the advanced preview control for the rigid
tapping.)

NOTE
FAD(Fine acceleration/deceleration) cannot be applied for
spindle axes. When the advanced preview control is applied
for serial spindle, it is necessary to cancel the FAD(Fine
acceleration/deceleration) for servo axis.

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

[Data type] Bit

DOV For tool extraction during rigid tapping, override is:
0 : Disabled.
1 : Enabled.

665
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
5203 RFF

[Data type] Bit

RFF The meaning is as follows
0 : The feed–forward control and the fine acceleration/deceleration
between Initial–level and R–points are invalid.
Moreover, when the rigid tapping is executed in the advanced preview
control mode, the mode is not automatically turned on and off.
1 : The feed–forward control and the fine acceleration/deceleration
between Initial–level and R–points are effective.
Moreover, when the rigid tapping is executed in the advanced preview
control mode, the mode is automatically turned on and off.

Operation 1 Operation 1
Feedforward:Invalid Feedforward:Effect
Fine acc/dec:Invalid Fine acc/dec:Effect

f f f Initial point f f f Initial point

Operation 2 Operation 6 Operation 2 Operation 6

Feedforward:Invalid Feedforward:Invalid Feedforward:Effect Feedforward:Effect
Fine acc/dec:Invalid Fine acc/dec:Invalid Fine acc/dec:Effect Fine acc/dec:Effect

In–position width: In–position width:

Parameter No.5300
f f R point Parameter No.5308 f f R point
In–position width:
Parameter No.5300 In–position width:
Operation 3 Parameter No.5300
Feedforward:Invalid Operation 3
Fine acc/dec:Invalid Operation 5
Feedforward:Invalid Feedforward:Invalid Operation 5
Fine acc/dec:Invalid Fine acc/dec:Invalid Feedforward:Invalid
Fine acc/dec:Invalid

f Z point f Z point
Operation 4 Operation 4
In–position width:Parameter No.5300 In–position width:Parameter No.5300
In case of the parameter No.5203#2(RFF)=0 In case of the parameter No.5203#2(RFF)=1

5308 Width of in–position at R–point of tapping axis in rigid tapping

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
The width of in–position at R–point of the tapping axis (Between from
rapid to R–point to the tapping operation) in rigid tapping can be set.
When a set value is 0, the width of in–position of the tapping axis in rigid
tapping is decided by the setting of No.5300. (Please refer to the figure
of the explanation of the parameter No. 5203)

666
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

5381 Override for rigid tapping retraction

[Data type] Byte

[Unit of data] %
[Valid data range] 0 to 200
Sets an override value to be applied to rigid tapping retraction. No
override is applied if 0 is set.

NOTE
This parameter is enabled only when the parameter used to
enable tool extraction (DOV: bit 4 of No. 5200) is set to 1.

Caution
CAUTION
1 If rigid tapping is stopped as a result of an emergency stop,
the position on the rigid tapping axis is maintained but the
spindle position is lost. In such a case, therefore, the
positional relationship between the spindle and rigid
tapping axis is not guaranteed when operation is resumed.
2 Rigid tapping retraction is performed based on the rigid
tapping axis commands accumulated for rigid tapping. If
rigid tapping is stopped as a result of an emergency stop,
therefore, rigid tapping retraction may fail to draw the rigid
tapping tool completely out of the workpiece.
3 During rigid tapping retraction, switching the mode to
manual mode stops rigid tapping retraction.
4 For rigid tapping retraction, the CNC internally activates a
return program. Rigid tapping retraction may, therefore,
cause some G codes or M/F/S codes to be overwritten
(G80/G84/G74, G94/G95, G30).

667
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Note
NOTE
1 Before making a rigid tapping return, make sure that the
machine has been reset and is in the JOG mode.
2 The machining data for rigid tapping retraction is maintained
until a rigid tapping command is subsequently specified,
even while the power is turned off. rigid tapping retraction
can, therefore, be specified even if the power has been
turned off after rigid tapping.
3 Rigid tapping retraction is not performed if the input
increments (inches or mm) selected when rigid tapping
return is specified differ from those selected when the
machining data for rigid tapping retraction was stored.

Reference item
OPERATOR’S MANUAL III.2.2 RIGID TAPPING
(B–63174EN)

9.5.7
Retraction for Tapping

General When tapping is stopped, either as a result of an emergency stop or a reset,

the tap may cut into the workpiece. The tap can subsequently be drawn
out by using a PMC signal. This function automatically stores
information relating to the tapping executed most recently. When a tap
retraction signal is input, only drawn out of the tapping cycle is executed,
based on the stored information. The tap is pulled toward the R point.

Initial point

Retract
completion
R point point

Center of
tapping

Z point

668
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Basic procedure (1) Start

Reset the CNC, then select JOG mode. Setting tapping retraction start
signal RTNT to “1” starts tapping retraction.
(2) Completion
Upon the completion of tapping retraction, tapping retraction
completion signal RTPT is set to “1”, with which the CNC
automatically enters the reset state. Setting tapping retract start signal
RTNT to “0” sets tapping retraction completion signal RTPT to “0”.
(3) Stop
During tapping retraction, setting tapping retraction start signal RTNT
to “0” stops tapping retraction, placing the CNC in the reset state. To
resume tapping retraction, set tapping retraction start signal RTNT to
“1”. tapping retraction can also be stopped by means of a reset or feed
hold.
(4) Resume
Once tapping retraction has been stopped, it can be resumed by
performing the same operation as that used for starting tapping
retraction. If tapping retraction has been completed, however, the start
operation does not restart tapping retraction.

Start and completion

time chart
Tapping retraction
start signal RTNT

M05
command

MF

FIN

M04 or
M03 command

S command

SF

Spindle speed
(min–1)

Retract movement

Tapping retraction
completion signal RTNT

Fig. 9.5.7 Start and Completion Timing Chart

669
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

D Description about the 1 After a reset has been performed, setting the tap return signal (RTNT)
timing chart to 1 in the JOG mode causes M05 to be output.
Do not attempt to perform gear shift and orientation during a tap
return.
2 After the spindle has stopped, returning FIN causes M03 (M04) and
the same S command as for when tapping is discontinued to be output.
3 Once the spindle has started, returning FIN triggers tap returning.
4 After tap returning is completed, M05 and S0 are output, and the tap
return completion signal (RTPT) becomes 1.
5 Returning FIN triggers a reset.

NOTE
If bit 6 (SFA) of parameter No. 3705 is 0, SF will not be output
unless a gear shift occurs.

Signal

Tapping retraction start

signal RTNT <G212#6>
[Classification] Input signal
[Function] Starts tapping retraction.
[Operation] When this signal is set to “1”, the control unit operates as follows:
S Starts tapping retraction.

Tapping retraction
completion signal RTPT
<F209#5> [Classification] Output signal
[Function] Notifies the completion of tapping retraction.
[Output condition] This signal is set to “1” in the following case:
S Tapping retraction has been completed.
This signal is set to “0” in the following case:
S Tapping retraction start signal has been set to “0”.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G212 RTNT

#7 #6 #5 #4 #3 #2 #1 #0
F209 RTPT

670
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Caution
CAUTION
1 If tapping is stopped as a result of an emergency stop, the
position on the tapping axis is maintained but the spindle
position is lost. In such a case, therefore, the positional
relationship between the spindle and tapping axis is not
guaranteed when operation is resumed.
2 Tapping retraction is performed based on the tapping axis
commands accumulated for tapping. If tapping is stopped
as a result of an emergency stop, therefore, tapping
retraction may fail to draw the tapping tool completely out of
the workpiece.
3 During tapping retraction, switching the mode to manual
mode stops tapping retraction.
4 For tapping retraction, the CNC internally activates a return
program. tapping retraction may, therefore, cause some G
codes or M/F/S codes to be overwritten (G80/G84/G74,
G94/G95, G30).

Note
NOTE
1 Before making a rigid tapping return, make sure that the
machine has been reset and is in the JOG mode.
2 The machining data for tapping retraction is maintained until
a tapping command is subsequently specified, even while
the power is turned off. Tapping retraction can, therefore,
be specified even if the power has been turned off after
tapping.
3 Tapping retraction is not performed if the input increments
(inches or mm) selected when tapping return is specified
differ from those selected when the machining data for
tapping retraction was stored.

Reference item
OPERATOR’S MANUAL III.2.1 CANNED CYCLE
(B–63174EN)

671
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.5.8
#7 #6 #5 #4 #3 #2 #1 #0
Parameter 1602 G8S

[Data type] Bit

G8S The advanced preview control for the serial spindle is
0 : Not effective.
(It is not possible to use the advanced preview control for the rigid
tapping. It is necessary to cancel the advanced preview mode before
rigid tapping is executed)
1 : Effective.
(It is possible to use the advanced preview control for the rigid
tapping.)

NOTE
FAD (Fine acceleration/deceleration) cannot be applied for
spindle axes. When the advanced preview control is applied
for serial spindle, it is necessary to cancel the FAD(Fine
acceleration/deceleration) for servo axis.

#7 #6 #5 #4 #3 #2 #1 #0
SFA NSF SGT SGB GST ESF
3705

[Data type] Bit

ESF When the spindle control function (S analog output or S serial output) is
used, and the consatant surface speed control function is used or bit 7
(GTT) of parameter No. 3705 is set to 1:
0 : S codes and SF are output for all S commands.
1 : S codes and SF are not output for an S command in constant surface
speed control mode (G96 mode) or for an S command used to specify
maximum spindle speed clamping (G50S–––;).

NOTE
In the following cases, SF is not output:
· For an S command used to specify maximum spindle
speed clamping (G92S–––;) in constant surface speed
control mode
· When bit 5 (NSF) of parameter No. 3705 is set to 1

GST The SOR signal is used to perform:

0 : Spindle orientation
1 : Gear shift
SGB The gear switching method used is:
0 : Method A (gear selection is made according to parameters Nos. 3741
to 3743 (maximum allowable rotation speed for individual gears))
1 : Method B (gear selection is made according to parameters Nos. 3751
and 3752 (spindle speed at the gear switching point of individual
gears))

672
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

SGT Gear switching method during tapping cycle (G84, G74)

0 : Method A (Same as normal gear switching method)
1 : Method B (Gears are switched during tapping cycle according to the
spindle speed set in parameters 3761 and 3762)
NSF: When an S code command is issued in constant surface–speed control,
0 : SF is output.
1 : SF is not output:
SFA: The SF signal is output:
0 : When gears are switched
1 : Irrespective of whether gears are switched

#7 #6 #5 #4 #3 #2 #1 #0
3706 TCW CWM ORM GTT PG2 PG1

[Data type] Bit

PG2, PG1 Gear ratio of spindle to position coder

Magnification PG2 PG1

1 0 0 Magnification =
2 0 1 Number of spindle revolutions
4 1 0 Number of position coder revolutions

8 1 1

GTT Selection of a spindle gear selection method

0: Type M
1 : Type T

NOTE
1 Type M:
The gear selection signal is not entered. In response to an
S command, the CNC selects a gear according to the speed
range of each gear specified beforehand in a parameter.
Then the CNC reports the selection of a gear by outputting
the gear selection signal. The spindle speed corresponding
to the gear selected by the gear selection signal is output.
Type T:
The gear selection signal is entered. The spindle speed
corresponding to the gear selected by this signal is output.
2 When the constant surface speed control option is selected,
type T is selected, regardless of whether this parameter is
specified.

673
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

ORM The polarity of the voltage used for spindle orientation is:
0 : Positive
1 : Negative
TCW,CWM The polarity of the voltage used for spindle speed output is listed below.
0:
1:

TCW CWM Voltage polarity

0 0 Both M03 and M04 are positive.

0 1 Both M03 and M04 are negative.
1 0 M03 is positive, but M04 is negative.
1 1 M03 is negative, but M04 is positive.

Spindle speed when switching from gear 1 to gear 2 during tapping

3761

Spindle speed when switching from gear 2 to gear 3 during tapping

3762

[Data type] Word

[Unit of data] min–1
[Valid data range] 0 to 32767
When method B is selected (SGT,#3 of parameter 3705, is set to 1) for the
tapping cycle gear switching method, set the spindle speed when the gears
are switched.

674
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Spindle motor speed

Max. speed (4095, 10V)

Spindle motor
max. clamp speed
(Parameter No. 3736)

Spindle motor
min. clamp speed
(Parameter No. 3735) Spindle speed
command
Max. speed Max. speed Max. speed (S command)
at gear1 at gear2 at gear3
parameter parameter parameter
No. 3741 No. 3742 No. 3743

Speed at gear 1–2 Speed at gear 2–3

change point change point
Parameter Parameter
No. 3761 No. 3762

#7 #6 #5 #4 #3 #2 #1 #0
5101 M5B M5T RD2 RD1 FXY

[Data type] Bit

FXY The drilling axis in the drilling canned cycle is:
0 : Always the 1st axis
1 : The axis selected by the program
RD2, RD1 Set the axis and direction in which the tool in drilling canned cycle G76 or
G87 is got free. RD2 and RD1 are set as shown below by plane selection.
RD2 RD1 G17 G18 G19
0 0 +X +Z +Y
0 1 –X –Z –Y
1 0 +Y +X +Z
1 1 –Y –X –Z

M5T When a spindle rotates from the forward to the reverse direction and vice
versa in tapping cycles G84 and G74 for M series, befor M04 or M03 is
output:
0 : Outputs M05
1 : Not output M05

675
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

M5B In drilling canned cycles G76 and G87:

0 : Outputs M05 before an oriented spindle stops
1 : Not output M05 before an oriented spindle stops

#7 #6 #5 #4 #3 #2 #1 #0
FHD PCP DOV CRG VGR G84
5200

[Data type] Bit

G84 Method for specifying rigid tapping
0 : An M code specifying the rigid tapping mode is specified prior to the
issue of the G84 (or G74) command. (See parameter No. 5210).
1 : An M code specifying the rigid tapping mode is not used. (G84
cannot be used as a G code for the tapping cycle; G74 cannot be used
for the reverse tapping cycle.)
VGR Any gear ratio between spindle and position coder in rigid tapping
0 : Not used (The gear ratio is set in parameter No. 3706.)
1 : Used (The gear ratio is set by parameters Nos. 5221 through 5223 and
5231 through 5233.)
CRG Rigid mode when a rigid mode cancel command is specified (G80, G01
group G code, reset, etc.)
0 : Canceled after rigid mode signal RGTAP is set to 0.
1 : Canceled before rigid mode signal RGTAP is set to 0.
DOV Override during extraction in rigid tapping
0 : Invalidated
1 : Validated (The override value is set in parameter No. 5211.)
PCP Rigid tapping
0 : Used as a high–speed peck tapping cycle
1 : Not used as a high–speed peck tapping cycle
FHD Feed hold and single block in rigid tapping
0 : Invalidated
1 : Validated

#7 #6 #5 #4 #3 #2 #1 #0
5201 TDR

[Data type] Bit

TDR Cutting time constant in rigid tapping
0 : Uses a same parameter during cutting and extraction (Parameters
Nos. 5261 through 5264)
1 : Not use a same parameter during cutting and extraction
Parameters Nos. 5261 to 5264: Time constant during cutting
Parameters Nos. 5271 to 5274: Time constant during extraction

676
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

#7 #6 #5 #4 #3 #2 #1 #0
5203 RFF

[Data type] Bit

RFF The meaning is as follows
0 : The feed–forward control and the fine acceleration/deceleration
between Initial–level and R–points are invalid.
Moreover, when the rigid tapping is executed in the advanced preview
control mode, the mode is not automatically turned on and off.
1 : The feed–forward control and the fine acceleration/deceleration
between Initial–level and R–points are effective.
Moreover, when the rigid tapping is executed in the advanced preview
control mode, the mode is automatically turned on and off.

Operation 1 Operation 1
Feedforward:Invalid Feedforward:Effect
Fine acc/dec:Invalid Fine acc/dec:Effect

f f f Initial point f f f Initial point

Operation 2 Operation 6 Operation 2 Operation 6

Feedforward:Invalid Feedforward:Invalid Feedforward:Effect Feedforward:Effect
Fine acc/dec:Invalid Fine acc/dec:Invalid Fine acc/dec:Effect Fine acc/dec:Effect

In–position width: In–position width:

Parameter No.5300
f f R point Parameter No.5308 f f R point
In–position width:
Parameter No.5300 In–position width:
Operation 3 Parameter No.5300
Feedforward:Invalid Operation 3
Fine acc/dec:Invalid Operation 5
Feedforward:Invalid Feedforward:Invalid Operation 5
Fine acc/dec:Invalid Fine acc/dec:Invalid Feedforward:Invalid
Fine acc/dec:Invalid

f Z point f Z point
Operation 4 Operation 4
In–position width:Parameter No.5300 In–position width:Parameter No.5300
In case of the parameter No.5203#2(RFF)=0 In case of the parameter No.5203#2(RFF)=1

Rigid tapping mode specification M code

5210

[Data type] Byte

[Valid data range] 0 to 255
This parameter sets an M code that specifies the rigid tapping mode.
To set an M code larger than 255, set it to parameter No. 5212.

NOTE
The M code is judged to be 29 (M29) when “0” is set.

677
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Override value during rigid tapping extraction

5211

[Data type] Byte

[Unit of data] 1 %
[Valid data range] 0 to 200
The parameter sets the override value during rigid tapping extraction.

NOTE
The override value is valid when DOV in parameter No.
5200#4 is “1”.

Return or clearance in peck tapping cycle

5213

[Data type] Word

[Unit of data] Increment system IS–A IS–B IS–C Unit
Metric input 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch

[Valid data range] 0 to 32767

This parameter sets the return or clearance in the peck tapping cycle.

When bit PCP in parameter No. 5200 is 0 When bit PCP in parameter No. 5200 is 1
(High–speed peck tapping cycle) (Peck tapping cycle)
q : Cutting q : Cutting
d : Return d : Clearance

ÄÄ R
ÄÄ R

ÄÄ ÄÄ
q point q point

ÄÄ ÄÄ
d d

ÄÄq
d
ÄÄ q
d

ÄÄ ÄÄ
ÄÄ
q q

Z Z
point point

678
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Number of spindle gear teeth (first–stage gear)

5221

Number of spindle gear teeth (second–stage gear)

5222

Number of spindle gear teeth (third–stage gear)

5223

[Data type] Word

[Valid data range] 1 to 32767
These parameters set the number of gear teeth on the spindle side for every
gear when any gear ratio is set in rigid tapping.

NOTE
This parameter is valid when VGR, #1 of parameter No.
5200, is “1”.
Set the same value to parameter Nos. 5221 to 5223 when
the spindle has a position coder.

Number of position coder gear teeth (first–stage gear)

5231

Number of position coder gear teeth (second–stage gear)

5232

Number of position coder gear teeth (third–stage gear)

5233

[Data type] Word

[Valid data range] 1 to 32767
These parameters set the number of gear teeth on the position coder side
for every gear when any gear ratio is set in rigid tapping.

NOTE
This parameter is valid when VGR, #1 of parameter No.
5200, is “1”.
Set the same value to parameter Nos. 5231 to 5233 when
the spindle has a position coder.
A spindle motor incorporating the position coder uses a
position coder with 2048 pulses per revolution. In this case,
set the value that is two times as many as the actual number
of gear teeth (because of conversion to 4096 pulses per
revolution).

679
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Maximum spindle speed in rigid tapping (first–stage gear)

5241

Maximum spindle speed in rigid tapping (second–stage gear)

5242

Maximum spindle speed in rigid tapping (third–stage gear)

5243

[Data type] Two–word

[Unit of data] min–1
[Valid data range] Spindle and position coder gear ratio
1:1 0 to 7400
1:2 0 to 9999
1:4 0 to 9999
1:8 0 to 9999
These parameters set the maximum spindle speed for every gear in rigid
tapping.

NOTE
In a system having one–stage gear, set the same value as
parameter No. 5241 to parameter No. 5243. In a system
having two–stage gear, set the same value as parameter
No. 5242 to parameter No. 5243. If it is not set as such, P/S
alarm no. 200 will be informed.

Linear acceleration/deceleration time constant for the spindle and tapping axis
5261 (first–stage gear)

Linear acceleration/deceleration time constant for the spindle and tapping axis
5262 (second–stage gear)

Linear acceleration/deceleration time constant for the spindle and tapping axis
5263 (third–stage gear)

[Data type] Word

[Unit of data] ms
[Valid data range] 0 to 4000
These parameters set the spindle and tapping axis’s time constant for
every gear during linear acceleration/deceleration in rigid tapping.
Set the time required until a spindle speed reaches the maximum spindle
speed (parameter Nos. 5241 and greater). The actual time constant is a
proportional value between the maximum spindle speed and the specified
spindle speed.

680
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Time constant for the spindle and tapping axis in extraction operation (first–stage gear)
5271

Time constant for the spindle and tapping axis in extraction operation
5272 (second–stage gear)

Time constant for the spindle and tapping axis in extraction operation (third–stage gear)
5273

[Data type] Word

[Unit of data] ms
[Valid data range] 0 to 4000
These parameters set the linear acceleration/deceleration time constant of
a spindle and tapping axis for every gear during extraction in rigid
tapping.

NOTE
The time constant is valid when TDR, #2 of parameter No.
5201, is “1”.

Position control loop gain for the spindle and tapping axis in rigid tapping
5280 (common to all gears)

[Data type] Word

[Unit of data] 0.01 s–1
[Valid data range] 1 to 9999
This parameter sets the position control loop gain of a spindle and tapping
axis in rigid tapping.
The loop gain setting significantly influences the screw precision.
Perform a cutting test to adjust the loop gain and its multiplier to the
optimum values.

NOTE
To change the loop gain for every gear, set this parameter
value to “0” and set the loop gain for every gear to parameter
Nos. 5281 through 5283. If this parameter value is not “0”,
the loop gain for every gear is invalidated. This parameter
then becomes a loop gain that is used in common for all
gears.

681
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Position control loop gain for the spindle and tapping axis in rigid tapping
5281 (first–stage gear)

Position control loop gain for the spindle and tapping axis in rigid tapping
5282 (second–stage gear)

Position control loop gain for the spindle and tapping axis in rigid tapping
5283
(third–stage gear)

[Data type] Word

[Unit of data] 0.01 s –1
[Valid data range] 1 to 9999
These parameters set the position control loop gain of a spindle and
tapping axis for every gear in rigid tapping.

NOTE
To set the loop gain for every gear, set parameter No. 5280
to “0”.

682
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Spindle loop gain multiplier in the rigid tapping mode (for gear 1)
5291

Spindle loop gain multiplier in the rigid tapping mode (for gear 2)
5292

Spindle loop gain multiplier in the rigid tapping mode (for gear 3)
5293

[Data type] Word

[Unit of data]
[Valid data range] 0 to 32767
Set the spindle loop gain multipliers for gears 1 to 4 in the rigid tapping
mode. The thread precision depends on the multipliers. Find the most
appropriate multipliers and loop gain by conducting the cutting test.

NOTE
These parameters are used for analog spindles.

E
Loop gain multiplier = 2048 a 1000
L
where;
E: Voltage in the velocity command at 1000 min–1
L: Rotation angle of the spindle per one rotation of the
spindle motor
a: Unit used for the detection

683
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Example)

When the spindle motor, spindle, and position coder are

connected as shown left, let the variables be as follows:
SPINDLE
MOTOR E = 1.667 (V)
Position (A motor speed of 6000 min–1 corresponds to 10
Spindle coder
V.)
L = 360°
(One rotation of the spindle corresponds to one
rotation of the spindle motor.)
a = La/4096
= 720°/4096
= 0.17578
La = 720°
(One rotation of the position coder corresponds
to two rotations of the spindle = 360° 2.)
1: 1: 2
4096 = The number of detected pulses per
rotation of the position coder
 Gear ratio between the spindle and the position coder
1:1 . . . . . . . . . . . 0.08789 degrees
1:2 . . . . . . . . . . . 0.17578 degrees
1:4 . . . . . . . . . . . 0.35156 degrees
1:8 . . . . . . . . . . . 0.70313 degrees
Thus, Loop gain multiplier
= 2048 1.667/360 0.17578 1000 = 1667

NOTE
When the position coder which is built in a spindle motor
sends 512 pulses per rotation, the unit used for the
detection, α, is La/2048.

Tapping axis in–position width in rigid tapping

5300

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 1 to 32767
This parameter sets the in–position width of a tapping axis in rigid
tapping.

684
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Spindle in–position width in rigid tapping

5301

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter sets the in–position width of a spindle in rigid tapping.

CAUTION
The broad in–position width deteriorates the screw
precision.

Width of in–position at R–point of tapping axis in rigid tapping

5308

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 0 to 32767
The width of in–position at R–point of the tapping axis (Between from
rapid to R–point to the tapping operation) in rigid tapping can be set.
When a set value is 0, the width of in–position of the tapping axis in rigid
tapping is decided by the setting of No.5300. (Please refer to the figure
of the explanation of the parameter No. 5203)

Positional deviation limit imposed during tapping axis movement in rigid tapping
5310

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 1 to 32767
This parameter sets the limit value of a tapping axis positioning deviation
during movement in rigid tapping.
To set a value larger than this value, set it to No. 5314.

WARNING
The setting value is represented in a 10–times unit when a
high–resolution transducer is used.

Limit value of spindle positioning deviation during movement in rigid tapping.

5311

[Data type] Word

[Unit of data] Detection unit

685
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

[Valid data range] 1 to 32767

This parameter sets the limit value of a spindle positioning deviation
during movement in rigid tapping.
S 360 100 1.5
Limit value =
60 G a
where
S: Maximum spindle speed in rigid tapping
(Setting value of parameter Nos. 5241 and greater)
G: Loop gain of rigid tapping axis
(Setting value of parameter Nos. 5280 and greater)
a: Detection unit

Example)

When the spindle motor, spindle, and position coder are

connected as shown left, let the variables be as follows:
SPINDLE S = 3600
MOTOR G = 3000
Position
Spindle coder L = 360_
(One spindle rotation per spindle motor rotaion)
a = La / 4096
= 720_/4096
= 0.17578_
La= 720_
(One position coder rotation requires two spindle
rotations =360_ 2)
4096=Detection pulse per positioncoder rotation
1: 1: 2 3600 360 100 1.5
Setting value =
60 3000 0.17578
= 6144

NOTE
The detection unit is α=La/2048 when the position coder
built–in spindle motor uses a position coder of 512 pulses
per revolution.

Positional deviation limit imposed while the tapping axis is stopped in rigid tapping
5312

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 1 to 32767
This parameter sets the limit value of a tapping axis positioning deviation
during stop in rigid tapping.

686
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Positional deviation limit imposed while the spindle is stopped in rigid tapping
5313

[Data type] Word

[Unit of data] Detection unit
[Valid data range] 1 to 32767
This parameter sets the limit value of a spindle positioning deviation
during stop in rigid tapping.

Spindle backlash in rigid tapping

5321

[Data type] Byte

[Unit of data] Detection unit
[Valid data range] 0 to 127
These parameters set the spindle backlash in rigid tapping.

9.5.9
Alarm and Message Number Message Description

200 ILLEGAL S CODE COM- In the rigid tapping, an S value is out of

MAND the range or is not specified.
The maximum value for S which can be
specified in rigid tapping is set in pa-
rameter (No.5241 to 5243). Change the
setting in the parameter or modify the
program.
201 FEEDRATE NOT FOUND In the rigid tapping, no F value is speci-
IN RIGID TAP fied. Correct the program.
202 POSITION LSI OVER- In the rigid tapping, spindle distribution
FLOW value is too large. (System error)
203 PROGRAM MISS AT RIG- In the rigid tapping, position for a rigid M
ID TAPPING code (M29) or an S command is incor-
rect. Modify the program.
204 ILLEGAL AXIS OPERA- In the rigid tapping, an axis movement
TION is specified between the rigid M code
(M29) block and G84 or G74. Modify
the program.
205 RIGID MODE DI SIGNAL Rigid tapping signal (DGNG061#0) is
OFF not 1 when G84 or G74 block is
executed though the rigid M code
(M29) is specified. Consult the PMC
ladder diagram to find the reason the
signal is not turned on. Modify the pro-
gram.
206 CAN NOT CHANGE Plane changeover was instructed in the
PLANE (RIGID TAP) rigid mode. Correct the program.
207 RIGID DATA MISMATCH The specified distance was too short or
too long in rigid tapping.

687
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

Number Message Description

410 SERVO ALARM: n–TH The position deviation value when the
AXIS – EXCESS ERROR n–th axis (axis 1–2 of rigid tapping axis)
stops is larger than the set value.
Note) Limit value must be set to param-
eter No.5312 for each axis.
411 SERVO ALARM: n–TH The position deviation value when the
AXIS – EXCESS ERROR n–th axis (axis 1–2 of rigid tapping axis)
moves is larger than the set value.
Note) Limit value must be set to param-
eter No. 5310 or 5314 for each axis.
413 SERVO ALARM: n–th The contents of the error register for the
AXIS – LSI OVERFLOW n–th axis (axis 1–2 of rigid tapping axis)
are beyond the range of –231 to 231.
This error usually occurs as the result of
an improperly set parameters.
740 RIGID TAP ALARM; EX- Position deviation value of spindle at
CESS ERROR move exceeded a set value during
rigid tapping.
742 RIGID TAP ALARM; LSI LSI overflow has occurred on the
OVER FLOW spindle side during rigid tapping.

9.5.10
Notes

NOTES ON SPINDLES

CAUTION
1 When using an analog spindle, set the spindle speed offset
value parameter (No. 3731) accurately. For the standard
system, a value within –8191 to 8191 must be specified in
this parameter. To perform rigid tapping, a value within
–1023 to 1023 must be specified.
If the spindle speed offset is set inaccurately, the spindle is
stopped and placed in in–position wait state when tapping
is started.
In rigid tapping with a serial spindle, no setting is required
for parameter No. 3731. Be sure to set 0.
2 When the synchronous feed functions is enabled, the actual
spindle speed during rigid tapping is indicated correctly.
When an arbitrary gear ratio is used (by setting bit 1 (VGR)
of parameter No. 5200 to 1), however, the actual spindle
speed will not be indicated correctly in normal spindle mode.

688
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

NOTE
1 A spindle pitch error is not compensated for in rigid tapping
mode. Drift compensation is not made with an analog
spindle.
2 The 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
(This information is displayed by selecting No. 451 on the
diagnosis screen.)
These values vary with the position coder gear ratio setting
and rigid tapping specification. If a value greater than the
maximum allowable number is specified, P/S alarm No. 202
is issued.

Notes on using
functions such as the
spindle positioning CAUTION
When the spindle orientation function is to be used at the
function at the same
same time
time
The spindle orientation function positions the spindle by
using sensors and the PMC, without being directly
controlled by the CNC.
The CNC has no direct control over this processing, instead
following the specifications of the spindle orientation
function being used.

Position control loop In rigid tapping, the loop gain of the tapping axis is switched so that the
gain switching and serial loop gains for position control of the tapping axis and spindle match each
spindle parameters other.

This switching processing is specified by parameters Nos. 5280, and 5281

to 5283. The contents of the processing vary with whether the spindle is
an analog or serial spindle, as described below.
⋅ When the spindle is an analog spindle, the loop gains of the spindle and
tapping axis are switched according to the values set in these
parameters.
⋅ When the spindle is a serial spindle, the loop gain of the tapping axis
is switched according to the values set in these parameters. The loop
gain of the spindle depends on the values set in the serial spindle
parameters and applied gear signals (CTH2, CTH1).

Accordingly, to perform rigid tapping with a serial spindle, the loop gain
for position control of the spindle must be set in the serial spindle
parameters used for rigid tapping.

The parameters indicated below are the major serial spindle parameters
required for the setting and adjustment needed to use a serial spindle.

689
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

For details of the serial spindle parameters, refer to the “FANUC AC

Spindle Motor αi/βi series DESCRIPTIONS (B–65272EN) or FANUC
AC SPINDLE MOTOR ai/βi series PARAMETER MANUAL
(B–65280EN).

4044 Proportional gain of the velocity loop in servo mode (gear 1, gear 2)

4045 Proportional gain of the velocity loop in servo mode (gear 3)

[Unit of data]
[Valid data range] 0 to 32767
Set a proportional gain for the velocity loop in a servo mode (such as rigid
tapping mode).

4052 Integral gain of the velocity loop in the servo mode (gear 1, gear 2)

4053 Integral gain of the velocity loop in the servo mode(gear 3)

[Unit of data]
[Valid data range] 0 to 32767
Set an integral gain of the velocity loop in a servo mode (such as rigid
tapping mode).

4065 Position gain in the servo mode (HIGH)

4066 Position gain in the servo mode (MEDIUM HIGH)

4067 Position gain in the servo mode (MEDIUM LOW)

4068 Position gain in the servo mode (LOW)

[Unit of data] 0.01 sec –1

[Valid data range] 0 to 65535
Set a servo loop gain in a servo mode (such as rigid tapping mode).

690
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

CAUTION
Set a loop gain for spindle position control in rigid tapping
using a serial spindle. In these parameters, basically, set
the same values as those set in parameters Nos. 5280 and
5281 to 5283 (loop gains for position control of the tapping
axis).
Which serial spindle parameter (i.e., loop gain) is actually
used to operate the spindle depends on the serial spindle
clutch/gear selection signals CTH1 and CTH2 (G070#3, #2.
Accordingly, which parameter is to be used must be
determined by considering the gear switching and PMC
software.

The table below indicates the relationship between the spindle gear
selection signals and selected gear numbers.
CTH1 CTH2 Gear selected Parameter No. to be used
0 0 HIGH 4065
4044 4052
0 1 MEDIUM HIGH 4066

1 0 MEDIUM LOW 4067

4045 4053
1 1 LOW 4068

9.5.11
Reference Item OPERATOR’S MANUAL III.2.2 RIGID TAPPING
(B–63174EN)

CONNECTION MANUAL 9.3 SPINDLE SPEED CONTROL

(This manual)

FANUC AC SPINDLE RIGID TAPPING

MOTOR αi/βi series
DESCRIPTIONS
(B–65272EN)

FANUC AC SPINDLE RIGID TAPPING

MOTOR αi/βi series
PARAMETER MANUAL
(B–65280EN)

691
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.6
RIGID THREADING
FOR CHASER TOOL

Outline The threading cycle using a chaser tool performs cutting from point R to
the end point in the rigid mode and returns to the initial point by rapid
traverse. At the same time, this cycle controls the opening and losing of
a chaser tool.

Format

M29S ;
G78
XxRrQqFf;
G79
G80;
G78: Forward threading cycle
G79: Reverse threading cycle
G80: Canned cycle cancel
X: End point of threading
r: Start point of threading
q: Specification of a chaser open control position by
distance from point X
f: Cutting feedrate (mm/min or inch/min)

Explanation 1 The rigid mode is set by specifying ”M29 S_;” before a G78/G79
block. At the same time, the chaser is closed by turning off the chaser
open signal (CTOPN).
2 G78/G79 operation

Initial point
Å
À
Ä
Point R
Á

Ã
Â

Q
Point X

G78 Forward threading cycle

G79 Reverse threading cycle
À Move to point R by rapid traverse.
Á Check that the chaser is closed.

692
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

 Perform threading up to point X. To open the chaser, turn on the

chaser tool open signal (CTOPN) at the point that is distance Q
short of point X.
à With the chaser tool open/close state check signal (CTCHK), check
that the chaser is opened after arrival at point X.
Ä Return to the initial point by rapid traverse.
Å Turn off the chaser tool open signal (CTOPN) to close the chaser
tool.
3 G80 cancels the rigid mode.

Signals À DI signal (PMC → CNC)

#7 #6 #5 #4 #3 #2 #1 #0
G212 CTCHK

CTCHK Chaser tool open/close state check signal

0 : Closed
1 : Open

#7 #6 #5 #4 #3 #2 #1 #0
G061 RGTAP

RGTAP PMC rigid mode signal

0 : Indicates that the PMC is not placed in the rigid mode.
1 : Indicates that the PMC is placed in the rigid mode.
Á DO signal (PMC ← CNC)

#7 #6 #5 #4 #3 #2 #1 #0
F209 CTOPN

CTOPN Chaser tool open control signal

0 : Open
1 : Close

693
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.7
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.
· Spindle orientation signal (See 9.3, “Spindle Control.”)
· Spindle output control by the PMC (See 15.4.)

Using the spindle Some spindle control units can position the spindle motor by using
control unit sensors and position coders. The CNC itself does not control positioning
by using these units.

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

Signal

Spindle orientation
signals with the stop
position externally set

SHA00 to SHA11
<G078, G079>
[Classification] Input signal
[Function] This command is used for specifying a stop position with an absolute
position within one rotation in the following equation:
360 n
= ȍ (2i Pi)
4096 i=0

where
Pi = 0 when SHAi = 0
Pi = 1 when SHAi = 1

694
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00

G079 SHA11 SHA10 SHA09 SHA08

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
OR1
3702

[Data type] Bit

OR1 Whether the stop–position external–setting type orientation function is
used by the first spindle motor
0 : Not used
1 : Used

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. 4031 and
4204) are invalid.

Reference item
FANUC SERVO Position coder method spindle orientation
AMPLIFIER αi/βi series Magnetic sensor method spindle orientation
DESCRIPTIONS
(B–65272EN)

FANUC AC SPINDLE Position coder method spindle orientation

MOTOR αi/βi series Magnetic sensor method spindle orientation
PARAMETER MANUAL
(B–65280EN)

695
9. SPINDLE SPEED FUNCTION (Power Mate i–D) B–63173EN–1/02

9.8
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 To switch the spindle output characteristics, the windings are usually
output–switchable switched using a relay. Prior to the completion of winding switching, the
spindle motor 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, 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.

Output switching and Spindle output switching ensures that the spindle motor demonstrates
gear switching stable characteristics over a wide range, and eliminates the mechanical
spindle gear switching mechanism.
In creating a PMC ladder sequence for output switching, however, using
the gear switching of the CNC’s spindle control function (see 9.3) may
facilitate programming.
Note the following points when using gear switching for CNC spindle
control for output switching with a machine tool having no mechanical
gear switching mechanism.

696
B–63173EN–1/02 9. SPINDLE SPEED FUNCTION (Power Mate i–D)

D When gear selection output signals, GR2O and GR1O <F034 #0, #1>,
are used (in which constant surface speed control is not provided and
GTT, bit 4 of parameter No. 3706, is set to 0)
Set two gears, which are almost the same.
(Example: Value of parameter No. 3741 = value of parameter No.
3742 – 1, value of No. 3742 = Maximum spindle speed)
When parameter No. 3741 is equal to parameter No. 3742, the CNC
judges that one gear is used, and does not output the GR2O signal.
D The parameters related to gear switching points, SGT, bit 3 of
parameter No. 3705, and SGB, bit 2 of parameter No. 3761, parameter
Nos. 3761 and 3751 can be used.
D In usual spindle control, depending on the speed at switching points,
the speed specified by the spindle speed command may differ slightly
from the actual speed in the area where the maximum spindle speed
is set to the maximum speed "1. (This is because the spindle motor
speed, specified by the speed command, is calculated based on the
settings of parameter Nos. 3741 to 3744.)
This does not apply to rigid tapping. (Because the machine tool is
controlled using the feedback signal from the detector in the position
loop.)
D When gear selection input signals, GR1 and GR2 <G028 #1, #2>, are
used (in which constant surface speed control is provided or GTT, bit
4 of parameter No. 3706, is set to 1)
Parameter settings are read according to the input signal information.
Unlike the GR2O and GR1O signals, these signals do not require
special parameter settings.
Example) When parameters Nos. 3741 and 3742 are set to the maximum
spindle speed.
Create a PMC sequence that specifies the following.
For gear 1, set GR1 and GR2 to 0.
For gear 2, set GR2 to 0 and set GR1 to 1.
The PMC must determine the switching timing on the basis of some
information.

Reference item
CONNECTION MANUAL 9.3 Spindle control
(This manual) 9.5 Rigid tapping

FANUC SERVO Output switching control

AMPLIFIER ai/βi series
DESCRIPTIONS
(B–65272EN)

FANUC AC SPINDLE Output switching control

MOTOR ai/βi series
PARAMETER MANUAL
(B–65280EN)

697
10. TOOL FUNCTIONS B–63173EN–1/02

10 TOOL FUNCTIONS

698
B–63173EN–1/02 10. TOOL FUNCTIONS

10.1
TOOL FUNCTION
General Selection of tools can be done by commanding tool numbers with up to
an 8-digit numeral after address T.

When a T code is specified, the code signal and strobe signal correspond-
ing to the specified tool number are issued. The machine selects a tool
according to the issued signals. The code signal is held until another T
code is specified.

In a block, no more than one T code can be specified. The maximum

number of digits that can follow T can be specified in parameter No. 3032.
If this number is exceeded, an alarm occurs.

Signal See Section 8.1.

Parameter
3032 Allowable number of digits for the T code

[Data type] Byte

[Valid data range] 1 to 8
Set the allowable numbers of digits for the T code.

Note
NOTE
When a move command and a tool 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 tool
function commands.
(ii) Executing tool function commands upon completion of
move command execution.
The selection of either (i) or (ii) depends on the sequence
program of PMC.

Reference item
OPERATOR’S MANUAL II.9.1 TOOL SELECTION FUNCTION
(B–63174EN)

This manual 8 AUXILIARY FUNCTION

699
10. TOOL FUNCTIONS B–63173EN–1/02

10.2
TOOL COMPENSATION VALUE/
TOOL COMPENSATION NUMBER/
TOOL COMPENSATION MEMORY

General

ÇÇ
Standard position

Tool com-
ÇÇ
ÇÇ
pensation
value

ÇÇ
Fig. 10.2(a) Tool compensation value

Tool compensation values can be entered into CNC memory from the
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 in a program.
The value is used for tool length compensation.

D Range of tool Tool offset amount range which can be set is as follows:
compensation value
Tool compensation
Increment system
Metric input Inch input
IS-A "999.99mm "99.999inch
IS-B "999.999mm "99.9999inch
IS-C "999.9999mm "99.99999inch

D Tool compensation The memory can hold 99 sets of tool compensation values.
number

Alarm and message

Number Message Description

032 ILLEGAL OFFSET VALUE In setting an offset amount by G10 or

IN G10 in writing an offset amount by system
variables, the offset amount was ex-
cessive.

Warning message Content

DATA IS OUT OF RANGE The value searched exceeds the permitted

range.

TOO MANY DIGITS The input value exceeds the permitted number of
digits.

700
B–63173EN–1/02 10. TOOL FUNCTIONS

Reference item
OPERATOR’S MANUAL II 12.2 TOOL COMPENSATION VALUES,
(B–63174EN) NUMBER OF COMPENSATION VAL-
UES, AND ENTERING VALUES
FROM THE PROGRAM (G10)

701
11. PROGRAM COMMAND B–63173EN–1/02

11 PROGRAM COMMAND

702
B–63173EN–1/02 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

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 No. 3401). Values can be specified both with and
without decimal point in a single program.

Program command Pocket calculator Standard type decimal

type decimal point point programming
programming

X1000 1000mm 1mm

Command value with- Unit : mm Unit : Least input increment
out decimal point (0.001 mm)

X1000.0 1000mm 1000mm

Command value with Unit : mm Unit : mm
decimal point

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3401 DPI

[Data type] Bit

DPI When a decimal point is omitted in an address that can include a decimal
point
0 : The least input increment is assumed.
1 : The unit of mm, inches, degree, or s is assumed. (Pocket calculator
type decimal point programming)

703
11. PROGRAM COMMAND B–63173EN–1/02

Alarm and message

Number Message Description

007 ILLEGAL USE OF DEC- Decimal point “ · ” input error (A decimal

IMAL POINT point was input after an address with
which it can not be used. Or multiple
decimal points were input.)
Modify the program.

Reference item
OPERATOR’S MANUAL II.8.3 Decimal point programming
(B–63174EN)

704
B–63173EN–1/02 11. PROGRAM COMMAND

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 ; Program start

O0001 ;

Program section (COMMENT) Comment section

M30 ;
% Tape end

Fig. 11.2 Program configuration

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0100 CTV

This parameter can also be set on the ”Setting screen”.

[Data type] Bit
CTV: Character counting for TV check in the comment section of a program.
0 : Not performed
1 : Performed

705
11. PROGRAM COMMAND B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
3201 NPE N99

[Data type] Bit

N99 With an M99 block, when bit 6 (NPE) of parameter No. 3201 = 0, program
registration is assumed to be:
0 : Completed
1 : Not completed
NPE With an M02, M30, or M99 block, program registration is assumed to be :
0 : Completed
1 : Not completed

#7 #6 #5 #4 #3 #2 #1 #0
3404 EOR

[Data type] Bit

EOR When the end-of-record mark (%) is read during program execution:
0 : P/.S alarm No. 5010 occurs.
(Automatic operation is stopped, and the system enters the alarm
state.)
1 : No alarm occurs.
(Automatic operation is stopped, and the system is reset.)

Alarm and message

Number Message Description

001 TH PARITY ALARM TH alarm (A character with incorrect

parity was input).
002 TV PARITY ALARM TV alarm (The number of characters in
a block is odd). This alarm will be gener-
ated only when the TV check is effective
(when TVC, bit 0 of setting parameter
0000 is set to 1).
5010 END OF RECORD The end of record (%) was specified.

Reference item
OPERATOR’S MANUAL II.11 Program Configuration
(B–63174EN)

706
B–63173EN–1/02 11. PROGRAM COMMAND

11.3
CUSTOM MACRO

11.3.1
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 ;
: G02 X#1 Y–#1 R#1 ;
G65 P9010 R50.0 L2 ; :
: :
: :
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.

r β
α

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:
(Example of calling bolt hole circle)
G65 P p R r A α Bβ K k ;

707
11. PROGRAM COMMAND B–63173EN–1/02

P : Macro number of bolt hole circle

r : Radius
α : Start angle
β : Angle between circles
k : Number of circles

Signal

Custom macro input

signal
Ul1000 to Ul031
<G054 to G057>
Ul100 to Ul131
<G276 to G279>
Ul200 to Ul231
<G280 to G283>
Ul300 to Ul331
<G284 to G287>
[Classification] Input signal
[Function] No function is provided for the control unit. These signals can be read by
a custom macro as a type of system valiable, and are used for interface
signals between custom macro and the PMC.
These signals correspond to the system valiable as follows.

A parameter No.6001#0(MIF)=”0” A parameter No.6001#0(MIF)=”1” Correspondence of

Signals
Q’ty Variables Q’ty Variables values

UI000 1 #1000 1 #1000 0 at “0” and

UI001 1 #1001 1 #1001 1 at “1”
UI002 1 #1002 1 #1002
: : : : :
UI014 1 #1014 1 #1014
UI015 1 #1015 1 #1015
UI016 1 #1006
: : :
Ul030 1 #1030
Ul031 1 #1031

UI000 to UI015 16 #1032 16 bit binary code ”1” *1

UI000 to UI031 32 #1032 32 bit binary code ”1” *2

UI100 to UI131 32 #1033
UI200 to UI231 32 #1034
UI300 to UI331 32 #1035

ȍ{#[1100 ) i]
15

*1: Variable value #1132 + 2 i}

i+0

ȍ{2
30
*2: Variable value #1133, #1033, #1035 + i
Vi}–2 31 V 31
i+0

Where Vi=0 when Ul0i, Ul1i, Ul2i, Ul3i (i;0 to 31) is ”0”,
Vi=1 when Ul0i, Ul1i, Ul2i, Ul3i (i;0 to 31) is ”1”
Note) When a paramter No.6001#0(MIF) is set 1, input signal to extend is
effective by using PMC–SB6.

708
B–63173EN–1/02 11. PROGRAM COMMAND

Custom macro output

Signal
UO000 to UO015
<F054, F055>
UO101 to UO131
<F056 to F059>
UO016 to UO031
<F276, F277>
UO200 to UO231
<F280 to F283>
UO300 to UO331
<F284 to F287>
[Classification] Output signal
[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 valiable, and are used for
interface signals between custom macro and the PMC.
These signals correspond to the system valiable as follows.

A parameter No.6001#0(MIF)=”0” A parameter No.6001#0(MIF)=”1” Correspondence of

Signals
Q’ty Variables Q’ty Variables values

UO000 1 #1100 1 #1100 0 at “0” and

UO001 1 #1101 1 #1101 1 at “1”
UO002 1 #1102 1 #1102
: : : : :
UO014 1 #1114 1 #1114
UO015 1 #1215 1 #1115
UO016 1 #1106
: : :
UO030 1 #1130
UO031 1 #1131

UO000 to UO015 16 #1132 16 bit binary code *1

UO000 to UO031 32 #1133 32 #1132 32 bit binary code *2

UO100 to UO131 32 #1133
UO200 to UO231 32 #1134
UO300 to UO331 32 #1135

ȍ{#[1100 ) i]
15

*1 Variable value #1132 + 2 i}

i+0

ȍ{2
30
*2 Variable value #1132, #1133, #1134, #1135 + i
V i}–2 31 V31
i+0

Where Vi=0 when UO0i, UO1i, UO2i, UO3i (i;0 to 31) is ”0”,
Vi=1 when UO0i, UO1i, UO2i, UO3i (i;0 to 31) is ”1”

The systtem valiables can be used on the left side of an assignment

statement as well as on the right side.
The value assigned to the system valiable used on the left side last is used
for the value of the system valiable to be assigned on the right side.
Note) When a paramter No.6001#0(MIF) is set 1, output signal to extend
is effective by using PMC–SB6.

709
11. PROGRAM COMMAND B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G054 UI007 UI006 UI005 UI004 UI003 UI002 UI001 UI000

G055 UI015 UI014 UI013 UI012 UI011 UI010 UI009 UI008

G056 UI023 UI022 UI021 UI020 UI019 UI018 UI017 UI016

G057 UI031 UI030 UI029 UI028 UI027 UI026 UI025 UI024

G0276 UI107 UI106 UI105 UI104 UI103 UI102 UI101 UI100

G0277 UI115 UI114 UI113 UI112 UI111 UI110 UI109 UI108

G0278 UI123 UI122 UI121 UI120 UI119 UI118 UI117 UI116

G0279 UI131 UI130 UI129 UI128 UI127 UI126 UI125 UI124

G0280 UI207 UI206 UI205 UI204 UI203 UI202 UI201 UI200

G0281 UI215 UI214 UI213 UI212 UI211 UI210 UI209 UI208

G0282 UI223 UI222 UI221 UI220 UI219 UI218 UI217 UI216

G0283 UI231 UI230 UI229 UI228 UI227 UI226 UI225 UI224

G0284 UI307 UI306 UI305 UI304 UI303 UI302 UI301 UI300

G0285 UI315 UI314 UI313 UI312 UI311 UI310 UI309 UI308

G0286 UI323 UI322 UI321 UI320 UI319 UI318 UI317 UI316

G0287 UI331 UI330 UI329 UI328 UI327 UI326 UI325 UI324

F054 UO007 UO006 UO005 UO004 UO003 UO002 UO001 UO000

F055 UO015 UO014 UO013 UO012 UO011 UO010 UO009 UO008

F056 UO107 UO106 UO105 UO104 UO103 UO102 UO101 UO100

F057 UO115 UO114 UO113 UO112 UO111 UO110 UO109 UO108

F058 UO123 UO122 UO121 UO120 UO119 UO118 UO117 UO116

F059 UO131 UO130 UO129 UO128 UO127 UO126 UO125 UO124

F276 UO023 UO022 UO021 UO020 UO019 UO018 UO017 UO016

F277 UO031 UO030 UO029 UO028 UO027 UO026 UO025 UO024

F280 UO207 UO206 UO205 UO204 UO203 UO202 UO201 UO200

F281 UO215 UO214 UO213 UO212 UO211 UO210 UO209 UO208

F282 UO223 UO222 UO221 UO220 UO219 UO218 UO217 UO216

F283 UO231 UO230 UO229 UO228 UO227 UO226 UO225 UO224

710
B–63173EN–1/02 11. PROGRAM COMMAND

#7 #6 #5 #4 #3 #2 #1 #0
F284 UO307 UO306 UO305 UO304 UO303 UO302 UO301 UO300

F285 UO315 UO314 UO313 UO312 UO311 UO310 UO309 UO308

F286 UO323 UO322 UO321 UO320 UO319 UO318 UO317 UO316

F287 UO331 UO330 UO329 UO328 UO327 UO326 UO325 UO324

Parameter

D Setting for single block

stop
#7 #6 #5 #4 #3 #2 #1 #0
6000 SBM

[Data type] Bit

SBM Custom macro statement
0 : Not stop the single block
1 : Stops the single block

D Other settings
#7 #6 #5 #4 #3 #2 #1 #0
6001 CLV CCV TCS CRO PV5 PRT MIF

[Data type] Bit

MIF A number of the system valiable of the interface signal in custom macro is
0 : Not extended
Input signal: 1 bit type(#1000 to #1015), 16bit type(#1032)
Output signal: 1 bit type(#1100 to #1115), 16bit type(#1132), 32bit
type(#1133)
1 : Extended
Input signal: 1 bit type(#1000 to #1031), 32bit type(#1032 to
#1035)
Output signal: 1 bit type(#1100 to #1131), 32bit type(#1132 to
#1135)
PRT Reading zero when data is output using a DPRNT command
0 : Outputs a space
1 : Outputs no data
PV5 Custom macro common variables
0 : Outputs custom macro common variables #500 through #599.
1 : Outputs custom macro common variables #100 through #199 and
#500 through #599.
CRO ISO code output using a BPRNT command or a DPRNT command
0 : Outputs only LF after data is output
1 : Outputs LF and CR after data is output

711
11. PROGRAM COMMAND B–63173EN–1/02

TCS Custom macro (subprogram)

0 : Not called using a T code
1 : Called using a T code
CCV Custom macro’s common variables Nos. 100 through 199
0 : Cleared to “vacant” by reset
1 : Not cleared by reset
CLV Custom macro’s local variables #1 through #33
0 : Cleared to “vacant” by reset
1 : Not cleared by reset
D Setting when macro
statement is input/output
with EIA code
#7 #6 #5 #4 #3 #2 #1 #0
6010 *7 *6 *5 *4 *3 *2 *1 *0

6011 =7 =6 =5 =4 =3 =2 =1 =0

6012 #7 #6 #5 #4 #3 #2 #1 #0

6013 [7 [6 [5 [4 [3 [2 [1 [0

6014 ]7 ]6 ]5 ]4 ]3 ]2 ]1 ]0

[Data type] Bit

These parameters are used to input/output macro statements with EIA
code.
The numeral of a suffix indicates the bit position in a code.
*0 to *7 Set the hole pattern of an EIA code indicating *.
=0 to =7 Set the hole pattern of an EIA code indicating =.
#0 to#7 Set the hole pattern of an EIA code indicating #.
[0 to [7 Set the hole pattern of an EIA code indicating [.
]0 to ]7 Set the hole pattern of an EIA code indicating ].
0 :Corresponding bit is 0
1 :Corresponding bit is 1.

712
B–63173EN–1/02 11. PROGRAM COMMAND

D Setting G codes that call

custom macros of
program Nos.9010 to
9019
6050 G code that calls the custom macro of program number 9010

6051 G code that calls the custom macro of program number 9011

6052 G code that calls the custom macro of program number 9012

6053 G code that calls the custom macro of program number 9013

6054 G code that calls the custom macro of program number 9014

6055 G code that calls the custom macro of program number 9015

6056 G code that calls the custom macro of program number 9016

6057 G code that calls the custom macro of program number 9017

6058 G code that calls the custom macro of program number 9018

6059 G code that calls the custom macro of program number 9019

[Data type] Word

[Valid data range] 1 to 999
These parameters set the G codes that call the custom macros of program
numbers 9010 through 9019.

NOTE
Setting value 0 is invalid. No custom macro can be called
by G00.

D Setting M codes that call

subprograms of program
Nos.9001 to 9009
6071 M code that calls the subprogram of program number 9001

6072 M code that calls the subprogram of program number 9002

6073 M code that calls the subprogram of program number 9003

6074 M code that calls the subprogram of program number 9004

6075 M code that calls the subprogram of program number 9005

6076 M code that calls the subprogram of program number 9006

6077 M code that calls the subprogram of program number 9007

6078 M code that calls the subprogram of program number 9008

6079 M code that calls the subprogram of program number 9009

[Data type] Two–word

[Valid data range] 1 to 99999999
These parameters set the M codes that call the subprograms of program
numbers 9001 through 9009.

713
11. PROGRAM COMMAND B–63173EN–1/02

NOTE
Setting value 0 is invalid. No custom macro can be called
by M00.

D Setting M codes that call

custom macros of
Nos.9020 to 9029
6080 M code that calls the custom macro of program number 9020

6081 M code that calls the custom macro of program number 9021

6082 M code that calls the custom macro of program number 9022

6083 M code that calls the custom macro of program number 9023

6084 M code that calls the custom macro of program number 9024

6085 M code that calls the custom macro of program number 9025

6086 M code that calls the custom macro of program number 9026

6087 M code that calls the custom macro of program number 9027

6088 M code that calls the custom macro of program number 9028

6089 M code that calls the custom macro of program number 9029

[Data type] Two–word

[Valid data range] 1 to 99999
These parameters set the M codes that call the custom macros of program
numbers 9020 through 9029.

NOTE
Setting value 0 is invalid. No custom macro can be called
by M00.

D ASCII codes that call

subprogram of program
Nos. 9004 and 9005
6090 ASCII code that calls the subprogram of program number 9004

6091 ASCII code that calls the subprogram of program number 9005

[Data type] Byte

[Valid data range] 65 (A:41H) to 90 (Z:5AH)
These parameters set the ASCII codes that call subprograms in decimal.
Addresses that can be used are as follows:
A, B, D, F, H, I, J, K, L, M, P, Q, R, S, T, X, Y, Z

NOTE
Set 0 when no subprogram is called

714
B–63173EN–1/02 11. PROGRAM COMMAND

Alarm and message

Number Message Description

076 ADDRESS P NOT Address P (program number) was not com-

DEFINED manded in the block which includes an
M98, G65, or G66 command. Modify the
program.
077 SUB PROGRAM The subprogram was called in five folds.
NESTING ERROR Modify the program.
078 NUMBER NOT FOUND A program number or a sequence number
which was specified by address P in the
block which includes an M98, M99, M65 or
G66 was not found. The sequence number
specified by a GOTO statement was not
found. Otherwise, a called program is being
edited in background processing. Correct
the program, or discontinue the back-
ground editing.
110 DATA OVERFLOW The absolute value of fixed decimal point
display data exceeds the allowable range.
Modify the program.
111 CALCULATED DATA The result of calculation is out of the allow-
OVERFLOW able range (–1047 to –10–29, 0, and 10–29
to 1047).
112 DIVIDED BY ZERO Division by zero was specified. (including
tan 90_)
113 IMPROPER COMMAND A function which cannot be used in custom
macro is commanded.
Modify the program.
114 FORMAT ERROR IN There is an error in other formats than <For-
MACRO mula>.
Modify the program.
115 ILLEGAL VARIABLE A value not defined as a variable number is
NUMBER designated in the custom macro.
Modify the program.

116 WRITE PROTECTED The left side of substitution statement is a

VARIABLE variable whose substitution is inhibited.
Modify the program.
118 PARENTHESIS NESTING The nesting of bracket exceeds the upper
ERROR limit (quintuple).
Modify the program.
119 ILLEGAL ARGUMENT The SQRT argument is negative, BCD ar-
gument is negative, or other values than 0
to 9 are present on each line of BIN argu-
ment.
Modify the program.
122 DUPLICATE MACRO The macro modal call is specified in double.
MODAL–CALL Modify the program.
123 CAN NOT USE MACRO Macro control command is used during
COMMAND IN DNC DNC operation.
Modify the program.
124 MISSING END DO – END does not correspond to 1 : 1.
STATEMENT Modify the program.

715
11. PROGRAM COMMAND B–63173EN–1/02

Number Message Description

125 FORMAT ERROR IN <Formula> format is erroneous. Modify the

MACRO program.
126 ILLEGAL LOOP NUMBER In DOn, 1x n x 3 is not established.
Modify the program.
127 NC, MACRO STATEMENT NC and custom macro commands coexist.
IN SAME BLOCK Modify the program.
128 ILLEGAL MACRO The sequence number specified in the
SEQUENCE NUMBER branch command was not 0 to 9999. Or, it
cannot be searched. Modify the program.
129 ILLEGAL ARGUMENT An address which is not allowed in <Argu-
ADDRESS ment Designation > is used.
Modify the program.
199 MACRO WORD UNDE Undefined macro word was used. Modify
FINED the custom macro.

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
OPERATOR’S MANUAL II.13 Custom macro
(B–63174EN)

716
B–63173EN–1/02 11. PROGRAM COMMAND

11.3.2
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:

M96 Pffff ; 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 ma-

chining 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
Pxxxx;
Interrupt
signal O xxxx;
(UINT)*
Interrupt
signal
(UINT)*

M99 (Pffff);
Nffff;

M97 Interrupt
; signal
(UINT)*

Fig. 11.3.2 Interruption type custom macro function

717
11. PROGRAM COMMAND B–63173EN–1/02

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. 11.3.2) is input
during execution of the interrupt program or after M97 is specified, it is
ignored.

Signal

Interrupt Signal for

Custom Macro
UNIT<G053#3>
[Classification] Input signal
[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 parameters Nos.
6003, 6033 and 6034.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G053 UNIT

Parameter

D Various Setting for

Custom Macro
#7 #6 #5 #4 #3 #2 #1 #0
6003 MUS MCY MSB MPR TSE MIN MSK

[Data type] Bit

MSK Absolute coordinates at that time during custom macro interrupt
0 : Not set to the skip coordinates (system variables #5061 and later)
1 : Set to the skip coordinates (system variables #5601 and later)
MIN Custom macro interrupt
0 : Performed by interrupting an in–execution block (Custom macro
interrupt type I)
1 : Performed after an in–execution block is completed (Custom macro
interrupt type II)
TSE Custom macro interrupt signal UINT
0 : Edge trigger method (Rising edge)
1 : Status trigger method

718
B–63173EN–1/02 11. PROGRAM COMMAND

MPR Custom macro interrupt valid/invalid M code

0 : M96/M97
1 : M code set using parameters (Nos. 6033 and 6034)
MSB Interrupt program
0 : Uses a dedicated local variable (Macro–type interrupt)
1 : Uses the same local variable as in the main program (Subprogram–
type interrupt)
MCY Custom macro interrupt
0 : Not performed during cycle operation
1 : Performed during cycle operation
MUS Interrupt–type custom macro
0 : Not used
1 : Used
D Setting M code that
makes interruption
effective and ineffective

6033 M code that validates a custom macro interrupt

6034 M code that invalidates a custom macro interrupt

[Data type] Byte

[Valid data range] 0 to 255
These parameters set the custom macro interrupt valid/invalid M codes.

NOTE
These parameters can be used when MPR, #4 of parameter
No. 6003, is 1. M96 is used as a valid M code and M97 is
used as an invalid M code when MPR is 0, irrespective of the
state of this parameter.

Reference item
OPERATOR’S MANUAL II.13.11 Interruption type custom macro
(B–63174EN)

719
11. PROGRAM COMMAND B–63173EN–1/02

11.4
CANNED CYCLE
(Power Mate i–D)

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.

Explanations A canned cycle consists of a sequence of six operations.

Operation 1 Positioning a hole position
Operation 2 Rapid traverse up to point R level
Operation 3 Hole machining
Operation 4 Operation at the bottom of a hole
Operation 5 Retraction to point R level
Operation 6 Rapid traverse up to the initial point

Operation 1
Initial level

Operation 2 Operation 6

Point R level

Operation 5
Operation 3

Rapid traverse
Operation 4
Feed

Fig. 11.4 (a) Canned cycle operation sequence

720
B–63173EN–1/02 11. PROGRAM COMMAND

SPINDLE CONTROL In some canned cycles, a spindle command to rotate the spindle in reverse
direction may be output.

The following canned cycles require spindle control:

Reverse tapping cycle G74

Fine boring cycle G76

Tapping cycle G84

Boring cycle G86

Back boring cycle G87

Boring cycle G88

For spindle control, the following normal miscellaneous functions are

used:
See the description of the miscellaneous functions.
M03: CW spindle rotation
M04: CCW spindle rotation
M05: Spindle stop
M19: Spindle orientation
When the rotation direction of the spindle is to be switched from one
direction to the other (for example, when M04 is output during M03
operation), a parameter can specify whether to send M05 at the time
switching.
Timing charts are described in the following page:

721
11. PROGRAM COMMAND B–63173EN–1/02

D G74 (Counter tapping cycle)

X, Y

Z
Z

Z
Dwell Dwell

(Note) (Note)
Note) It is possible to not output M05 M03 M05 M04
M05 code by using parame-
ter M5T (No. 5101#6). MF MF MF MF Next block

FIN FIN FIN FIN

D G76 (Fine boring cycle)

X, Y X or Y

Z
Z

Dwell

(Note)
M05 M19 M03

MF MF Return to ini- MF
Note) It is possible to not output tial level
M05 code by using parame-
ter M5B (No. 5101#7).
FIN FIN FIN

Next block
D G84 (tapping cycle)

X, Y

Z
Z

Dwell Dwell
(Note) (Note)

M05 M04 M05 M03

Note) It is possible to not output MF MF MF MF Next block

M05 code by using parame-
ter M5T (No. 5101#6).

FIN FIN FIN FIN

Fig. 11.4 (b) Canned cycle (1/2)

722
B–63173EN–1/02 11. PROGRAM COMMAND

D G86 (Boring cycle)

X, Y

Return to initial level

Z
Z

M05 M03

MF MF

FIN FIN
Next block

D G87 (Back boring cycle)

X or Y X or Y
X, Y
X or Y

Z
Z
Dwell
(Note 2)
(Note 2)
M05 M19
M03 M05 M19 M03
MF MF MF MF MF MF

FIN FIN FIN FIN FIN FIN

D G88 (Boring cycle) (Note 1) Back boring cycle is not used in G99 mode but in
G98 mode.

X, Y

Manual feed Cycle start

Z
Z

Z
Dwell Z

M05 M03

MF MF
Return to initial level

FIN FIN

Fig. 11.4 (c) Canned cycle for M series (2/2)

723
11. PROGRAM COMMAND B–63173EN–1/02

Tapping signal During a tapping cycle, the tapping signal is output. The tapping signal
is also output while the G code of the tapping cycle is valid.

Override During tapping, cutting feedrate override is always set to 100%.

Feed hold When the feed hold key is pressed during tapping, the movement is not
stopped immediately but the movement is stopped when the tool is
returned to level R.

Dry run The TDR bit (bit 5 of parameter No. 1401) specifies whether dry run is
valid during tapping.

Signal

Tapping signal
TAP <F001#5>
[Classification] Output signal
[Function] Reports that the system is in tapping mode.
[Output condition] The signal is set to 1 when:
– The system is in tapping cycle mode.
G74, G84
The signal is set to 0 when:
– The system is not tapping mode.
– A reset or emergency stop is specified.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 TAP

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
M5B M5T RD2 RD1 FXY
5101

[Data type] Bit

FXY The drilling axis in the drilling canned cycle is:
0 : Always the 1st axis
1 : The axis selected by the program

724
B–63173EN–1/02 11. PROGRAM COMMAND

RD2, RD1 Set the axis and direction in which the tool in drilling canned cycle G76 or
G87 is got free. RD2 and RD1 are set as shown below by plane selection.
RD2 RD1 G17 G18 G19
0 0 +X +Z +Y
0 1 –X –Z –Y
1 0 +Y +X +Z
1 1 –Y –X –Z

M5T When a spindle rotates from the forward to the reverse direction and vice
versa in tapping cycles G84 and G74, before M04 or M03 is output:
0 : Outputs M05
1 : Not output M05
M5B In drilling canned cycles G76 and G87:
0 : Outputs M05 before an oriented spindle stops
1 : Not output M05 before an oriented spindle stops

Return value of high–speed peck drilling cycle G73

5114

[Data type] Word

[Unit of data] Increment system IS-B IS-C Unit
Metric input 0.001 0.001 mm
Inch input 0.0001 0.0001 inch

[Valid data range] 0 to 32767

This parameter sets the return value in high–speed peck drilling cycle
G73.

G73

q : Depth of cut
d : Return value

R point
q
d

q
d

Z point

Fig. 11.4 (d) High–speed peck drilling cycle (G73)

725
11. PROGRAM COMMAND B–63173EN–1/02

Clearance of canned cycle G83

5115

[Data type] Word

[Unit of data] Increment system IS-B IS-C Unit
Metric input 0.001 0.001 mm
Inch input 0.0001 0.0001 inch

[Valid data range] 0 to 32767

G83

q : Depth of cut
d : Clearance value

R point
q
d

q
d

Z point

Fig. 11.4 (e) Peck drilling cycle (G83)

Alarm and message

Number Message Description

044 G27–G30 NOT AL- One of G27 to G30 is commanded in

LOWED IN FIXED CYCLE a canned cycle mode.
Modify the program.

Note

NOTE
A parameter FXY (No. 5101#0) can be set to the 1st axis
always used as the drilling axis.

Reference item
OPERATOR’S MANUAL III.2.1 Canned cycle
(B–63174EN)

726
B–63173EN–1/02 11. PROGRAM COMMAND

11.5
MACRO COMPILER/
MACRO EXECUTOR

General There are two types of NC programs; those which, once created, are
scarcely changed, and those which are changed for each machining type.
The former are programs created by the custom macro, and the latter are
machining programs. If programs of these types are executed
simultaneously, a battery may run out or the custom macro may be
destroyed by error operation.
Such problems can be solved by this function. The custom macro created
by a machine tool builder is converted to an execute-form program, be
stored in the FLASH ROM module, and be executed.
Features
(1) Since the program is stored after converted to an execute-form
program, the execution speed is high. The machining time is then
reduced, and the precision is improved.
(2) Since the program is stored in FLASH ROM, there is no problem of
battery extinction or custom macro destruction by error operation.
The reliability is improved.
(3) Since the stored program is not displayed on a program screen, the
know-how of the machine tool builder is protected.
(4) Since the custom macro is stored in FLASH ROM, the program edit
memory can be used efficiently.
(5) The user can call the macro easily without knowing the stored
program. A custom macro can be created and executed in the program
edit memory as usual.
(6) An original screen can be created by using the graphic display or
selecting screens by the soft key. The machine tool builder can extend
the control function by using such functions as machining program
creation and edit control, reader/punch interface control, and PMC
data read/write functions.

Reference item
Macro compiler/executer programming manual (B–62093E–1)

727
11. PROGRAM COMMAND B–63173EN–1/02

11.6
C EXECUTOR

11.6.1 FANUC Power Mate i–MODEL D/H C Executor enables to add the
General machine tool builder’s original screen into FANUC Power Mate and to
customize screen displaying and operation interface of CNC software. It
is possible to replace arbitrary screens of CNC with user application’s
screen. The user application program about screen displaying and
operation interface is developed using general C language just like
ordinary PC’s application program developing. The executable file that
is developed by the Machine Tool Builder is built in CNC unit. The user
program that is compiled on PC is stored in flash ROM of CNC unit, and
it is read into CNC’s memory by CNC’s start up procedure, then, executed
on the C executor.

Features D You can develop application program on general PC (Personal

Computer). Designing, editing, compiling linking and also some
debugging works are executed on PC.
D Microsoft C compiler (MS–C), that is standard of C compiler on PC,
is used. Function libraries of C language which are provided by C
Executor has compatibitily with ANSI and MS–C. Therefore ordinary
application programs on PC can be translated to CNC’s as long as they
don’t depend on specific hardware.
D The application program that is developed by the machine tool builder
is executed as a task in CNC softwear. Some arbitrary screens of
existing CNC screens can be replaced with user screens that are
displayed by the user application program. Application program can
read or write various CNC data via libraries that are provided by C
Executor. Therefore, the user application program works as a part of
CNC softwear.
D C Executor can be used with Macro Executor (Execution Macro and
also Conversational Macro) of Power Mate. The screen displaying
part of macro program that has been developed by the Machine Tool
Builder can be replaced with C program, therefore, existing software
property does not become useless. (C Executor doesn’t have
Execution Macro function.)
D The user application program that is developed by the machine tool
builder is installed to CNC unit using memory card (JEIDA/PCMCIA.
compatible). It is easy to install and update the application program
because it isn’t needed to write EPROM by using ROM–writer.

728
B–63173EN–1/02 11. PROGRAM COMMAND

11.6.2 C executor’s screens can be assigned to the [CUSTOM/GRAPH] key by

The function of setting up the parameters CM1 to CM3 (No. 8653#0 to #2) without Macro
executor option.
assigning C executor’s When the [CUSTOM/GRAPH] key is pushed, a user screen is displayed
screens to the on the CRT. Three screens can be assigned to the [CUSTOM/GRAPH]
[CUSTOM/GRAPH] key key, and every time when the [CUSTOM/GRAPH] key is pushed the
screens change in order.
User screens are related with the parameter, which is appointed by
following symbols.

Parameters Symbols

CM1 CRT_USR_AUX

CM2 CRT_USR_MCR

CM3 CRT_USR_MENU

11.6.3
Parameter #7 #6 #5 #4 #3 #2 #1 #0
3195 RENM1 CHGCS

[Data type] Bit

CHGCS When the virtual–key of the LCD unit with touch panel is used, the screen
switching to the application of the FANUC PICTURE which is defined by
the following symbol is
0 : operated by [GRPH] key.
(In this case, the screen number is decided by the following list.)

Symbol Soft key number

CRT_USR_AUX 0x0105 USER (small key)–AUX

CRT_USR_MCR 0x0205 USER (small key)–MACRO

CRT_USR_MENU 0x0305 USER (small key)–MENU

1 : operated by [CUST] key.

(In this case, the screen number is decided by the following list.)

Symbol Soft key number

CRT_CST_AUX 0x0106 CRT_CST_AUX (full key)–AUX

CRT_CST_MCR 0x0206 CRT_CST_MCR (full key)–MACRO

CRT_CST_MENU 0x0306 CRT_CST_MENU (full key)–MENU

RENM1 When the ”GRPH” is selected as the key to switch to the application
screen of FANUC PICTURE, the key top display is
0 : ”GRPH”.
1 : ”OPER”.

729
11. PROGRAM COMMAND B–63173EN–1/02

NOTE
Set ”0” to the parameter No. 3195#0 when the CRT/MDI or
separated type MDI is used.
And, set the following screen number when the screen
switching to FANUC PICTURE screen is operated by the
”CUST/GRPH” key of CRT/MDI or separated type MDI.
Symbol Soft key number
CRT_USR_AUX 0x0105 USER (small key)–AUX
CRT_USR_MCR 0x0205 USER (small key)–MACRO
CRT_USR_MENU 0x0305 USER (small key)–MENU

#7 #6 #5 #4 #3 #2 #1 #0
8650 CNA RSK

[Data type] Bit

RSK Specifies whether the key code is transferred to application when a reset
key is pushed
0 : Not transferred.
1 : Transferred.
CNA Specifies whether the screen is changed to NC alarm screen when NC
alarm is generated during the user screen by C Executor is displayed.
0 : The change whether automatically or not is decided by the value of
parameter No.3111#7NPA.
1 : Not changed without relation of the value of parameter
No.3111#7NPA.

NOTE
The change of the set data becomes effective after the next
power on.

#7 #6 #5 #4 #3 #2 #1 #0
8653 CM3 CM2 CM1

[Data type] Bit

CM1 When the [CUSTOM/GRAPH] key is pushed, the user screen that was
defined as CRT_USR_AUX
0 : Is not displayed.
1 : Is displayed.
CM2 When the [CUSTOM/GRAPH] key is pushed, the user screen that was
defined as CRT_USR_MCR
0 : Is not displayed.
1 : Is displayed.

730
B–63173EN–1/02 11. PROGRAM COMMAND

CM3 When the [CUSTOM/GRAPH] key is pushed, the user screen that was
defined as CRT_USR_MENU
0 : Is not displayed.
1 : Is displayed.
Symbols in a source file set which user screen is displayed. The following
table shows relation between symbols and parameters.
Parameter Symbol

CM1 CRT_USR_AUX

CM2 CRT_USR_MCR

CM3 CRT_USR_MENU

The symbols mean following screens.

D CRT_USR_AUX: a screen displayed with a push of
[CUSTOM/GRAPH] key.
D CRT_USR_MCR: a screen displayed with twice push of
[CUSTOM/GRAPH] key.
D CRT_USR_MENU: a screen displayed with three times push of
[CUSTOM/GRAPH] key.
These screens are changed with a push of [CUSTOM/GRAPH] key. The
screens, which correspond to the parameters with 0, are skipped.

NOTE
1 If you have Macro Executor option, these parameters are
invalid.
2 If virtual keys of the LCD unit with a touch panel are used,
whether the [CUST] key or [GRPH] key of the virtual MDI
unit is used can be selected at the time of switching to the
FANUC PICTURE screen by setting bit 0 of parameter No.
3195.

8661 Size of variable areas

[Data type] Word

[Unit of data] KByte
[Valid data range] 0 to 59
Specify the size of the static variable areas that can be set by each task.
Specify it by the unit of 1 KByte. The maximum size is 59 Kbytes. And
the total value of a SRAM Disk size and this size should not exceed
(usable SRAM size –1) KBtes (that is to say, 63 KBytes).

NOTE
When this value is changed, the contents of variable areas
and a SRAM Disk are initialized. The change of the set data
becomes effective after the next power on.

731
11. PROGRAM COMMAND B–63173EN–1/02

8662 Size of SRAM Disk

[Data type] Word

[Unit of data] KByte
[Valid data range] 4 to 63
Specify the size of a SRAM Disk. Specify it more than 4 KBytes by the
unit of 1 KByte. The maximum size is 63 KBytes. And the total value of
a variable area and this size should not exceed (usable SRAM size –1)
KBtes (that is to say, 63 KBytes).

NOTE
When this value is changed, a SRAM Disk is initialized. The
change of the set data becomes effective after the next
power on.

8263 Specification of time zone

[Data type] 2–word

[Unit of data] Second
[Valid data range] –12*3500 to 12*3600
Specify the equation of time from Greenwich time by the unit of second.
The value is –9 hours in japan (the value is –9*3600 = –32400).

NOTE
The change of the set data becomes effective after the next
power on.

8781 Size of DRAM used by the FANUC PICTURE or C executor

[Data type] Byte

[Unit of data] 64 KBytes
[Valid data range] 16 to 128
Set the size of DRAM to be used by the FANUC PICTURE or C executor.
If a value not within the valid data range is specified, the specification of
0 is assumed.

732
B–63173EN–1/02 11. PROGRAM COMMAND

The table below indicates the values that can be set with the options of the
C executor and FANUC PICTURE.
C executor with an added C executor with an added Touch panel control (FANUC
Setting C executor
program size of 1 MB program size of 2 MB PICTURE)

16 f

32 f f

48 f f

96 f

96 f f

112 f f f

128 f f f

NOTE
D After this parameter has been set, the power must be turned
off then back on for the setting to become effective.
D The actually usable size is limited by the DRAM size and
installed options.

11.6.4
Reference item FILE NAME

Power Mate i – MODEL D ON–LINE MANUAL

(A08B–9001–J793#EN07)
MAN/MAN.EXE
Power Mate i – MODEL H ON–LINE MANUAL
(A08B–9001–J795#EN07)

733
12. DISPLAY/SET/EDIT B–63173EN–1/02

12 DISPLAY/SET/EDIT

734
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.1
DISPLAY/SET

12.1.1
Clock Function

General Time is displayed in the hour/minute/second format on each display

screen. Some screens allows display of the year, month, and day.
The custom macro system variable can be used to read the time. The time
will be told through the window on the PMC side.

Time information can be read and written.

System variables for time information

Variable Function
number

#3001 This variable functions as a timer that counts in 1–millisecond in-

crements at all times. When the power is turned on, the value
of this variable is reset to 0. When 65535 milliseconds is
reached, the value of this timer returns to 0.

#3002 This variable functions as a timer that counts in 1–hour incre-

ments when the cycle start lamp is on. This timer preserves its
value even when the power is turned off. When 1145324.612
hours is reached, the value of this timer returns to 0.

#3011 This variable can be used to read the current date (year/month/
day). Year/month/day information is converted to an apparent
decimal number. For example, Janualy 23, 2005 is represented
as 20050123.

#3012 This variable can be used to read the current time (hours/min-
utes/seconds). Hours/minutes/seconds information is con-
verted to an apparent decimal number. For example, 34 minutes
and 56 seconds after 3 p.m. is represented as 153456.

Reference item
OPERATOR’S MANUAL V.11.4.4 Displaying and Setting Run
(B–63174EN) Time,Parts Count, and Time

735
12. DISPLAY/SET/EDIT B–63173EN–1/02

12.1.2
Displaying Operation
History
General This function displays a history of the key and signal operations, performed by
the CNC operator, upon the occurrence of a failure or CNC alarm. The history
can also be displayed for previously generated CNC alarms.

The following history data is recorded:

(1) MDI key operation sequences, performed by the CNC operator
Example: A to Z, <POS>, <PAGE ↑>, [SF1]
(2) On/off status transitions of selected input and output signals
Example: G0000.7↑ , SBK ↑
(3) CNC alarm information
Example: P/S0010
(4) Time (date, time) stamp
Example: 98/01/20
09:15:30
The history data can be output to an input/output device, connected via
the reader/puncher interface. Previously output history data can be input
from an input/output device.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3106 OHS OHD

[Data type] Bit

OHD The operation history screen is:
0 : Not displayed.
1 : Displayed.
OHS Operation history sampling is:
0 : Performed.
1 : Not performed.

#7 #6 #5 #4 #3 #2 #1 #0
3112 OPH

NOTE
To put this parameter setting in effect, switch the power off
then back on again.

OPH Specifies whether to enable the operation history function.

0 : Enabled.
1 : Disabled.

736
B–63173EN–1/02 12. DISPLAY/SET/EDIT

3122 Time interval used to record time data in operation history

[Data type] Word

[Unit of data] Minutes
[Valid data range] 0 to 1439
Time data is recorded in operation history at set intervals. When 0 is
specified in this parameter, 10 minutes is assumed as the default.
However, note that time data is not recorded if there is no data to be
recorded at the specified time.

Note
NOTE
1 While the operation history screen is displayed, history data
is not recorded.
2 When the duration of the on/off state of an input signal is 16
msec or shorter, that state is not recorded in the history. In
addition, note that some signals are not recorded in the
history.
3 Once the memory area becomes full, the oldest data is
deleted to allow new data to be recorded. The memory area
can store information corresponding to approximately 8000
key strokes.
4 Recorded history data is held in memory even after the
power is turned off. Note, however, that the history data is
erased by performing an entire–memory clear operation.
5 For the operation history function, sampling is disabled
when bit 7 (OHS) of parameter No. 3106 is set to 1.
6 Be careful to set the date and time correctly.
When the time is recorded at regular intervals, but no data
is recorded within a defined period, the time for that period
is not recorded.

737
12. DISPLAY/SET/EDIT B–63173EN–1/02

12.1.3
Help Function
General The help function displays on the screen detailed information about
alarms issued in the CNC and about CNC operations. The following
information is displayed.
D Detailed information of When the CNC is operated incorrectly or an erroneous machining
alarms program is executed, the CNC enters the alram state. The help screen
displays detailed information about the alarm that has been issued and
how to reset it. The detailed information is displayed only for a limited
number of P/S alarms. These alarms are often misunderstood and are
rather difficult to understand.
D Operation method If you are not sure about a CNC operation, refer to the help screen for
information about each operation.
D Parameter table When setting or referring to a system parameter, if you are not sure of the
number of the parameter, the help screen displays a list of parameter Nos.
for each function.

Note

NOTE
The user cannot switch the screen display from the PMC
screen or CUSTOM screen to the help screen.

Reference item
OPERATOR’S MANUAL V.12 HELP FUNCTION
(B–63174EN)

12.1.4
Displaying Alarm
History

General Up to 25 of the most recent CNC alarms are stored and displayed on the
screen.
The following information items are displayed.
(1) The date the alarm was issued
(2) Alarm No.
(3) Alarm message (some contains no message)

Reference item
OPERATOR’S MANUAL V.7.2 ALARM HISTORY DISPLAY
(B–63174EN)

738
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.1.5
Servo Tuning Screen
General On the servo tuning screen, parameters required for basic adjustment of
the servo motor and statuses being monitored are listed for each axis.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3111 SVS

[Data type] Bit

SVS Servo tuning screen
0 : Not displayed
1 : Displayed

Reference item
MAINTENANCE MANUAL 5.2 Servo Tuning Screen
(B–63175EN)

12.1.6
Spindle Setting and
Tuning Screen
(Power Mate i–D only)

General On the spindle setting and tuning screen, parameters required for basic
adjustment of the serial spindle and statuses being monitored are listed.
The screen is only for the main spindle connected to the first amplifier.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3111 SVP SPS

[Data type] Bit

SPS Spindle setting and tuning screen
0 : Not displayed
1 : Displayed
SVP Synchronization errors displayed on the spindle setting and tuning screen
0 : Instantaneous values are displayed.
1 : Peak–hold values are displayed.

Reference item
MAINTENANCE MANUAL 6.4 Spindle setting and tuning screen
(B–63175EN)

739
12. DISPLAY/SET/EDIT B–63173EN–1/02

12.1.7
Self–diagnosis

General When a breakdown occurs, in order to quickly determine the cause, the
following should be done.

First, it has to be determined as to whether the breakdown occurred in the

CNC internal section, or the PMC or machine side.

There are times when it appears that a breakdown has occurred even when
the breakdown has not actually occurred. For example, when the
machinery ceases to operate because it is waiting for an external signal.

In this case, the condition of the interface between the CNC and PMC, or
between the CNC and the machinery, and the conditions within the CNC
need to be investigated.

The CNC checks the following itself.

1) Abnormality of detection system
2) Abnormality of position control unit
3) Abnormality of servo system
4) Overheat
5) Abnormality of CPU
6) Abnormality of ROM
7) Abnormality of RAM
8) Abnormality in data transfer between MDI
9) Abnormality of part program storage memory
10)Abnormality in tape reader read function
11)Abnormality in data transfer between PMC
Input/output signals from PMC to CNC, or vice versa, and inner status
of the CNC can be displayed on the screen.

Reference item
OPERATOR’S MANUAL V.7.3 CHECKING BY SELF–DIAGNOSTIC
(B–63174EN) SCREEN

740
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.1.8
Display of Hardware
and Software
Configuration
General The required hardware/software configuration for CNC maintenance can
be displayed on the screen.

The system configuration screen displays the following information:

(1) Printed circuit board configuration
The type and function of the printed circuit board mounted in each slot
are displayed. When a CPU is mounted on a printed circuit board, the
software series and edition are also displayed.
(2) Software configuration
The series and editions of installed software, including the CNC soft-
ware, servo software, PMC management software, and ladder pro-
grams, are displayed.
(3) Module configuration
The configuration of the modules or hardware mounted on each
printed circuit board (such as the type of a module or the hardware, and
whether it is mounted) is displayed.

Reference item
MAINTENANCE MANUAL 1.3 System Configuration Screen
(B–63175EN)

741
12. DISPLAY/SET/EDIT B–63173EN–1/02

12.1.9
Run Hour and Parts
Count Display

General This function displays the integrated power–on time, the integrated cycle
operation time, the integrated cutting time and timer (started by an input
signal from PMC) on the screen. The integrated cycle operation time, the
integrated cutting time and timer can be altered and preset, using the MDI.
In addition to the above, this function displays the count of the total
number of parts machined, the number of parts required and the number
of parts machined on the screen. Each time M02, M30 or a parameter set
M code is executed, the count of the total number of parts machined and
the number of parts machined in memory is incremented by 1.
If a program is prepared so as to execute M02, M30 or a parameter set M
code each time one part machining is completed, the number of parts
machined can be counted automatically.
If the count of the number of parts machined reaches the number of parts
required, a signal is output to the PMC side.
It is possible to change and preset the number of parts required and the
number of parts machined using MDI.

Signal

Target part count

reached signal
PRTSF<F062#7>
[Classification] Output signal
[Function] Reports to the PMC that the specified number of parts have been
machined.
[Output condition] The PRTSF signal is set to 1 when:
@ Machining of the specified number of parts has been completed.
When 0 (infinity) is set as the required number of parts, this signal is
not output.
The PRTSF signal is set to 0 when:
@ Machining of the specified number of parts has not yet been
completed.
@ The system is reset.

742
B–63173EN–1/02 12. DISPLAY/SET/EDIT

General–purpose
integrating meter start
signal
TMRON <G053#0>
[Classification] Input signal
[Function] The CNC has an integrating meter which is started by an input signal from
the PMC, as well as integrating meters for counting the automatic
operation time and counting cutting time. The count for this integrating
meter can be displayed on the screen. The count can be preset by MDI
operation.
[Operation] When the signal is set to 1, the integrating meter starts counting.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G053 TMRON

#7 #6 #5 #4 #3 #2 #1 #0
F062 PRTSF

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6700 NCT PCM

[Data type] Bit

PCM M code that counts the total number of machined parts and the number of
machined parts
0 : M02, or M30, or an M code specified by parameter No. 6710
1 : Only M code specified by parameter No. 6710
NCT The operation time and part count are:
0 : Displayed.
1 : Not displayed.

6710 M code that counts the total number of machined parts and the number of
machined parts

[Data type] Byte

[Valid data range] 0 to 255 except 98 and 99
The total number of machined parts and the number of machined parts
are counted (+1) when the M code set is executed.

NOTE
Set value 0 is invalid (the number of parts is not counted for
M00). Data 98 and 99 cannot be set.

743
12. DISPLAY/SET/EDIT B–63173EN–1/02

6711 Number of machined parts

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One piece
[Valid data range] 0 to 99999999
The number of machined parts is counted (+1) together with the total
number of machined parts when the M02, M30, or a M code specified by
parameter No. 6710 is executed.

NOTE
When bit 0 (PCM) of parameter No. 6700 is set to 1, the
number of parts is not counted with M02 and M30.

6712 Total number of machined parts

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One piece
[Valid data range] 0 to 99999999
This parameter sets the total number of machined parts.
The total number of machined parts is counted (+1) when M02, M30, or
an M code specified by parameter No. 6710 is executed.

NOTE
When bit 0 (PCM) of parameter No. 6700 is set to 1, the
number of parts is not counted with M02 and M30.

6713 Number of required parts

This parameter can also be set on the ”Setting screen”.

[Data type] Word
[Unit of data] One piece
[Valid data range] 0 to 9999
This parameter sets the number of required machined parts.
Required parts finish signal PRTSF is output to PMC when the number
of machined parts reaches the number of required parts. The number of
parts is regarded as infinity when the number of required parts is zero. The
PRTSF signal is then not output.

744
B–63173EN–1/02 12. DISPLAY/SET/EDIT

6750 Integrated value of power–on period

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One minute
[Valid data range] 0 to 99999999
This parameter displays the integrated value of power–on period.

6751 Operation time (integrated value of time during automatic operation)

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One ms
[Valid data range] 0 to 60000

6752 Operation time (integrated value of time during automatic operation)

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One minute
[Valid data range] 0 to 99999999
This parameter displays the integrated value of time during automatic
operation (neither stop nor hold time included).
The actual operation time is the sum of the values set in parameters Nos.
6751 and 6752.

6753 Integrated value of cutting time

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One ms
[Valid data range] 1 to 60000

6754 Integrated value of cutting time

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One minute
[Valid data range] 0 to 99999999
This parameter displays the integrated value of a cutting time that is
performed in cutting feed such as linear interpolation (G01) and circular
interpolation (G02 or G03).
The actual cutting time is the sum of the values set in parameters Nos.
6753 and 6754.

745
12. DISPLAY/SET/EDIT B–63173EN–1/02

6755 Integrated value of general–purpose integrating meter drive signal (TMRON) ON

time

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One ms
[Valid data range] 0 to 60000

6756 Integrated value of general–purpose integrating meter drive signal (TMRON) ON

time

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One minute
[Valid data range] 0 to 99999999
This parameter displays the integrated value of a time while input signal
TMRON from PMC is on.
The actual integrated time is the sum of the values set in parameters Nos.
6755 and 6756.

6757 Operation time (integrated value of one automatic operation time)

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One ms
[Valid data range] 0 to 60000

6758 Operation time (integrated value of one automatic operation time)

This parameter can also be set on the ”Setting screen”.

[Data type] Two–word
[Unit of data] One minute
[Valid data range] 0 to 99999999
This parameter displays the one automatic operation drive time (neither
stop nor hold state included). The actual operation time is the sum of the
values set in parameters Nos. 6757 and 6758. The operation time is
automatically preset to 0 during the power–on sequence and the cycle start
from the reset state.

Reference item
OPERATOR’S MANUAL V.11.4.4 Displaying and Setting Run
(B–63174EN) Time,Parts Count, and Time

746
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.1.10
Software Operator’s
Panel
General The software operator’s panel function replaces part of the control
switches on the machine operator’s panel with soft switches which can be
turned on or off using the MDI of the control unit.

The control switches for the functions listed in the following table can be
replaced with soft switches. Also available are eight general–purpose soft
switches which can be used additionally by the machine tool builder.
These eight general–purpose soft switches can be optionally named by the
machine tool builder. For control switches in groups 1 to 7, parameter
(No.7200) can be used to select whether the control switches on the
machine operator’s panel or soft switches on the MDI of the control unit
are used for each group.
Group1 :Mode selection
Group2 :Selection of jog feed axis, manual rapid traverse
Group3 :Selection of manual pulse generator feed axis, selection of
manual pulse magnification
Group4 :Jog feedrate override, feedrate override, rapid traverse
override
Group5 :Optional block skip, single block, machine lock, dry run
Group6 :Protect key
Group7 :Feed hold
Group8 :General purpose
The states of all soft switches are informed to the PMC by output signals.
Based on these output signals, the PMC should turn “1” or “0” input
signals related to soft switch functions. In other words, turning “1” the
soft switch assigned to single block operation, for example, does not
cause the control unit to select single block operation internally. Single
block operation is selected when the PMC turns to “1” the input signal for
single block operation, instead.

747
12. DISPLAY/SET/EDIT B–63173EN–1/02

Signal
Group Function Output signal Related input signal
1 Mode selection MD1O <F073#0> MD1
MD2O <F073#1> MD2
MD4O <F073#2> MD4
ZRNO <F073#4> ZRN

2 Jog feed axis select +J1O – +J4O +J1 – +J4

–J1O – –J4O –J1 – –J4
<F081>

Manual rapid tra- RTO <F077#6> RT

verse

3 Handle feed HS1AO <F077#0> HS1A

HS1BO <F077#1> HS1B
HS1CO <F077#2> HS1C
HS1DO <F077#3> HS1D

Handle feed magni- MP1O <F076#0> MP1

fication MP2O <F076#1> MP2

4 Jog feedrate over- *JV0O – *JV15O *JV0 – *JV15

ride <F079, F080>

Feedrate override *FV0O – *FV7O *FV0 – *FV7

<F078>

Rapid traverse ROV1O <F076#4> ROV1

override ROV2O <F076#5> ROV2

5 Optional block skip BDTO <F075#2> BDT

Single block SBKO <F075#3> SBK

Machine lock MLKO <F075#4> MLK

Dryrun DRNO <F075#5> DRN

6 Protect key KEYO <F075#6> KEY1 – KEY4

7 Feed hold *SPO <F075#7> *SP

8 General purpose OUT0 – OUT7

(Switch from 1st line <F072>
to the 8th line)

748
B–63173EN–1/02 12. DISPLAY/SET/EDIT

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F072 OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0

F073 ZRNO MD4O MD2O MD1O

F074

F075 *SPO KEYO DRNO MLKO SBKO BDTO

F076 ROV2O ROV1O MP2O MP1O

F077 RTO HS1DO HS1CO HS1BO HS1AO

F078 *FV7O *FV6O *FV5O *FV4O *FV3O *FV2O *FV1O *FV0O

F079 *JV7O *JV6O *JV5O *JV4O *JV3O *JV2O *JV1O *JV0O

F080 *JV15O *JV14O *JV13O *JV12O *JV11O *JV10O *JV9O *JV8O

F081 –J4O +J4O –J3O +J3O –J2O +J2O –J1O +J1O

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7200 OP7 OP6 OP5 OP4 OP3 OP2 OP1

[Data type] Bit

OP1 Mode selection on software operator’s panel
0 : Not performed
1 : Performed
OP2 JOG feed axis select and manual rapid traverse buttons on software
operator’s panel
0 : Not performed
1 : Performed
OP3 Manual pulse generator’s axis select and manual pulse generator’s
magnification switches on software operator’s panel
0 : Not performed
1 : Performed
OP4 JOG feedrate override, feedrate override, and rapid traverse override
switches on software operator’s panel
0 : Not performed
1 : Performed
OP5 Optional block skip, single block, machine lock, and dry run switches on
software operator’s panel
0 : Not performed
1 : Performed
OP6 Protect key on software operator’s panel
0 : Not performed
1 : Performed

749
12. DISPLAY/SET/EDIT B–63173EN–1/02

OP7 Feed hold on software operator’s panel

0 : Not performed
1 : Performed

#7 #6 #5 #4 #3 #2 #1 #0
7202 NS0 NS2

[Data type] Byte

NS2 0 : Uses the software operator’s panel general–purpose switches.
1 : Does not use the software operator’s panel general–purpose switches.
NS0 0 : Uses the software operator’s panel.
1 : Does not use the software operator’s panel.

7210 PLSKY1

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <+> direction key for
the first jog feed axis on the software operator’s panel.

7211 MNSKY1

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <–> direction key for
the first jog feed axis on the software operator’s panel.

7212 PLSKY2

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <+> direction key for
the second jog feed axis on the software operator’s panel.

7213 MNSKY2

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <–> direction key for
the second jog feed axis on the software operator’s panel.

7214 PLSKY3

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <+> direction key for
the third jog feed axis on the software operator’s panel.

750
B–63173EN–1/02 12. DISPLAY/SET/EDIT

7215 MNSKY3

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <–> direction key for
the third jog feed axis on the software operator’s panel.

7216 PLSKY4

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <+> direction key for
the fourth jog feed axis on the software operator’s panel.

7217 MNSKY4

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9
This parameter specifies a key value used with the <–> direction key for
the fourth jog feed axis on the software operator’s panel.

7220 Name of general–purpose switch on software operator’s panel

7283 Name of general–purpose switch on software operator’s panel

[Data type] Byte

Example

OPERATOR’ S PANEL O1234 N5678

These parameters set

the names of the gen- SIGNAL 1 : OFF ON
eral–purpose switches SIGNAL 2 : OFF ON
(SIGNAL 1 through SIGNAL 3 : OFF ON
SIGNAL 8) on the SIGNAL 4 : OFF ON
software operator’s SIGNAL 5 : OFF ON
panel as described be- SIGNAL 6 : OFF ON
low. SIGNAL 7 : OFF ON
SIGNAL 8 : OFF ON

These names are set using character codes that are displayed in parameter
Nos. 7220 to 7283.

751
12. DISPLAY/SET/EDIT B–63173EN–1/02

Parameter No. 7220:

Sets the character code (083) corresponding to S of SIGNAL 1.
Parameter No. 7221:
Sets the character code (073) corresponding to I of SIGNAL 1.
Parameter No. 7222:
Sets the character code (071) corresponding to G of SIGNAL 1.
Parameter No. 7223:
Sets the character code (078) corresponding to N of SIGNAL 1.
Parameter No. 7224:
Sets the character code (065) corresponding to A of SIGNAL 1.
Parameter No. 7225:
Sets the character code (076) corresponding to L of SIGNAL 1.
Parameter No. 7226:
Sets the character code (032) corresponding to (space) of SIGNAL 1.
Parameter No. 7227:
Sets the character code (049) corresponding to 1 of SIGNAL 1.
Parameter Nos. 7228 to 7235:
Set the character codes of SIGNAL 2 shown in the figure above.
Parameter Nos. 7236 to 7243:
Set the character codes of SIGNAL 3 shown in the figure above.
Parameter Nos. 7244 to 7251:
Set the character codes of SIGNAL 4 shown in the figure above.
Parameter Nos. 7252 to 7259:
Set the character codes of SIGNAL 5 shown in the figure above.
Parameter Nos. 7260 to 7267:
Set the character codes of SIGNAL 6 shown in the figure above.
Parameter Nos. 7268 to 7275:
Set the character codes of SIGNAL 7 shown in the figure above.
Parameter Nos. 7276 to 7283:
Set the character codes of SIGNAL 8 shown in the figure above.
The character codes are shown in character code list on the following
page.

752
B–63173EN–1/02 12. DISPLAY/SET/EDIT

Character to Code Correspondence Table

Char- Com- Char- Char- Com- Char-
Code Code Comment Code Code Comment
acter ment acter acter ment acter
A 065 6 054 177 209
B 066 7 055 178 210
C 067 8 056 179 211
D 068 9 057 180 212
E 069 032 Space 181 213
F 070 ” 034 Quotation marks 182 214
G 071 # 035 Number 183 215
H 072 $ 036 Dollar mark 184 216
I 073 % 037 Percent 185 217
J 074 & 038 Ampersand 186 218
K 075 ’ 039 Apostrophe 187 219
L 076 ( 040 Left parenthesis 188 220
M 077 ) 041 Right parenthesis 189 166
N 078 * 042 Asterisk 190 221
O 079 + 043 Positive sign 191 167
P 080 , 044 Comma 192 168
Q 081 – 045 Negative sign 193 169
R 082 . 046 Period 194 170
S 083 / 047 Slash 195 171
T 084 : 058 Colon 196 172
U 085 ; 059 Semicolon 197 173
V 086 < 060 Left angle bracket 198 174
W 087 = 061 Equal sign 199 175
X 088 > 062 Right angle bracket 200 \\ 222 Dakuten

Y 089 ? 063 Question mark 201 ° 223 Han dakuten

Z 090 @ 064 Commercial at 202 161 Full stop
°
mark
0 048 [ 091 Left square bracket 203  162 Left quotation mark

1 049 ¥ 092 Yen mark 204  163 Right quotation

mark
2 050 ] 093 Right square 205 , 164 Comma
bracket
3 051 ^ 094 206 · 165 Centered dot
4 052 _ 095 Underline 207 000 Space
5 053 208

NOTE
The “dakuten” and “han dakuten” in Katakana also correspond to one character.

753
12. DISPLAY/SET/EDIT B–63173EN–1/02

The kanji and hiragana below take up the equivalent of two alphanumeric
characters.
Example To display the character ” ” (character code 002006) as the first character
on the software operator’s panel general switch top line, specify the
following parameters as stated:
Parameter No. 7220 = 2, Parameter No. 7221 = 6

754
B–63173EN–1/02 12. DISPLAY/SET/EDIT

755
12. DISPLAY/SET/EDIT B–63173EN–1/02

756
B–63173EN–1/02 12. DISPLAY/SET/EDIT

757
12. DISPLAY/SET/EDIT B–63173EN–1/02

758
B–63173EN–1/02 12. DISPLAY/SET/EDIT

Note
NOTE
1 Only the modes shown below can be selected by soft
switches. When the mode for DNC operation is to be
equipped, for example, all control switches for mode
selection should be on the machine operator’s panel or a
general–purpose soft switch should be used to select the
mode for DNC operation.
Soft switches available for mode selection
⋅ Manual data input
⋅ Automatic operation
⋅ Memory edit
⋅ Manual handle / step feed
⋅ Jog feed
⋅ Manual reference position return
2 Only one soft switch is available for protection key. Four
input signals are available for protection key (KEY1, KEY2,
KEY3 and KEY4). Generally, four input signals are
simultaneously turned to “1” or “0” according to the state of
the soft switch for protection keys.
3 When the soft switch for feed hold is turned on, output signal
*SPO is turned to “0”. At this time, the PMC turns feed hold
signal *SP to “0”.
In contrast to the above, when the soft switch for feed hold
is turned off, output signal *SPO is turned ”1” and the PMC
turns signal *SP to “1”. For soft switches other than general
soft switches, when an output signal informing the state of
a soft switch is turned to “1”, the corresponding input signal
is turned to “1”.

759
12. DISPLAY/SET/EDIT B–63173EN–1/02

NOTE
4 The following table lists the override values which can be
selected by soft switches for jog feedrate.

*JV00 – *JV150 (*JV0 – *JV150)

15 12 8 4 0 Override
± ± ± ± ± values (%)
bit

0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0

1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 1 0.1

2 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 1 0.14

3 1 1 1 1 1 1 1 1 1 1 1 0 1 0 1 1 0.2

4 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 0 0.27

5 1 1 1 1 1 1 1 1 1 1 0 1 1 0 1 0 0.37

6 1 1 1 1 1 1 1 1 1 1 0 0 1 0 1 1 0.52

7 1 1 1 1 1 1 1 1 1 0 1 1 0 1 1 1 0.72

8 1 1 1 1 1 1 1 1 1 0 0 1 1 0 1 1 1.0

9 1 1 1 1 1 1 1 1 0 1 1 1 0 0 1 1 1.4

10 1 1 1 1 1 1 1 1 0 0 1 1 0 1 1 1 2.0

11 1 1 1 1 1 1 1 0 1 1 1 1 0 0 0 1 2.7

12 1 1 1 1 1 1 1 0 1 0 0 0 1 1 0 1 3.7

13 1 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 5.2

14 1 1 1 1 1 1 0 1 0 0 1 0 1 1 1 1 7.2

15 1 1 1 1 1 1 0 0 0 0 0 1 0 1 1 1 10.0

16 1 1 1 1 1 0 1 0 1 0 0 0 0 1 1 1 14.0

17 1 1 1 1 1 0 0 0 0 0 1 0 1 1 1 1 20.0

18 1 1 1 1 0 1 0 1 0 1 1 1 0 0 1 1 27.0

19 1 1 1 1 0 0 0 1 1 0 0 0 1 0 1 1 37.0

20 1 1 1 0 1 0 1 1 1 0 1 0 1 1 1 1 52.0

21 1 1 1 0 0 0 1 1 1 1 0 1 1 1 1 1 72.0

22 1 1 0 1 1 0 0 0 1 1 1 0 1 1 1 1 100.0

23 1 1 0 0 1 0 0 1 0 1 0 0 1 1 1 1 140.0

24 1 0 1 1 0 0 0 1 1 1 0 1 1 1 1 1 200.0

760
B–63173EN–1/02 12. DISPLAY/SET/EDIT

NOTE
5 The following table lists the override values which can be
selected by soft switches for feedrate override.

*FV0O – *FV7O (*FV0 – *FV7)

Override
7 4 0 values (%)
± ± ±

0 1 1 1 1 1 1 1 1 0

1 1 1 1 1 0 1 0 1 10

2 1 1 1 0 1 0 1 1 20

3 1 1 1 0 0 0 0 1 30

4 1 1 0 1 0 1 1 1 40

5 1 1 0 0 1 1 0 1 50

6 1 1 0 0 0 0 1 1 60

7 1 0 1 1 1 0 0 1 70

8 1 0 1 0 1 1 1 1 80

9 1 0 1 0 0 1 0 1 90

10 1 0 0 1 1 0 1 1 100

11 1 0 0 1 0 0 0 1 110

12 1 0 0 0 0 1 1 1 120

13 0 1 1 1 1 1 0 1 130

14 0 1 1 1 0 0 1 1 140

15 0 1 1 0 1 0 0 1 150

16 0 1 0 1 1 1 1 1 160

17 0 1 0 1 0 1 0 1 170

18 0 1 0 0 1 0 1 1 180

19 0 1 0 0 0 0 0 1 190

20 0 0 1 0 0 1 1 1 200

Reference item

OPERATOR’S MANUAL V.11.4.7 Displaying and Setting the Software

(B–63174EN) Operator’s Panel

761
12. DISPLAY/SET/EDIT B–63173EN–1/02

12.1.11
Multi–language Display

General The LCD screens are displayed in a parameter–set language.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3102 SPN HNG ITA FRN GRM JPN

[Data type] Bit type

NOTE
When this parameter is set, turn off the power once.
Languages other than Japanese and English are optional.

These bits select the language to be used for the display.

SPN HNG ITA FRN GRM JPN language
0 0 0 0 0 0 English
0 0 0 0 0 1 Japanese
0 0 0 0 1 0 German
0 0 0 1 0 0 French
0 0 1 0 0 0 Italian
0 1 0 0 0 0 Korean
1 0 0 0 0 0 Spanish

762
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.1.12
Periodic Maintenance
Screen
General The periodic maintenance screen shows the current statuses of those
consumables that require periodic replacement (backup battery, LCD
backlight, touch pad, etc.). An item whose service life has expired is
indicated by the machine run time or the like.

Screen displays and 1 Press the SYSTEM function key.

settings
2 Press the next menu page key several times until the [MAINTE]
soft key appears.
3 Press the [MAINTE] soft key. The periodic maintenance screen
appears.
The periodic maintenance screen consists of two pages: status screen and
setup screen, either of which can be selected using the [CHANGE] soft
key.
D Status screen displays On the status screen, it is possible to register up to 10 consumables names.
and settings The remaining lifetime and count status for each registered item are
displayed on the screen.

PERIODICAL MAINTENANCE O0001 N12345

(STATUS)
ITEM NAME REMAIN
*01 BATTERY FOR CONTROLLER 0H
@02 BATTERY FOR PULSECODER 5000H
03 FAN MOTOR 10000H
@04 LCD BACK LIGHT 720H
05
06
07
08
09
10
>_
EDIT *** ***** *** **** 19:27:05
[ ][ MAINTE ][ ][ ][ (OPRT) ]

[ CHANGE ][ ENTRY ][ CLEAR ][ +INPUT ][ INPUT ]

[ ][ ][ ][ CAN ][ EXEC ]

763
12. DISPLAY/SET/EDIT B–63173EN–1/02

(1)Consumables names
The names of consumables to be subjected to periodic maintenance are
set up here. They can be registered using either the corresponding
menu or MDI keys.
1) Menu–based setup
1 To display the setting menu, place the cursor on the desired
item, and press the [ENTRY] soft key. There are two types of
setup menus: machine consumables menu and CNC
consumables menu.
2 Pressing the [MACHIN] or [NC] soft key displays a menu that
contains typical machine or CNC model names.
3 Place the cursor on the registered item and press the [SELECT]
soft key. Now press the [EXEC] soft key to return to the status
screen where the selected item name is set up.
4 Pressing the [CAN] soft key restores the previous screen.
5 Pressing the [MAINTE] soft key displays the status screen
again.
On the machine consumables screen, item names can be registered
according to the procedure below.
(a) Program–based registration
An item name can be registered by executing a program in the
following format.
Format
G10 L61 Px [n]

P : Registration number
n : Item name
[Alphanumeric character]

(b) MDI–based registration

An item name can be registered by first keying in data in the
following format, then pressing the [INPUT] soft key (or the
INPUT key). In addition, pressing the [+INPUT] soft key can
modify an existing item name.

NOTE
1 The asterisk (*) is used as a control code, so it cannot be
used in the item name. Likewise, square brackets “[” and
“]” and parentheses “(” and “)” must be excluded from the
item name.
2 If a null item name is selected on the machine consumables
screen, the warning message “EDIT REJECTED” will
appear. If a null item name is selected on the NC
consumables screen, a blank will be set up.

To delete a registered item name, place the cursor on it, and press the
[CLEAR] soft key, then the [EXEC] soft key.

764
B–63173EN–1/02 12. DISPLAY/SET/EDIT

[Machine consumables screen]

PERIODICAL MAINTENANCE O0001 N12345

(MACHINE)
ITEM NAME
01
02
03
04
05
06
07
08
09
10
>_
EDIT *** ***** *** **** 19:27:05
[ ][ STATUS ][ MACHIN ][ NC ][ (OPRT) ]

[ SELECT ][ ][ CLEAR ][ +INPUT ][ INPUT ]

[ ][ ][ ][ CAN ][ EXEC ]

[ ][ READ ][ PUNCH ][ ][ ]

[ ][ ][ ][ CAN ][ EXEC ]

765
12. DISPLAY/SET/EDIT B–63173EN–1/02

[CNC consumables screen]

PERIODICAL MAINTENANCE O0001 N12345

(NC)
ITEM NAME
01 BATTERY FOR CONTROLLER
02 BATTERY FOR PULSECODER
03 FAN MOTOR
04 LCD BACK LIGHT
05
06
07
08
09
10
>_
EDIT *** ***** *** **** 19:27:05
[ ][ STATUS ][ MACHIN ][ NC ][ (OPRT) ]

[ SELECT ][ ][ ][ ][ ]

[ ][ ][ ][ CAN ][ EXEC ]

NOTE
On the CNC consumables screen, it is impossible to
register, delete, input, and output item names.

2) MDI–based setup
An item name can be registered by first keying in data in the
following format, then pressing the [INPUT] soft key (or the INPUT

key). In addition, pressing the [+INPUT] soft key can modify an

existing item name.

NOTE
The asterisk (*) is used as a control code, so it cannot be
used in the item name. Likewise, square brackets “[” and
“]” and parentheses “(” and “)” must be excluded from the
item name.

To delete a registered item name, place the cursor on it, and press
the [CLEAR] soft key, then the [EXEC] soft key.
When an item name is deleted, the related service life, remaining
lifetime, and count type are also deleted.
(2) Remaining lifetime
The remaining lifetime of an item is the time allowed before it must
be replaced. It is displayed in a count–down format. Count–down
continues even after the service life has expired.

766
B–63173EN–1/02 12. DISPLAY/SET/EDIT

NOTE
No setup can be made on the status screen. Setup is
possible only on the setting screen.

(3) Count status

The count status of each item is displayed at the left of the
corresponding item number as listed below:
Display Count status

Blank Counting is at a halt.

@ Counting is under way.

* Service life has expired.

D Setting screen displays On the setting screen, it is possible to specify the service life, remaining
and settings lifetime, and count type for each registered item. It also displays the same
count status as displayed on the status screen.

PERIODICAL MAINTENANCE O0001 N12345

(SETTING)
LIFE REMAIN COUNT TYPE
*01 10000H 0H ALL TIME
@02 20000H 5000H LIV TIME
03 32767H 10000H ––––––––
@04 1500H 720H RUN TIME
05
06
07
08
09
10
>_
EDIT *** ***** *** **** 19:27:05
[ CHANGE ][ TYPE ][ CLEAR ][ +INPUT ][ INPUT ]

[ EFFECT ][ ALL ][ LIV ][ RUN ][ CUT ]

[ ][ READ ][ PUNCH ][ ][ ]

[ ][ ][ ][ CAN ][ EXEC ]

767
12. DISPLAY/SET/EDIT B–63173EN–1/02

(1) Service life

The service life of consumables can be specified here. To specify the
service life, key in the corresponding data and press the [INPUT] soft
key (or INPUT key). The same data is set up as both the service life and
remaining lifetime. In addition, the count type is indicated as:
“––––––”
Pressing the [+INPUT] soft key causes newly entered data to be added
to the existing service life and the remaining lifetime.
The valid data range for this item is: 0 to 65535 (hours)

NOTE
1 If an attempt is made to enter data for an item number for
which no item name has been registered, the warning
message “EDIT REJECTED” appears.
2 If an attempt is made to enter data that does not fall in the
valid data range, the warning message “DATA IS OUT OF
RANGE” appears.
3 If an attempt is made to enter data that would set the service
life or remaining lifetime below 0, they will be clamped to 0.
4 If the [CLEAR] or [TYPE] soft key is pressed, the warning
message “EDIT REJECTED” appears.

(2) Remaining lifetime

The remaining lifetime of an item is the time allowed before it must
be replaced. It is displayed in a count–down format. Count–down
continues even after the service life has expired.
To specify the remaining lifetime, key in the corresponding data and
press the [INPUT] soft key (or INPUT key).
Pressing the [+INPUT] soft key causes newly entered data to be added
to the current remaining lifetime.
The valid data range for this item is: 0 to the corresponding service
life
Pressing the [CLEAR] soft key, then the [EXEC] soft key causes the
remaining lifetime to be set with the same value as the service life.

NOTE
1 If an attempt is made to enter data for an item number for
which no item name or service life has been registered, the
warning message “EDIT REJECTED” appears.
2 If an attempt is made to enter data that does not fall in the
valid data range, the warning message “DATA IS OUT OF
RANGE” appears.
3 If an attempt is made to enter data that would set the
remaining lifetime below 0, it will be clamped to 0.
4 If the [TYPE] soft key is pressed, the warning message
“EDIT REJECTED” appears.

768
B–63173EN–1/02 12. DISPLAY/SET/EDIT

(3) Count type

The way counting is carried out can be specified here.
Pressing the [TYPE] causes the following count types to be displayed
as soft keys. Select the desired one and press the [EXEC] soft key to
set it up.
Software Meaning Display

[EFFECT] No counting takes place (the counter is halted). –––

[ALL] Counting continues unconditionally ALL

(nonstop counting).

[LIV] Counting continues as long as the power is on. LIV

[RUN] Counting continues throughout run time. RUN

[CUT] Counting continues throughout cutting time. CUT

NOTE
1 If an attempt is made to enter data for an item number for
which no item name or service life has been registered, the
warning message “EDIT REJECTED” appears.
2 Neither the [INPUT] nor [+INPUT] soft key does not
function.
3 Nonstop counting will have an error of 24 hours in a leap
year.

Inputting and outputting The registered data related to the service life of consumables can be output
the registered data to an external unit, using the [PUNCH] soft key. Similarly, data can be
input from an external unit for registration, using the [READ] soft key.
These input/output operations can be performed on the status, setting, and
menu (machine consumables only) screens.
EDIT *** ***** *** **** 19:27:05
[ ][ READ ][ PUNCH ][ ][ ]

[ ][ ][ ][ CAN ][ EXEC ]

D Data output In EDIT mode, pressing the [PUNCH] soft key causes registered data to
be output in the following formats.
f Status and setting screens
Format
G10 L60 P01 Aa Rr [n] Qq ;
G10 L60 P02 Aa Rr [n] Qq ;
G10 L60 P03 Aa Rr [n] Qq ;
:

f Menu screen (machine consumables only)

769
12. DISPLAY/SET/EDIT B–63173EN–1/02

Format
G10 L61 P01 [n] ;
G10 L61 P02 [n] ;
G10 L61 P03 [n] ;
:

a : Service life
r : Remaining lifetime
n : Item name
[Alphanumeric character]
q : Count type
0 = No counting.
1 = Nonstop counting.
2 = Counting continues as long as the power is on.
3 = Counting continues throughout run time.
4 = Counting continues throughout cutting time.
D Data input In EDIT mode, pressing the [READ] soft key causes input data to be
registered according to a specified format (G10). Registration is possible
even if the format (G10) is already in program memory.

NOTE
Registration may not be performed correctly unless the
input format (G10) matches the output format.

12.1.13
Key Codes for T Series

General Key codes(M or T) can be switched to fit the key code of CRT/MDI by
parameter. When CRT/MDI is used commonly by Power Mate i and
another kinds of CNC, MDI key can be continued to be used.

(Eexample for common use of CRT/MDI)

CRT/MDI
FS18i-TA Power Mate i

770
B–63173EN–1/02 12. DISPLAY/SET/EDIT

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3119 TKY

[Data type] Bit type

TKY Using MDI key code is
0 : M series
1 : T series

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

12.1.14
Display of Parameter
Set Supporting Screen
Function

General In the parameter set supporting screen, the CNC parameters necessary for
the system start–up are grouped, and the relating parameters are gathered
in one screen. As the necessary CNC parameters can be set at a time,
machine start–up becomes more easily. And the servo tuning screen and
spindle tuning screen are displayed simply, then it is possible to adjust
smoothly.
This function can not be used with DPL/MDI or DPL/MDI operating
package.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3195 CPR

[Data type] Bit

CPR By using the function key [SYSTEM], the parameter set supporting
screen
0 : Is not displayed.
1 : Is displayed.

Reference item
MAINTENANCE MANUAL 1.4 Display of parameter set supporting
(B–63175EN) screen function

771
12. DISPLAY/SET/EDIT B–63173EN–1/02

12.2
EDIT

12.2.1
Part Program Storage
Length

General One of the following part program length can be selected.

Power Matei–D (m) 10 20 40 80 160 320 –
Power Matei–H (m) – – 40 80 160 320 640

Alarm and message

Number Message Description

070 NO PROGRAM SPACE IN The memory area is insufficient.

MEMORY Delete any unnecessary programs,
then retry.

Reference item
OPERATOR’S MANUAL V.11.3.1 Displaying Memory Used and a List of
(B–63174EN) Programs

12.2.2
No. of Registered
Programs

General One of the following no. of registered programs can be selected.

63/125/200/400

Alarm and message

Number Message Description

072 TOO MANY PROGRAMS The number of programs to be stored

exceeded 63 (basic), 125 (option), 200
(option), 400 (option), or 1000(option).
Delete unnecessary programs and
execute program registeration again.

Reference item
OPERATOR’S MANUAL V.11.3.1 Displaying Memory Used and a List of
(B–63174EN) Programs

772
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.2.3
Memory Protection Key

General A key called the data protection key is used to prevent part programs,
offset values, parameters, and setting data from being registered,
modified, or deleted erroneously.
And the setting of the ”Parameter Write(enable)” that was set on the
SETTING screen can be set with the key operation, when the parameter
PKEYP (3292#7) is set to ”1”.

Signal

Memory protection
signal
KEY1 to KEY4
<G46#3 to #6>
[Classification] Input signal
[Function] Enables the changing of the memory contents from the MDI panel. Four
signals are provided. The operations that can be performed on the contents
of memory by each signal vary depending on the setting of bit 7(KEY)
of the parameter No.3290.
When KEY = 0
KEY1: Enables the input of tool compensation.
KEY2: Enables the input of the setting data and macro variables.
KEY3: Enables program loading and editing.
KEY4: Enables PMC data.(counter data tables)
When KEY = 1
KEY1: Enables program loading and editing, as well as the input of
PMC parameters.
KEY2 to KEY4: Not used.
[Operation] When a signal is set to ”0”, the associated operations are disabled.
When a signal is set to ”1”, the associated operations are enabled.

KEYP
<G46#0> [Classification] Input signal
[Function] Enables the changing of the CNC parameter with MDI panel.
This signal can be used only when the parameter PKEYP(3292#7) is set
to 1.
[Operation] When this signal is set to ”0”, the input operation of the CNC parameter
is disabled.
When this signal is set to ”1”, the input operation of the CNC parameter
is enabled.

773
12. DISPLAY/SET/EDIT B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G046 KEY4 KEY3 KEY2 KEY1 KEYP

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3290 KEY

[Data type] Bit

KEY Four memory protection keys:
0 : The KEY1, KEY2, KEY3 and KEY4 signal are used.
1 : Only the signal KEY1 used.

NOTE
The functions of the signals depend on whether KEY = 0 or
KEY = 1.

#7 #6 #5 #4 #3 #2 #1 #0
3239 PKEYP

[Data type] Bit

PKEYP The setting of ”Parameter Write(enable)” is:
0 : Set on the setting screen.(usual specification)
1 : Set with the signal KEYP(G46#0).

Alarm and message

Warning message Contents

WRITE PROTECT Data input is invalided because of memory

protection signal.

Reference item
OPERATOR’S MANUAL V.11 SETTING AND DISPLAYING
(B–63174EN) DATA

Note When the parameter PKEYP (3292#7) is set to ”1”, the setting of
”Parameter Write(enable)” on the SETTING screen is disabled.

774
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.2.4
Background Editing

General Editing a program while executing another program is called background

editing. The method of editing is the same as for ordinary editing
(foreground editing).
A program edited in the background should be registered in foreground
program memory.
During background editing, all programs cannot be deleted at once.

Alarm and message

Number Message Description

??? BP/S alarm BP/S alarm occurs in the same number

as the P/S alarm that occurs in ordinary
program edit. (070, 071, 072, 073, 074
085,086,087 etc.)
140 BP/S alarm It was attempted to select or delete in
the background a program being se-
lected in the foreground.
Use background editing correctly.
239 BP/S alarm Background editing was performed
while the external punch was being
executed in external I/O device control.
240 BP/S alarm Background editing was done while in
MDI operation.

NOTE
Alarm in background edit is displayed in the key input line
of the background edit screen instead of the ordinary alarm
screen and is resettable by any of the MDI key operation.

Reference item
OPERATOR’S MANUAL V.9.8 BACKGROUND EDITING
(B–63174EN)

775
12. DISPLAY/SET/EDIT B–63173EN–1/02

12.2.5
Playback

General In TEACH IN JOG/HANDLE mode (TJOG) and TEACH IN

STEP/HANDLE mode (THND), a machine position along the X, Y, and
Z axes obtained by manual operation is stored in memory as a program
position to create a program.
The words other than X, Y, and Z, which include O, N, G, R, F, M, S, T,
P, Q, and EOB, can be stored in memory in the same way as in EDIT
mode.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7100 THD

[Data type] Bit

THD Manual handle feed in TEACH IN JOG/HANDLE mode
0 : Valid
1 : Invalid

Reference item
OPERATOR’S MANUAL V.10.3 CREATING PROGRAMS IN TEACH
(B–63174EN) IN MODE

This maanaual 2.6 MODE SELECTION

776
B–63173EN–1/02 12. DISPLAY/SET/EDIT

12.2.6
Function of Teach–in
for Four Axes (Power
Mate i–H)

Outline When in TEACH IN JOG/HANDL mode (TJOG) and TEACH IN

STEP/HANDLE mode (THND), a work position along the X,Y,and Z
axes obtained by manual operation is stored in memory as a program
position to create a program. This function enables to input 4 axes selected
by parameter at maximum. And it enables to input the G00,G01,G04,F,P
code and delete program block by DI signal.

Operation description In TEACH IN JOG/HANDL mode (TJOG) and TEACH IN

STEP/HANDLE mode (THND), when the start signal (KEXC) is set
from ”0” to ”1” or ”1” to ”0”, the input operation is performed.
For example, if the DI signals of KPAX,KF,KG01 are set to ”1” and select
the input axes X,Y,Z by parameter, the current work coordinate values,
F–CODE and G–CODE is input as follows.
[G01 Xjjj. jjj Yfff. fff Z∆∆∆. ∆∆∆ FFFF;]
[;] is input at the same time. And if the signals KG04 KPAX are set to ”1”,
the program block is input as follows.
[G04 Pjjj;]

Signal

KEXC
[Classification] Input signal
[Function] This signal gives the command of input or delete operation.
[Operation] This signal is set from ”0” to ”1” or ”1” to ”0”, the input or delete
operation is performed.

KDEL
[Classification] Input signal
[Function] This signal gives the command of the Block delete operation that is
pointed by the cursor.
[Operation] When this signal is set to ”1” and the signal of KEXC is set from ”0” to
”1” or ”1” to ”0”, the block that is pointed by the cursor is deleted. But
the block that contains O (program) number can not be deleted.

777
12. DISPLAY/SET/EDIT B–63173EN–1/02

KUP
[Classification] Input signal
[Function] This signal gives the command of moving of the cursor position to the top
of the previous block.
[Operation] When this signal is set to ”1” and the signal of KEXC is set from ”0” to
”1” or ”1” to ”0”, the cursor position is move to the top of the previous
block.

KG04
[Classification] Input signal
[Function] This signal gives the command of input the G04 code.
[Operation] When this signal is set to ”1” and the signal of KEXC is set from ”0” to
”1” or ”1” to ”0”, the G04 code is input. And if the signal of KPAX is set
to ”1” at a same time, the P code is input, too.

KG01
[Classification] Input signal
[Function] This signal gives the command of input the G01 code.
[Operation] When this signal is set to ”1” and the signal of KEXC is set from ”0” to
”1” or ”1” to ”0”, the G01 code is input with axis address.

KG00
[Classification] Input signal
[Function] This signal gives the command of input the G00 code.
[Operation] When this signal is set to ”1” and the signal of KEXC is set from ”0” to
”1” or ”1” to ”0”, the G00 code is input with axis address.

KPAX
[Classification] Input signal
[Function] This signal gives the command of input the axis address or P code.
[Operation] When this signal is set to ”1” and the signal of KEXC is set from ”0” to
”1” or ”1” to ”0”, the axis address or P code is input. When the signal of
G04 is set to ”1” at the same time, P code is input. And when the signal
of G04 is set to ”0”, the axis address that is selected by parameter is input.

778
B–63173EN–1/02 12. DISPLAY/SET/EDIT

KF
[Classification] Input signal
[Function] This signal gives the command of input the F code with axis address.
[Operation] When this signal is set to ”1” and the signal of KEXC is set from ”0” to
”1” or ”1” to ”0”, the F code is input with axis address.

KENB
[Classification] Output signal
[Function] Operation complete signal
[Output condition] The input operation is performed by judging the exclusive OR of input
command KEXC, input from PMC, and input command operation
complete KENB, output from CNC.
In other word, when the KEXC and KENB signals differ in their logic,
the CNC performed input operation. Once input has been completed, the
CNC inverts the KENB signal to match its logic with that of the KEXC
signal.
In the PMC, on the other hand, new operation cannot be performed while
the KEXC and KENB signals differ in their logic.

#7 #6 #5 #4 #3 #2 #1 #0
G0215 KEXC KDEL KUP KG04 KG01 KG00 KPAX KF

#7 #6 #5 #4 #3 #2 #1 #0
F0253 KENB

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3137 TIN

[Data type] Bit

TIN The function of TEACH IN 4 AXES AT A SAME TIME is
0 : Disabled
1 : Enabled

#7 #6 #5 #4 #3 #2 #1 #0
3138 TKA8 TKA7 TKA6 TKA5 TKA4 TKA3 TKA2 TKA1

[Data type] Bit

TKA1 to TKA8 Select the input axis address using the function of TEACH IN 4 AXIS AT
A SAME TIME.
The axis address of axis number that set by this parameter is input.

NOTE
When the axes are selected more than 5 axes, the 4 axes
are effective from low number.

779
12. DISPLAY/SET/EDIT B–63173EN–1/02

1411 Cutting feedrate in the automatic mode at power on

[Data type] Word

[Unit of data] Millimeter machine 1 mm/min
Inch machine 0.1 inch/min
[Valid data range] Millimeter machine 6~15000 mm/min
Inch machine 6~6000 inch/min

3139 P code value using the function of teach in 4 axes at a same time

[Data type] 2–word

[Unit of data] 0.001 msec
[Valid data range] 0 to 99999999

CAUTION
1 Don’t change the parameter while operation.
The parameter change should be performed at the status
of emergency stop.
2 The value of F code that is input at the same time is input
from the parameter No.1411 (Cutting feedrate in the
automatic mode at power on).
3 The value of P code is input from the parameter No.8731 (P
code value using the function of teach in 4 axes at a same
time).
4 When the signal of KG04 is set to ”1”, the other G code and
F code cannot be input.
5 When the signal of KDEL or KUP is set to ”1”, the other G
code, F code, and address of axis cannot be input.
6 When the signals of KDEL and KUP are set to ”1” at a same
time, the operation is ignored.
7 Set the signals of KG04,KPAX,KG01,KG00,KF,KDEL,UP at
the same time or before of operation of KEXC signal.
8 The KENB signal of default value at the power on is zero.
It cannot be preset by reset.
9 When the cursor is placed at the top of sub–program, it
cannot be back to the main program by KUP signal.
10 When the only KEXC signal is invert, ”;” code is input.

780
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

13 INPUT/OUTPUT OF DATA

781
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

13.1
READER/PUNCHER
INTERFACE

General The data shown below can be input/output through reader/puncher

interface.
1. Program
2. Offset data
3. Parameter
4. Pitch error compensation data
5. Custom macro common variables.

782
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Parameter To enable input/output of data (such as programs and parameters) with

external input/output units via an I/O unit interface (RS–232–C serial
port), it is necessary to set the parameters described below.
Power Mate i –H has two channels of input/output device interfaces. The
input/output device to be used is specified by setting the channel
connected to that device in setting parameter I/O CHANNEL.
The specified data, such as a baud rate and the number of stop bits, of an
input/output device connected to a specific channel must be set in
parameters for that channel in advance.
For channel 1, two combinations of parameters to specify the input/output
device data are provided.
The following shows the interrelation between the input/output device
interface parameters for the channels.
Input/output channel number (parameter No. 0020)
↓

0020 I/O CHANNEL 0101 Stop bit and other data

I/O CHANNEL=0 Number specified for the in-
Specify a channel for an 0102
(channel 1) put/output device
input/output device. 0103 Baud rate
I/ O CHANNEL
0111 Stop bit and other data
=0 : Channel1
I/O CHANNEL=1 Number specified for the in-
=1 : Channel1 0112
(channel 1) put/output device
=2 : Channel2
0113 Baud rate
0121 Stop bit and other data
I/O CHANNEL=2 Number specified for the in-
0122
(channel 2) put/output device
0123 Baud rate

#7 #6 #5 #4 #3 #2 #1 #0
0000 ISO TVC

This parameter can also be set on the ”Setting screen”.

[Data type] Bit
TVC TV check
0 : Not performed
1 : Performed
ISO Code used for data output
0 : EIA code
1 : ISO code

783
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

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

This parameter can also be set on the ”Setting screen”.

[Data type] Byte
[Valid data range] 0 to 2
0 : Select the device of channel 1
1 : Select the device of channel 1
2 : Select the device of channel 2
This CNC has two channels for interfacing I/O devices. Set the channels
for interfacing I/O devices. Set the channel to which an I/O device to be
used is connected.

NOTE
1 The input/output device used can be selected also on the
setting screen. Using the setting screen is a more common
method for selecting the device.
2 The specified data, such as a baud rate and the number of
stop bits, of an input/output device connected to a specific
channel must be set in parameters for that channel in
advance.
I/O CHANNEL=0 and I/O CHANNEL=1 both refer to
channel 1. For each, parameters to set the baud rate, the
number of stop bits, and other data are provided separately.
3 JD42 are the connectors on the PCB.

784
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

This CNC

Channel 1 Channel 2

RS–232–C

JD42

ÂÂÂÂÂÂÂÂÂÂÂ
Reader/puncher Reader/puncher

I/ O CHANNEL=0 I/ O CHANNEL=2
or
I/ O CHANNEL=1

(1) Parameters common to all channels

#7 #6 #5 #4 #3 #2 #1 #0
0100 ENS NCR CTV

This parameter can also be set on the ”Setting screen”.

[Data type] Bit
CTV Character counting for TV check in the comment section of a program.
0 : Not performed
1 : Performed
NCR Output of the end of block (EOB) in ISO code
0 : LF, CR, CR are output.
1 : Only LF is output.
ENS Action taken when a NULL code is found during read of EIA code
0 : An alarm is generated.
1: The NULL code is ignored.
(2) Parameters for channel 1 (I/O CHANNEL=0)
#7 #6 #5 #4 #3 #2 #1 #0
0101 NFD ASI SB2

[Data type] Bit

SB2 The number of stop bits
0 : 1 bit
1 : 2 bits
ASI Code used at data input
0 : EIA or ISO code (automatically distinguished)
1 : ASCII code

785
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

NFD Feed before and after the data at data output

0 : Output
1 : Not output

NOTE
When input/output devices other than the FANUC PPR are
used, set NFD to 1.

0102 Number specified for the input/output device

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

[Data type] Byte

Set the number specified for the input/output device used when the I/O
CHANNEL is set to 0, with one of the set values listed in Table 13.1 (a).
Table 13.1 (a)

Set value Input/output device

0 RS–232–C (Used control codes DC1 to DC4)

1 FANUC CASSETTE ADAPTOR 1 (FANUC CASSETTE B1/ B2)

2 FANUC CASSETTE ADAPTOR 3 (FANUC CASSETTE F1)

3 FANUC PROGRAM FILE Mate

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

4 Not used

5 Portable tape reader

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

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

[Data type] Byte

Set baud rate of the input/output device used when the I/O CHANNEL
is set to 0, with a set value in Table 13.1 (b).
Table 13.1 (b)

Set value Baud rate (bps)

7 600
8 1200
9 2400
10 4800
11 9600
12 19200

786
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

(3) Parameters for channel 1 (I/O CHANNEL=1)

#7 #6 #5 #4 #3 #2 #1 #0
0111 NFD ASI SB2

[Data type] Bit

These parameters are used when I/O CHANNEL is set to 1. The meanings
of the bits are the same as for parameter No. 0101.

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

[Data type] Byte

Set the number specified for the input/output device used when the I/O
CHANNEL is set to 1, with one of the set values listed in Table 13.1 (a).

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

[Data type] Byte

Set the baud rate of the input/output device used when I/O CHANNEL
is set to 1, with a value in Table 13.1 (b).
(4) Parameters for channel 2 (I/O CHANNEL=2)
#7 #6 #5 #4 #3 #2 #1 #0
0121 NFD ASI SB2

[Data type] Bit

These parameters are used when I/O CHANNEL is set to 2. The meanings
of the bits are the same as for parameter No. 0101.

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

[Data type] Byte

Set the number specified for the input/output device used when I/O
CHANNEL is set to 2, with a value in Table 13.1 (a).

NOTE
Channel 2 is provided with no control line. It cannot be used
for input/output units that require a control line (such as
FANUC Handy File and FANUC Floppy Cassette Adaptor).

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

[Data type] Byte

Set the baud rate of the input/output device used when I/O CHANNEL
is set to 2, with a value in Table 13.1 (b).

787
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Alarm and message

Number Message Description

001 TH PARITY ALARM TH alarm (A character with incorrect

parity was input).
Correct the tape.
002 TV PARITY ALARM TV alarm (The number of characters
in a block is odd). This alarm will be
generated only when the TV check is
effective.
085 COMMUNICATION ER- When entering data in the memory by
ROR using Reader / Puncher interface, an
overrun, parity or framing error was
generated. The number of bits of input
data or setting of baud rate or specifi-
cation No. of I/O unit is incorrect.
086 DR SIGNAL OFF When entering data in the memory by
using Reader / Puncher interface, the
ready signal (DR) of reader / puncher
was turned off.
Power supply of I/O unit is off or cable
is not connected or a P.C.B. is defec-
tive.
087 BUFFER OVERFLOW When entering data in the memory by
using Reader / Puncher interface,
though the read terminate command
is specified, input is not interrupted
after 10 characters read. I/O unit or
P.C.B. is defective.
233 DEVICE BUSY When an attempt was made to use a
unit such as that connected via the
RS–232–C interface, other users
were using it.

Reference item
OPERATOR’S MANUAL V.8 DATA INPUT/OUTPUT
(B–63174EN)

788
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

13.2
EXTERNAL I/O
DEVICE CONTROL

Outline The data exchanging with other device can be commanded by the PMC
signal. This function is activated as an operation in background editing.
Input/output data are as follows.
S NC part program
S Parameters
S Macro variables
S Diagnostic data (only output)
S PMC data
I/O device to exchange data can be selected among the following four
channels.
(1) Memory card slot on the cabinet of Power Mate i
(2) Memory card slot on the display unit with touch screen made by
FANUC.
(3) RS–232–C (only the first channel)
(4) FANUC I/O Link
The relation among data and devices are shown in the following figure.

(1) Memory card slot on the cabinet of Power Mate i

Power Mate i
Display unit with touch
Controlled screen made by FANUC
by ladder

(2) Memory card slot

(Display unit with touch screen
Data made by FANUC
Part program
(3) RS–232–C
Parameters

Macro variables
Diagnostic data

PMC data
(4) FANUC I/O Link

Handy file
Program storage area of
Master unit of I/O Link
(Power Mate i
or
FS16i etc.)

789
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

NOTE
The specification of ”External I/O Device Control” is
enhanced to treat a memory card. With this enhancement,
the specification of ”the output file name” and ”Channel
selection signal” is also changed to more general.
There are two types of controlling ways in ”External I/O
Device Control”. One is the former way that is selected when
the parameter No.8761#0(EIB) is set to ”0”. Another is the
way, applicable to a memory card, that is selected when the
parameter No.8761#0(EIB) is set to ”1”. This method is
called the enhanced way.
As for the specifications, there is difference between two
ways. For more details, refer to the chapter ”Summery of
difference between the enhanced way and the former way”.

D Basic procedure of data The procedure to input/output the data through the following channels is
input/output described here. Set the parameter No.8761#0(EIB) to 1 and select the
enhanced way.
(1) Via the memory card slot on the cabinet of Power Mate i.
(2) Via the memory card slot on the display unit with touch screen made
by FANUC.
(3) Via RS–232–C (only the first channel)(Only in case the data is part
program, the operation is possible even if the parameter
No.8761#0(EIB)=0)
The input/output operation via (4) FANUC I/O Link belongs to the other
function, ”Data input/output via I/O Link”. In this case, refer to the
following chapter for the procedure.
13.3 Data input/output via I/O Link (Master)

(1) Registering/collating/ (a) Registering/collating part program

outputting program 1) Turn the program selection signal ”EPRG” to ”1” and turn the other
selection signals to ”0”.
2) Specify an input channel by the following way.
[In case of the enhanced way]
Specify an input channel by the external I/O device control
channel selection signal, ”EXIO1 and EXIO2”. When
RS–232–C is selected, set the value 0 or 1 to the parameter
No.20. Set the parameters of reader/puncher interface
corresponding to the selected RS–232–C channel.
[In case of the former way]
Registration and collation can not be performed via the memory
card slot but via RS–232–C. Set the value 0 or 1 to the parameter
No.20. And set the parameters of reader/puncher interface
corresponding to the selected RS–232–C channel. Also, turn
the FANUC I/O Link signal, ”IOLINK”, to ”0”.

3) Prepare an input file in the external device.

790
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

4) Specify the input file by the following.

In case of input from a handy–file via RS–232–C, perform heading
file operation in the handy–file side.
In case of the enhanced way, in order to input a file from a memory
card, specify the input file name by the external I/O device control
file name selection signal, ”FLN00–FLN15”.
5) After the mode other than MDI mode is selected, registration/
collation of part program is started by turning on the external I/O
device control external read start signal, ”EXRD”.
When the parameter No.3290#7(KEY)=0 and the memory protect
key signal ”KEY3”=0, collation of part program is performed.
Also, when the parameter No.3290#7(KEY)=1 and the memory
protection signal ”KEY1”=0, collation of part program is
performed. In the other condition, registration of part program is
performed.
(b) Outputting part program

1) Turn the program selection signal ”EPRG” to ”1” and turn the other
selection signals to ”0”.
2) Specify an input channel by the following way.
[In case of the enhanced way]
Specify an output channel by the external I/O device control
channel selection signal, ”EXIO1 and EXIO2”. When
RS–232–C is selected, set the value 0 or 1 to the parameter
No.20. Set the parameters of reader/puncher interface
corresponding to the selected RS–232–C channel.
[In case of the former way]
Registration and collation can not be performed via the memory
card slot but via RS–232–C. Set the value 0 or 1 to the parameter
No.20. And set the parameters of reader/puncher interface
corresponding to the selected RS–232–C channel. Also, turn
the FANUC I/O Link signal, ”IOLINK”, to ”0”.

3) Specify the output file by the following. (Only in case of the

enhanced way)
In case of the enhanced way, in order to output a file to a memory
card, specify the output file name by the external I/O device control
file name selection signal, ”FLN00–FLN15”.
In case of the former way, output file name is fixed to ”ALL.PRO”
4) After the mode other than MDI mode is selected, output of all part
programs that are not protected by the parameter is started by
turning on the external I/O device control external punch start
signal, ”EXWT”.

791
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

(2) Inputting/outputting Be sure to select the enhanced way by setting the parameter
parameters No.8761#0(EIB)=1.
(a) Inputting parameters
1) Turn the parameter selection signal ”EPARM” to ”1” and turn the
other selection signals to ”0”.
2) Set the setting parameter ”PWE”(Parameter write enable) to ”1”.
3) Specify an input channel by the external I/O device control channel
selection signal, ”EXIO1 and EXIO2”. When RS–232–C is
selected, set the value 0 or 1 to the parameter No.20. Set the
parameters of reader/puncher interface corresponding to the
selected RS–232–C channel.
4) Prepare an input file in the external device.
The data format in the file must base on ”the format of the
parameter data” described later.
5) Specify the input file by the following.
When the file is input from a handy–file via RS–232–C, perform
heading file operation in the handy–file side.
When the file is input from a memory card, specify the input file
name by the external I/O device control file name selection signal,
”FLN00–FLN15”.
6) After the mode other than MDI mode is selected, input of
parameters is started by turning on the external I/O device control
external read start signal, ”EXRD”.
(b) Outputting parameters
1) Turn the parameter selection signal ”EPARM” to ”1” and turn the
other selection signals to ”0”.
2) Specify an output channel by the external I/O device control
channel selection signal, ”EXIO1 and EXIO2”. When RS–232–C
is selected, set the value 0 or 1 to the parameter No.20. Set the
parameters of reader/puncher interface corresponding to the
selected RS–232–C channel.
3) Specify the output file name by the external I/O device control file
name selection signal, ”FLN00–FLN15”.
4) After the mode other than MDI mode is selected, output of
parameters is started by turning on the external I/O device control
external punch start signal, ”EXWT”

792
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

(3) Inputting/outputting Be sure to select the enhanced way by setting the parameter
macro variables No.8761#0(EIB)=1.
(a) Inputting macro variables
1) Turn the macro variable selection signal ”EVAR” to ”1” and turn
the other selection signals to ”0”.
2) Specify an input channel by the external I/O device control channel
selection signal, ”EXIO1 and EXIO2”. When RS–232–C is
selected, set the value 0 or 1 to the parameter No.20. Set the
parameters of reader/puncher interface corresponding to the
selected RS–232–C channel.
3) Prepare an input file in the external device.
The data format in the file must meet with ”the format of the macro
variable data” described later.
4) Specify the input file by the following.
When the file is input from a handy–file via RS–232–C, perform
heading file operation in the handy–file side.
When the file is input from a memory card, specify the input file
name by the external I/O device control file name selection signal,
”FLN00–FLN15”.
5) Turn the memory protect key ”KEY2” to 1 only in case the
parameter No.3290#7(KEY)=0.
6) After the mode other than MDI mode is selected, input of macro
variables is started by turning on the external I/O device control
external read start signal, ”EXRD”.
(b) Outputting macro variables
1) Turn the macro variable selection signal ”EVAR” to ”1” and turn
the other selection signals to ”0”.
2) Set the parameter No.0000#1 (ISO) to ”1” and the parameter
6001#2 (VFP) to ”1”.
3) Specify an input channel by the external I/O device control channel
selection signal, ”EXIO1 and EXIO2”. When RS–232–C is
selected, set the value 0 or 1 to the parameter No.20. Set the
parameters of reader/puncher interface corresponding to the
selected RS–232–C channel.
4) Specify the output file name by the external I/O device control file
name selection signal, ”FLN00–FLN15”.
5) Set the start number of macro variable to be output by setting the
external punch start signal, ”EDG00 to EDG15”.
6) Set the number of macro variables to be output by setting the
external punch total number signal, ”EDN00 to EDN15”.
7) After the mode other than MDI mode is selected, output of macro
variables is started by turning on the external I/O device control
external punch start signal, ”EXWT”.

793
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

(4) Outputting diagnosis Be sure to select the enhanced way by setting the parameter
data No.8761#0(EIB)=1.
1) Turn the diagnosis data selection signal ”EDGN” to ”1” and turn the
other selection signals to ”0”.
2) Specify an input channel by the external I/O device control channel
selection signal, ”EXIO1 and EXIO2”. When RS–232–C is selected,
set the value 0 or 1 to the parameter No.20. Set the parameters of
reader/puncher interface corresponding to the selected RS–232–C
channel.
3) Specify the output file name by the external I/O device control file
name selection signal, ”FLN00–FLN15”.
4) Set the start number of diagnosis data to be output by setting the
external punch start signal, ”EDG00 to EDG15”.
5) Set the number of diagnosis data to be output by setting the external
punch total number signal, ”EDN00 to EDN15”.
6) After the mode other than MDI mode is selected, output of diagnosis
data is started by turning on the external I/O device control external
punch start signal, ”EXWT”.

NOTE
Character data are not output.
Diagnosis data can not be input.

(5) Inputting/outputting Be sure to select the enhanced way by setting the parameter
PMC data No.8761#0(EIB)=1.
(a) Inputting PMC data
1) Turn the PMC data selection signal ”EPMC” to ”1” and turn the
other selection signals to ”0”.
2) Specify an input channel by the external I/O device control channel
selection signal, ”EXIO1 and EXIO2”. When RS–232–C is
selected, set the value 0 or 1 to the parameter No.20. Set the
parameters of reader/puncher interface corresponding to the
selected RS–232–C channel.
3) Prepare an input file in the external device.
The data format in the file must meet with ”the format of the PMC
data” described later.
4) Specify the input file by the following.
When the file is input from a handy–file via RS–232–C, perform
heading file operation in the handy–file side.
When the file is input from a memory card, specify the input file
name by the external I/O device control file name selection signal,
”FLN00–FLN15”.
5) After the mode other than MDI mode is selected, input of PMC data
is started by turning on the external I/O device control external read
start signal, ”EXRD”.

794
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

NOTE
Only the data table (D0000–D7999) and the internal relay
(R0000–R2999) of the PMC data can be input.

(b) Outputting PMC data

1) Turn the PMC data selection signal ”EPMC” to ”1” and turn the
other selection signals to ”0”.
2) Specify an input channel by the external I/O device control channel
selection signal, ”EXIO1 and EXIO2”. When RS–232–C is
selected, set the value 0 or 1 to the parameter No.20. Set the
parameters of reader/puncher interface corresponding to the
selected RS–232–C channel.
3) Specify the output file name by the external I/O device control file
name selection signal, ”FLN00–FLN15”.
4) Set the start number of PMC data to be output by setting the
external punch start signal, ”EDG00 to EDG15”, as follows.
Start number Value of EDG00–EDG15
G0000 to 0255 21000 + start number of G
F0000 to 0255 23000 + start number of F
Y0000 to 0127 25000 + start number of Y
Y1000 to 1063 25000 + start number of Y
X0000 to 0127 27000 + start number of X
X1000 to 1063 27000 + start number of X
A0000 to 0024 29000 + start number of A
R0000 to 2999 30000 + start number of R
R9000 to 9199 30000 + start number of R
T0000 to 0079 40000 + start number of T
K0000 to 0019 41000 + start number of K
C0000 to 0079 42000 + start number of C
D0000 to 7999 43000 + start number of D
5) Set the number of PMC data to be output by setting the external
punch total number signal, ”EDN00 to EDN15”.
6) After the mode other than MDI mode is selected, output of PMC
is started by turning on the external I/O device control external
punch start signal, ”EXWT”.

795
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

D Format of input/output Each data is output in the following each format.

data When each data is input, the format of each data must be made in
accordance with the following format.

Format of parameter data

N Parameter number A1 P Data A2 P Data..... ;

N: Give parameter number by a value followed after N
A: Give axis number by a value followed after A only in case of
axis type parameter
A1: the first axis, A2: the second axis, ......
P: Give data by a value followed after P
Ex.)
% ;
:
N01020 A1 P88 A2 P89 ;
:
%

Format of macro variable

P #Macro variable number Q Data ;

P#: Give macro variable number by a three digit number
followed after P#
Q: Give data by a value followed after Q (decimal point is
permitted)
Ex)
% ;
P#500 Q0.000 ;
P#501 Q1.000 ;
P#502 Q10000000. ;
P#503 Q–0.0000001 ;
P#504 Q0.000 ;
P#505 Q ;
...
%

796
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Format of diagnosis data

N Data number P Data ;

N: Give data number by a value after N as follows
S In case the parameter No.8761#0(EIB)=0 (the former way)
(when Data input/output via I/O Link is selected)
Data number=Diagnosis number+20000
S In case the parameter No.8761#0(EIB)=1 (the enhanced
way)
(when Data input/output via I/O Link is not selected)
Data number=Diagnosis numeber
P: Give data by a value followed after P
When diagnosis number is not defined, data number followed
after N is output and data followed after P is not output.
When diagnosis data is axis type, the format is as follows.
N Data number A1 P Data A2 P Data ..... ;
A: Give data number by a value followed by A only in case of axis
type diagnosis data.
A1: the first axis, A2: the second axis, .......
The header ”(DGN)” is output at the top of the file in order to show
this data is diagnosis data.
Ex)
%;
(DGN) ;
......
N00040 P 00000001 ;
N00041 P 0 ;
......
%

797
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Format of PMC data

N Data number P Data ;

N: Give data number by a value after N. Data number is the sum
of address number and the value assigned for each address.
Data number=the value assigned for each address+
Address number
P: Give data by a value followed after P (8–digit binary number)
The value assigned for each address are shown below.
Input/output address Value assigned for each address
G0000–0255 21000
F0000–0255 23000
Y0000–0127 25000
Y1000–1063 25000
X0000–0127 27000
X1000–1063 27000
A0000–0024 29000
R0000–2999 30000
R9000–9199 30000
T0000–0079 40000
K0000–0019 41000
C0000–0079 42000
D0000–7999 43000
When PMC number is not defined, data number followed after N is
output and data followed after P.is not output.
The header ”(PMC)” is output at the top of the file in order to show
this data is PMC data.
Ex)
%;
(PMC) ;
...
N43000 P00000001 ;
...
%

D Summary of the former Major difference between two ways are the following 5 points.
way and the enhanced 1. Whether each data can be input/output through memory card slot or
way not
2. Whether data input/output through RS–232–C is only program or not
3. Whether a file name can be specified or not, when data is input/output
through RS–232–C or memory card slot.
4. Whether each data can be input/output through FANUC I/O Link or
not
5. Whether data selection signal is separated into two signals, EDGN and
EPMC, or only EDGN, when diagnosis data or PMC data is
input/output.

798
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

The detail of difference is shown in the following table.

Input/output Data selection Input/output Channel File name
Data signal *1 channel selection signal *2

RS–232–C,
Program EPRG IOLNK ALL.PRO
I/O Link
Former way
Parameter EPARM I/O Link IOLNK –
(Parameter
Macro variable EVAR I/O Link IOLNK –
No.8761#0 (EIB)
= 0) Diagnosis EDGN I/O Link IOLNK –

PMC data EDGN I/O Link IOLNK –

RS–232–C, EXIO2,
Program EPRG PRG@****.DAT
Memory card slot EXIO1

RS–232–C, EXIO2,
Parameter EPARM PRM@****.DAT
Enhanced way Memory card slot EXIO1

RS–232–C, EXIO2,
(Parameter Macro variable EVAR MCR@****.DAT
Memory card slot EXIO1
No.8761#0 (EIB)
= 1) RS–232–C, EXIO2,
Diagnosis EDGN DGN@****.DAT
Memory card slot EXIO1

RS–232–C, EXIO2,
PMC data EPMC PMC@****.DAT
Memory card slot EXIO1

*1 When diagnosis data or PMC data is output in the enhanced way, the
header, ”(DGN)” or ”(PMC)”, is output at the top of data.
*2 This file name is used when data are input/output through RS–232–C
or memory card slot. The part of **** is decided by the I/O device
external control file name selection signals FLN000 to FLN015. But,
when data are input through RS–232–C from a Handy–File, the file
that is selected on a Handy–File is input and the file specified here is
not input.

799
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

D Relation between ”I/O The following chart shows the relation between ”I/O device external
device external control control I/O” and ”Data input/output via I/O Link”.
I/O” and ”Data
input/output via I/O Link”

Former way (Parameter No.8761#0=0)

Slave Master

Power Mate i-D/H Power Mate i-D/H

FANUC
I/O Link

Program storage
3 Data input/output 1 Data input/output
via I/O Link (Slave) via I/O Link (Master)
IOLNK=1
2 Data input/output via
I/O device external control Store the
I/O Link-B (Master)
slave data
as NC
Sharing Slave program
Data signals data
Program Parameter Macro
I/O device external control
variable Diagnosis
PMC data NC
program

RS-232-C RS-232-C

Handy Handy
File File

Enhanced way (Parameter No.8761#0=1)

I/O Link is not permitted

Power Mate i-D/H

Selected by
IOLS=0
EXIO1, EXIO2
I/O device external control Memory card slot (on Power Mate i cabinet)

Memory card slot (on Display unit with

touch panel made by FANUC)

Data
Handy
Program Parameter Macro File
variable Diagnosis
PMC data

800
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

The feature of ”Data input/output via I/O Link” functions are as follows.
1) Data input/output via I/O Link (Master)
This function is executed when an operator operates a soft–key.
2) Data input/output via I/O Link – B (Master)
In this function, ”Data input/output via I/O Link (Master)” is
controlled by PMC ladder. And an operation is executed in the
background editing mode. A part of signals of this function are shared
with I/O device external control.
”Master function” manages the data of the slave, Power Mate, by using
a program storage area of the master.
3) Data input/output via I/O Link (Slave)
This function inputs/outputs the data of the slave, Power Mate,
from/to the master via I/O Link
The ways of start and data selection for each function are summarized in
the following tables.
Function Way of input/output start Way of data selection Necessary condition

1) Data input/output func- Soft–key Program number Parameter No. 8761#0=0

tion via I/O Link (Mas-
ter)

2) Data input/output func- Signal (EXRD,EXWT) Specify a program IOLS=1,

tion via I/O Link – B number by functionary Parameter No. 8761#0=0
(Master) instruction of PMC

3) Data input/output func- Signal (EXRD,EXWT) Signal (EPRG etc.) IOLS=0, IOLNK=1,
tion via I/O Link (Slave) Parameter No. 8761#0=0

4) External I/O device con- Signal (EXRD,EXWT) Signal (EPRG etc.) IOLS=0,
trol (via RS–232–C or In case Parameter No.
memory card slot) 8761#0=0, IOLNK=0,
In case Parameter No.
8761#0=1, Specify a channel by
EXIO1,EXIO2

Signal

External Read Start

Signal EXRD <G058#1>
[Classification] Input signal
[Function] Data are input by ”External I/O device control”, ”Data input/output via
I/O Link – B (Master)” or ”Data input/output via I/O Link (Slave)”.
[Operation] When this signal becomes logical 1, the CNC operate as follows:
(a) Via RS–232–C or memory card slot
S Start registration/collation of program or input of macro variable/
parameter/PMC data from a external I/O device or a memory card
in the mode other than MDI by background editing function.
The selection of input data depends on the data selection signal for
each data, PMC<G251#3>, EPRG<G251#4>, EVAR<G251#5>,
EPARM<G251#6> and EDGN<G251#7>.

801
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

(b) Via I/O Link on the slave side.

In case ”Data input/output function via I/O Link (Slave)”: the
parameter No.8761#0=0, IOLNK<G251#0>=1, IOLS<G92#1>=0.
S Start registration/collation of program or input of macro variable/
parameter/PMC data from the program storage area of the master
device, such as Power Mate i–D/H or FS16i/18i/21i etc., in the
mode other than MDI by background editing function via I/O Link
The sequence of the PMC ladder should be programmed to turn on
this signal when ”External read start signal on slave side (ERDIO)”
signal is turned on.
The selection of input data depends on the data selection signal for
each data, PMC<G251#3>, EPRG<G251#4>, EVAR<G251#5>,
EPARM<G251#6> and EDGN<G251#7>.
(c) Via I/O Link on the master side
In case ”Data input/output function via I/O Link – B (Master)”:
the parameter No.8761#0=0, IOLS<G92#1>=1
S Start registration/collation of program or input of macro variable/
parameter/diagnosis data (PMC) of the slave from the slave device
to the program storage area of the master device in the mode other
than MDI by to background editing function via I/O Link
The selection of input/registration data depends on the program
number that is specified by the PMC functional instruction,
”WINDW” command.

NOTE
S In case program input, whether registration or collation
depends on the memory protect key KEY3<G046#5>
(when the parameter N0.3290#7=0) or KEY1<G046#3>
(when the parameter No.3290#7=1).
S While data are reading/punching, ”Read/punch busy signal
(RPBSY)” is turned to ”1”.
S External read start signal (EXRD) is ignored, while
background editing operation is executed or Back ground
editing signal (BGACT) is turned to 1.
S Input operation is interrupted, when reset is activated or
External read punch stop signal (EXSTP) is turned to 1.
S External read start signal(EXRD) is ignored, while data
input/output operation or DNC operation is executing in
foreground editing.
S There is other conditions to execute program registration/
collation. For instance, program registration/collation can
not be executed while the program with the same program
number is executing in foreground editing.

802
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

External Punch Start

Signal EXWT <G058#3>
[Classification] Input signal
[Function] Data are output by ”External I/O device control”, ”Data input/output via
I/O Link – B (Master)” or ”Data input/output via I/O Link (Slave)”.
[Operation] When this signal becomes logical 1, the CNC operate as follows:
(a) Via RS–232–C or memory card slot
S Start outputting program/macro variable/parameter/ diagnosis
data/PMC data to a external I/O device or a memory card in the
mode other than MDI by background editing function.
The selection of output data depends on the data selection signal
for each data, EPMC<G251#3>, EPRG<G251#4>,
EVAR<G251#5>, EPARM<G251#6> and EDGN<G251#7>.
(b) Via I/O Link on the slave side.
In case ”Data input/output function via I/O Link (Slave)”: the
parameter No.8761#0=0, IOLNK<G251#0>=1, IOLS<G92#1>=0.
S Start outputting program/macro variable/parameter/ diagnosis data
(PMC) into the program storage area of the master device, such as
Power Mate i–D/H or FS16i/18i/21i etc., in the mode other than
MDI by background editing function via I/O Link
The sequence of the PMC ladder should be programmed to turn on
this signal when ”External punch start signal on slave side
(EWTIO)” signal is turned on.
The selection of output data depends on the data selection signal
for each data, EPMC<G251#3>, EPRG<G251#4>,
EVAR<G251#5>, EPARM<G251#6> and EDGN<G251#7>.
(c) Via I/O Link on the master side
In case ”Data input/output function via I/O Link – B (Master)”:
the parameter No.8761#0=0, IOLS<G92#1>=1
S Start outputting program or macro variable/parameter/
PMC data, which is stored in the program storage area of the master
device, to the slave device in the mode other than MDI by to
background editing function via I/O Link.
The selection of input/registration data depends on the program
number that is specified by the PMC functional instruction,
”WINDW” command.

803
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

NOTE
S While data are punching, ”Read/punch busy signal
(RPBSY)” is turned to ”1”.
S External punch start signal (EXWT) is ignored, while
background editing operation is executed or Back ground
editing signal (BGACT) is turned to 1.
S Output operation is interrupted, when reset is activated or
External read punch stop signal (EXSTP) is turned to 1.
S External punch start signal(EXWT) is ignored, while data
input/output operation or DNC operation is executing in
foreground editing.
S There is other conditions to execute program output. For
instance, program output can not be executed, while the
program is executing in foreground editing, or when the
program is protected by the parameter No.3202#0 (NE8) or
#4 (NE9).

External Read Punch

Stop Signal
EXSTP <G058#2>
[Classification] Input signal
[Function] Input/output of data by ”External I/O device control”, ”Data input/output
via I/O Link – B (Master)” or ”Data input/output via I/O Link (Slave)”
is interrupted.
[Operation] When this signal becomes logical 1, the CNC operate as follows:
Interrupt input/output of data by External read start signal/External punch
start signal immediately.

External I/O Device

Control Channel
Selection Signal
EXIO1, EXIO2
<G248#0,#1>
[Classification] Input signal
[Function] Specify input channel as the following table, when the parameter
No.8761#0(EIB) is set to ”1” and ”the enhanced way” is selected in ”I/O
Device External Control”.
EXIO2 EXIO1 Channel

0 0 RS–232–C

1 0 Memory card slot on the cabinet of Power Mate i

1 1 Memory card slot on the display unit with touch screen

made by FANUC

804
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

NOTE
When RS–232–C is selected, set the value 0 or 1 to the
parameter No.20. Then, the parameters, that are related
with reader/puncher interface, should be set in accordance
with the above value.

External I/O Device

Control File Name
Selection Signal
FLN00–FLN15
<G249–G250>
[Classification] Input signal
[Function] Specify a number placed in the middle of the name of the file that is
input/output via RS–232–C or memory card slot, when the parameter
No.8761#0(EIB) is set to ”1” and ”the enhanced way” is selected in ”I/O
Device External Control”. Th above number is from 0 to 9998 and given
in binary.
The file name is specified as the following table in combination with the
selection signal, such as Program Selection Signal (EPRG), Parameter
Selection Signal (EPARM), Macro Variable Selection Signal (EVAR),
Diagnosis Data Selection Signal (EDGN) and PMC Data Selection Signal
(EPMC).
Selection signal to be Input/output data File name
set to 1

EPRG Program PRG@****.DAT

EPARM Parameter PRM@****.DAT

EVAR Macro variable MCR@****.DAT

EDGN Diagnosis data DGN@****.DAT

EPMC PMC data PMC@****.DAT

The ”****” part in the above table is replaced with the decimal number
that is converted from the binary data given by the External I/O Device
Control File Name Selection Signal.
Ex.: In case that EPRG is turned on
FLN15–FLN08=00100110
FLN07–FLN00=10010100
When punch operation is executed in the above signal setting, the
file, ”[email protected]”, is created and a program is output into the
file because binary number ”0010011010010100” is equivalent to
decimal number ”9876”.

805
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

NOTE
1 When all File Name Selection Signals are turned off or the
set value is greater than 9998 in decimal number, data
cannot be output and warning is given.
2 When data input operation from a Handy–File via
RS–232–C is executed, the file selected in the Handy–File
is input regardless of the status of File Name Selection
Signals.

FANUC I/O Link

Selection Signal
IOLNK
<G251#0> [Classification] Input signal
[Function] Specify a channel to input/output the data, such as program, parameter,
macro variable, diagnosis data and PMC data, to/from the master device,
when the parameter No.8761#0(EIB) is set to ”0” and ”the former way”
is selected in ”I/O Device External Control”.
(Data input/output function via I/O Link (Slave))
IOLNK=0: Data is input/output via RS–232–C in External I/O Device
Control.
IOLNK=1: Data is input/output via FANUC I/O Link in External I/O
Device Control.
This is ”Data input/output function via I/O Link (Slave)”.

PMC Data Selection

Signal
EPMC
< G251#3 > [Classification] Input signal
[Function] When this signal becomes logical ”1”, the CNC operates as follows:
Select PMC data as the input/output data of ”External I/O Device
Control”, when the parameter No.8761#0(EIB) is set to ”1” and ”the
enhanced way” is selected in ”I/O Device External Control”.

806
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

NOTE
1 The PMC address that can be output is as follows:
G0000–0255 F0000–0255 Y0000–0127
Y1000–1063 X0000–0127 X1000–1063
A0000–0024 R0000–2999 R9000–9199
T0000–0079 K0000–0019 C0000–0079
D0000–7999
2 The PMC data address that can be input is as follows:
R0000–2999 D0000–7999
3 When PMC data is output, it is necessary to set the External
Punch Start Data Number Signal (EDG00 – EDG15) in
accordance with the start address of data. Also, it is
necessary to set the External Punch Total Data Number
Signal (EDN00 – EDN15) in accordance with the total
number of PMC output data.

Program Selection
Signal
EPRG
<G251#4>
[Classification] Input signal
[Function] When this signal becomes logical ”1”, the CNC operates as follows:
Select program as the input/output data of ”External I/O Device Control”.

NOTE
1 In case data input, collation of program is executed, when
the parameter No.3290#7(KEY)=0 and memory protect key
(KEY3)=0, or the parameter No.3290#7(KEY)=1 and
memory protect key (KEY1)=0. In other case, registration of
program is executed.
2 In case data input, it can be selected by the parameter
No.3201#1(RAL) whether all programs in the file are
registered at a time or only the first program.
All programs can be deleted before registration by the
parameter No.3201#0(RDL). But the programs protected
by the parameter No.3202#0(NE8) and #4(NE9) can not be
deleted.
3 In case output data, all program other than protected by the
parameter are output.

807
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Macro Variable Selection

Signal
EVAR
<G251#5>
[Classification] Input signal
[Function] When this signal becomes logical ”1”, the CNC operates as follows:
Select macro variable as the input/output data of ”External I/O Device
Control”.

NOTE
1 In case input of macro variable, it is necessary to set the
memory protect key (KEY2) to 1, only when the parameter
No.3290#7(KEY)=0.
2 The data that are output in the parameter
N0.0000#1(ISO)=1 and No.6001#2(VFP)=1 can be read.
3 When macro variable is output, it is necessary to set the
start data number to the External Punch Start Data Number
Signal (EDG00 – EDG15). Also it is necessary to set the
total data number to the External Punch Total Data Number
Signal (EDN00 – EDN 15).
But, punching operation is not executed when the start data
number specified with EDG00 – EDG15 is out of the range
from 100 to 199 or from 500 to 699. Also punching operation
is not executed when the total number specified with EDN00
– EDN15 is 0.

Parameter Selection
Signal
EPARM
<G251#6>
[Classification] Input signal
[Function] When this signal becomes logical ”1”, the CNC operates as follows:
Select parameter as the input/output data of ”External I/O Device
Control”.

NOTE
1 In case input, set the setting parameter PWE (parameter
write enable) to 1.
2 In case output, all parameters are output.

808
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Diagnosis Data Selection

Signal
EDGN
<G251#7>
[Classification] Input signal
[Function] When this signal becomes logical ”1”, the CNC operates as follows:
Select diagnostic data as the data output by ”I/O Device External
Control”, when the parameter No.8761#0(EIB) is set to ”1” and ”the
enhanced way” is selected in ”I/O Device External Control”.
Or, select diagnostic data or PMC data as the data output by ”I/O Device
External Control”, when the parameter No.8761#0(EIB) is set to ”0” and
”the former way” is selected in ”I/O Device External Control”.
In case the former way, only FANUC I/O Link is permitted as input/output
channel.

NOTE
1 The character type data cannot be output.
2 When diagnosis data or PMC data is output, it is necessary
to set the start data number to the External Punch Start Data
Number Signal (EDG00 – EDG15). Also it is necessary to
set the total data number to the External Punch Total Data
Number Signal (EDN00 – EDN 15).
3 Diagnosis data cannot be input.

External Punch Start

Data Number Signal
EDG00–EDG15
<G252–G253>
[Classification] Input signal
[Function] Specify the value according to the start number of each data in 16 bit
binary, when macro variable, diagnosis data or PMC data are output.
(Data range: 0 – 65535)
The setting value is as follows.
S In case macro variable
Specify the start number of macro variable to be output.
S In case diagnosis data
[In case the parameter No.8761#0(EIB)=0 (the former way)]
Specify the value that is the sum of the output start number and
20000.
[In case the parameter No.8761#0(EIB)=1 (the enhanced way)]
Specify the output start number.

809
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

S In case PMC data

Specify the value according to the following table.
Range of output start address Range of output start address The value to set to
(In case PMC–SB5) (In case PMC–SB6) EDG00–EDG15

G0000 to G0255 G0000 to G0511 21000+Start number of G address

F0000 to F0255 F0000 to F0511 23000+Start number of F address

Y0000 to Y0127 Y0000 to Y0127 25000+Start number of Y address

Y1000 to Y1063 Y1000 to Y1063 25000+Start number of Y address

X0000 to X0127 X0000 to X0127 27000+Start number of X address

X1000 to X1063 X1000 to X1063 27000+Start number of X address

A0000 to A0024 A0000 to A0124 29000+Start number of A address

R0000 to R1499 R0000 to R2999 30000+Start number of R address

R9000 to R9117 R9000 to R9199 30000+Start number of R address

T0000 to T0079 T0000 to T0299 40000+Start number of T address

K0000 to K0019 K0000 to K0039 or K0900 to K0909 41000+Start number of K address

C0000 to C0079 C0000 to C0199 42000+Start number of C address

D0000 to D2999 D0000 to D7999 43000+Start number of D address

External Punch Total

Data Number Signal
EDN00–EDN15
<G254–G255>
[Classification] Input signal
[Function] Specify the total data number to be output in 16 bit binary, when macro
variable, diagnosis data or PMC data are output.
(Data range: 0 – 65535)

External Read/Punch
Busy Signal
RPBSY
<F053#2>
[Classification] Output signal
[Function] This signal indicates that input/output of data triggered by the external
read or punch start signal is under way.
[Output condition] This signal becomes logical 1, when:
S The external read or punch start signal triggers input/output of data
This signal becomes logical 0, when:
S Input/output operation triggered by the external read or punch start
signal ends either normally or abnormally (reset or requested by the
external read/punch stop signal EXSTP ).

810
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

External Read/Punch
Alarm Signal
RPALM
<F053#3>
[Classification] Output signal
[Function] This signal indicates that an alarm condition has occurred during
input/output operation triggered by the external read or punch start signal.
[Output condition] This signal becomes to 1, when:
S An alarm condition occurs during input/output operation triggered by
the external read or punch start signal.
This signal becomes logical 0, when:
S The system is reset, or the external read/punch stop signal EXSTP is
input.

EXRD

EXSTP

PRBSY

BGEACT
Read start Read end Read start Read interruption Read start

Fig.13.2(a) Data input operation

EXWT

EXSTP

PRBSY

BGEACT
Punch start Punch end Punch start Punch interruption Punch start

Fig.13.2(b) Data output operation

EXRD or EXWT

RPALM

PRBSY

BGEACT
Read/punch start Read/punch interruption Read start

Fig.13.2(c) In case external read/punch alarm occurs

811
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Background Editing
Signal
BGEACT <F053#4>
[Classification] Output signal
[Function] This signal indicates that the background edit function is operating. When
the status of this signal is 0, input/output operation triggered by the
external I/O device control can be started.
[Output condition] This signal becomes logical 1 when:
S The [BG EDIT] soft key is pressed to put the CNC in the background
edit mode.
S The MDI mode is selected.
S The external read or punch start signal starts input/output operation.
This signal becomes logical 0 when:
S The [BG EDIT] soft key is pressed to terminate the background edit
mode.
S The CNC shifts from the MDI mode to another mode.
S Input/output operation triggered by the external read or punch start
signal ends either normally or abnormally (reset or requested by the
external read/punch stop signal EXSTP.

Signal Address
#7 #6 #5 #4 #3 #2 #1 #0
G058 EXWT EXSTP EXRD

G248 EXIO2 EXIO1

G249 FLN07 FLN06 FLN05 FLN04 FLN03 FLN02 FLN01 FLN00

G250 FLN15 FLN45 FLN13 FLN12 FLN11 FLN10 FLN09 FLN08

G251 EDGN EPARM EVAR EPRG EPMC IOLNK

G252 EDG07 EDG06 EDG05 EDG04 EDG03 EDG02 EDG01 EDG00

G253 EDG15 EDG14 EDG13 EDG12 EDG11 EDG10 EDG09 EDG08

G254 EDN07 EDN06 EDN05 EDN04 EDN03 EDN02 EDN01 EDN00

G255 EDN15 EDN14 EDN13 EDN12 EDN11 EDN10 EDN09 EDN08

#7 #6 #5 #4 #3 #2 #1 #0
F053 BGEACT RPALM RPBSY

812
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0000 ISO

This parameter can also be set on the ”Setting screen”.

[Data type] Bit
ISO Code used for data output
0 : EIA code
1 : ISO code

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

This parameter can also be set on the ”Setting screen”.

[Data type] Byte
Select the channel for input/output device
I/O CHANNEL =0: channel 1
=1: channel 1
It is necessary to set the following parameter according to the setting of
this parameter.
I/O channel number (the parameter No.0020)
↓

0101 Stop bit, etc.

I/O CHANNEL=0 Number specified for the in-
0102
(channel 1) put/output device
0103 BAUD rate
0111 Stop bit, etc.
I/O CHANNEL=1 Number specified for the in-
0112
(channel 1) put/output device
0113 BAUD rate

#7 #6 #5 #4 #3 #2 #1 #0
3201 NPE N99 REP RAL RDL

[Data type] Bit

RDL When a program is registered by input/output device external control
0 : The new program is registered, following the program already
registered.
1 : All registered programs are deleted, then the new program is
registered. Note that programs which are protected from being edited
are not deleted.
RAL When programs are registered through the reader/puncher interface
0 : All programs are registered.
1 : Only one program is registered.

813
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

REP Action in response to an attempt to register a program whose number is

the same as that of an existing program.
0 : An alarm is generated.
1 : The existing program is deleted, then the new program is registered.
Note that if the existing program is protected from being edited, it is
not deleted, and an alarm is generated.
N99 With an M99 block, when bit 6 (NPE) of parameter No.3201=0, program
registration is assumed to be:
0 : Completed
1 : Not completed
NPE With an M02, M30, or M99 block, program registration is assumed to be:
0 : Completed
1 : Not completed

#7 #6 #5 #4 #3 #2 #1 #0
3202 NE9 NE8

[Data type] Bit

NE8 Editing of subprogram with program numbers 8000 to 8999
0 : Not inhibited
1 : Inhibited
The following edit operations are disable:
(1) Program deletion (Even when deletion of all programs is specified,
programs with program numbers 8000 to 8999 are not deleted.)
(2) Program output (Even when outputting all programs is specified,
programs with program numbers 8000 to 8999 are not output.)
(3) Program number search
(4) Program editing of registered program
(5) Program registration
(6) Program collation
(7) Displaying programs
NE9 Editing of subprogram with program number 9000 to 9999
0 : Not inhibited
1 : Inhibited
The following edit operations are disable:
(1) Program deletion (Even when deletion of all programs is specified,
programs with program numbers 9000 to 9999 are not deleted.)
(2) Program output (Even when outputting all programs is specified,
programs with program numbers 9000 to 9999 are not output.)
(3) Program number search
(4) Program editing of registered program
(5) Program registration
(6) Program collation
(7) Displaying programs

814
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

#7 #6 #5 #4 #3 #2 #1 #0
3290 KEY

[Data type] Bit

KEY For memory protection keys:
0 : The KEY1, KEY2, KEY3, and KEY4 signals are used.
1 : Only the KEY1 signal is used.

NOTE
The functions of the signals depend on whether KEY=0 or
KEY=1.
When KEY=0:
S KEY1: Enables a tool offset value and a work–piece
zero offset value to be input
S KEY2: Enables setting data and macro variables to
be input
S KEY3: Enables program registration and editing.
S KEY4: Enables PMC data (counter and data table) to
be input
When KEY=1:
S KEY1: Enables program registration and editing, and
enables PMC parameter input.
S KEY2 to KEY4: Not used.

815
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
6001 VFP

[Data type] Bit

VFP Change the output tape format of macro common variables.
0 : Common variable is output in custom macro sentence format.
1 : Common variable is output in the format similar to Power
Mate–A,B,C,E

NOTE
The feature of each format is as follows:
[In case VFP=0]
The value of variable is output in the following
<expression>.
#500=32000*65536/4194304
When macro variable is output by a soft key operation,
select this format.
The data output in this format can be restored to
macro variable by the following way.
1 Input the data as a program.
2 Execute the program in the automatic
operation. Then the input values are reflected to
macro variables.
[In case VFP=1]
The value is output in the format ”P# Macro variable
number Q# Value of variable” as follows:
P#500 Q00500.000
When macro variable is output by External I/O Device
Control Function, select this format.
The data output in this format can be restored to
macro variable, when the data are input by External
I/O Device control Function.

#7 #6 #5 #4 #3 #2 #1 #0
8761 EIB

[Data type] Bit

EIB External I/O Device Control Function is:
0 : The former way.
1 : The enhanced way.

NOTE
Set this bit to 0, when ”Data input/output function via I/O Link
(Master)” or ”Data input/output function via I/O Link (Slave)”
is applied.

816
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Alarm and message

Number Message Description

079 BP/S alarm In memory or program collation, a pro-

gram in memory does not coincide with
that read from an external I/O de-
vice.Check both the programs in
memory and those from the external
device.
085 BP/S alarm When entering data in the memory by
using reader/puncher interface, an
overrun, parity or framing error was
generated. The number of bits of input
data or setting of baud rate or specifica-
tion No. of I/O unit is incorrect.
086 BP/S alarm When entering data in the memory by
using reader/puncher interface, the
ready signal (DR) of reader/puncher
was turned off.Power supply of I/O unit
is off or cable is not connected or a
P.C.B. is defective.
087 BP/S alarm When entering data in the memory by
using reader/puncher interface, though
the read terminate command is speci-
fied, input does not stop after 10 char-
acters read. I/O unit P.C.B. is defective.
233 BP/S alarm When an attempt was made to use a
unit that connected via the RS–232–C
interface, other users were using it.
239 BP/S alarm When punching was being performed
with the function for controlling external
I/O units, background editing was per-
formed.

Reference item
OPERATOR’S MANUAL V.8.4 PROGRAM INPUT/OUTPUT
(B–63174EN)

817
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

13.3
DATA INPUT/OUTPUT
FUNCTIONS BASED
ON THE I/O LINK
(MASTER)

Outline The data input/output functions based on the I/O Link transfer data
between one master Power Mate i–D/H unit and up to 16 slave Power
Mate units through the FANUC I/O Link.

Master

FANUC I/O Link

Power Mate i-D/H

Slave (group #0) Slave (group #1) Slave (group #15)

Power Mate Power Mate Power Mate

Four types of data can be input/output:

S Program
S Parameter
S Macro variable
S Diagnostic (PMC) data
The functions are divided into two types: ”ordinary data input/output
function based on the I/O Link” and ”data input/output function B based
on the I/O Link”.
D Ordinary data input/output function based on the I/O Link
A soft key is used to start input/output, and input/output is performed
in the foreground.
D Data input/output function B based on the I/O Link
This function is the external I/O device control function made usable
with the I/O Link. This function is started by the PMC. The program
number and group number of an input/output destination are specified
by the PMC. The external I/O device control function operates in the
background. So, if the background is not already used, data can be
input/output, regardless of the CNC mode and selected screen.
D Function explanation When data is input, programs, parameters, macro variables, and
diagnostic (PMC) data of a slave are registered and stored as master
programs in the part program format in the master program memory area
within the part program storage length.
When data is output, data stored as master programs is output as
programs, parameters, macro variables, and PMC data for a slave.

818
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Between the master and the slave of a selected group, data can be
transferred. When the ordinary data input/output function based on the
I/O Link is used, a group is selected by setting a setting parameter. When
data input/output function B based on the I/O Link is used, a group is
selected by using a DI signal.
Data cannot be transferred to and from multiple groups at a time.
For details of the FANUC I/O Link, refer to ”FANUC PMC Programming
Manual”. For details of the external I/O device control function, see
Section 13.2, ”External I/O Device Control”.
For details of signals used with a slave, see Section 13.2, ”External I/O
Device Control” and Section 13.4, ”Data Input/Output Functions Based
on the I/O Link (Slave)” when the slave is a Power Mate i–D/H. In other
cases, refer to the descriptions of external I/O device control in the
connection manual of each model. (In handling slave signals, note that
data ”input” viewed from the master is data ”output” when viewed from
the slave and that data ”output” viewed from the master is data ”input”
when viewed from the slave.)

Master Slave of a selected group

Power Mate i-D/H Power Mate

Program area
Oxxx
. Input (when viewed Program
. from the master) Parameter
. Macro variable
. Diagnostic
Output (when viewed (PMC) data
from the master)

D Basic procedure of data The basic procedure for data input/output is described below. Before
input/output input/output operation can be started, ladder creation and I/O Link
assignment must be performed. For details, see ”PMC function
instruction”, ”Slave state signals”, and ”Slave control signals” described
later.

NOTE
When using data input/output function B based on the I/O
Link, be sure to set bit 0 (EIB) of parameter No. 8761 to 0
(to use the conventional specifications of external I/O
device control).

(1) Program input/output method

(a) Program input (Slave program R Master)
D Procedure used with the ordinary data input/output function
based on the I/O Link
1) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
2) Set the EDIT mode.

3) Press the PROG function key to display the program screen.

819
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

4) To change the program number, enter a desired program

number.
i) Press address O.
ii) Key in a desired program number.
(When multiple programs are transferred, the entered
program number serves as the number of the first
program transferred. The numbers of subsequent
programs are changed to the sequential numbers
following the first number.)
5) Press the [(OPRT)] soft key, the continuous menu key
( ), the [READ] soft key, then the [EXEC] soft key. The
program or programs are input from the slave.
D Procedure used with data input/output function B based on the
I/O Link
1) When a program is to be input by changing its program
number with the PMC function instruction WINDW, set the
desired program number. When multiple programs are
transferred, the entered program number serves as the
number of the first program transferred. The numbers of
subsequent programs are changed to the sequential numbers
following the first number. Set –9999 not to change the
program number.

NOTE
No program with an arbitrary number registered in a slave
may be input. When bit 1 (RAL) of parameter No. 3201 is
set to 0, all programs are input. When that bit is set to 1, the
first program only is input.

(b) Program output (Each master program → Slave)

D Procedure used with the ordinary data input/output function
based on the I/O Link
1) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
2) Set the EDIT mode.
3) Press the PROG function key to display the program screen.
4) Press address O.
5) Key in the number of a program to be output. (Key in –9999
to output all programs.)
6) Press the [(OPRT)] soft key, the continuous menu key
( ), the [PUNCH] soft key, then the [EXEC] soft key.
The program with the entered number is output to the slave.
D Procedure used with data input/output function B based on the
I/O Link
1) With the PMC function instruction WINDW, set the number
of a program to be output. Set –9999 to output all programs.
2) Specify a slave group number with the group number
specification signals SRLNI0 to SRLNI3.

820
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

3) Select the I/O Link by setting the I/O Link specification

signal IOLS to 1.
4) Set the external punch start signal EXWT to 1. The program
is output to the slave.
(2) Parameter input/output method
(a) Parameter input (Slave parameter → Master program area)
Slave parameter data in the part program format is stored as a
master NC program in the program memory area.
The parameter data of the slave of group n is registered in the master
with the following program number:
(Value set in parameter No. 8760) + n 10

NOTE
S This operation creates a new program in the master, and the
parameter data of a slave is written there. The expression
”Parameter input” does not mean that master parameter
data and slave parameter data are made identical.
S For details (data format) of programs registered in the
master, see Section 13.2, ”External I/O Device Control”.

S Procedure used with the ordinary data input/output function

based on the I/O Link
1) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
2) Set the EDIT mode.

3) Press the PROG function key to display the program screen.

4) Enter a desired program number.

i) Press address O.
ii) Key in a desired program number ”(value set in
parameter No. 8760) + n 10” (with n representing a
slave group number).
5) Press the [(OPRT)] soft key, the continuous menu key
( ), the [READ] soft key, then the [EXEC] soft key. The
slave parameter data is stored.
S Procedure used with data input/output function B based on the
I/O Link
1) With the PMC function instruction WINDW, set a desired
program number ”(value set in parameter No. 8760) + n
10” (with n representing a slave group number).
2) Specify a slave group number with the group number
specification signals SRLNI0 to SRLNI3.
3) Select the I/O Link by setting the I/O Link specification
signal IOLS to 1.
4) Set the external read start signal EXRD to 1. The slave
parameter data is stored.

821
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

(b) Parameter output (Parameter data in the master program area R

Slave parameter)
Parameter data stored as a master NC program in the program
memory area is returned to a slave.
To the slave of group n, data registered in the master with the
following program number is output:
(Value set in parameter No. 8760) + n 10

NOTE
S This operation replaces the parameter data of a slave with
the data written in the master program area. This does not
mean that the parameter data of a slave and the parameter
data of the master are made identical.
S The contents of a program registered in the master must be
written in the format defined for parameter data. For details
of the format, see Section 13.2, ”External I/O Device
Control”.

S Procedure used with the ordinary data input/output function

based on the I/O Link
1) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
2) Set the EDIT mode.

3) Press the PROG function key to display the program screen.

4) Press address O.
5) Key in a desired program number ”(value set in parameter
No. 8760) + n 10” (with n representing a slave group
number).
6) Press the [(OPRT)] soft key, the continuous menu key
( ), the [PUNCH] soft key, then the [EXEC] soft key.
The parameter data is output to the slave.
S Procedure used with data input/output function B based on the
I/O Link
1) With the PMC function instruction WINDW, set a desired
program number ”(value set in parameter No. 8760) + n
10” (with n representing a slave group number).
2) Specify a slave group number with the group number
specification signals SRLNI0 to SRLNI3.
3) Select the I/O Link by setting the I/O Link specification
signal IOLS to 1.
4) Set the external punch start signal EXWT to 1. The
parameter data is output to the slave.

822
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

(3) Macro variable input/output method

(a) Macro variable input (Slave macro variable → Master program
area)
As in the case of parameter data, slave macro variable data in the
part program format is stored as a master NC program in the
program memory area.
The macro variable data of the slave of group n is registered in the
master with the following program number:
(Value set in parameter No. 8760) + n 10 + 1

NOTE
S This operation creates a new program in the master, and the
macro variable data of a slave is written there. The
expression ”Macro variable input” does not mean that
master macro variable values and slave macro variable
values are made identical.
S For details (data format) of programs registered in the
master, see Section 13.2, ”External I/O Device Control”.

S Procedure used with the ordinary data input/output function

based on the I/O Link
1) With the slave DI signals EDG00 to EDG15, set the start
number of macro variables to be stored. With EDN00 to
EDN15, set the number of macro variables to be stored.
2) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
3) Set the EDIT mode.

4) Press the PROG function key to display the program screen.

5) Enter a desired program number.

i) Press address O.
ii) Key in a desired program number ”(value set in
parameter No. 8760) + n 10 + 1” (with n representing
a slave group number).
6) Press the [(OPRT)] soft key, the continuous menu key
( ), the [READ] soft key, then the [EXEC] soft key. The
slave macro variable data is stored.
S Procedure used with data input/output function B based on the
I/O Link
1) With the slave DI signals EDG00 to EDG15, set the start
number of macro variables to be stored. With EDN00 to
EDN15, set the number of macro variables to be stored.
2) With the PMC function instruction WINDW, set a desired
program number ”(value set in parameter No. 8760) + n
10 + 1” (with n representing a slave group number).
3) Specify a slave group number with the group number
specification signals SRLNI0 to SRLNI3.

823
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

4) Select the I/O Link by setting the I/O Link specification

signal IOLS to 1.
5) Set the external read start signal EXRD to 1. The slave
macro variable data is stored.
(b) Macro variable output (Macro variable data in the master program
area → Slave macro variable)
Macro variable data stored as a master NC program in the program
memory area is returned to a slave.
To the slave of group n, data registered in the master with the
following program number is output:
(Value set in parameter No. 8760) + n 10 + 1

NOTE
S This operation replaces the macro variable values of a slave
with the data written in the master program area. This does
not mean that the macro variable values of a slave and the
macro variable values of the master are made identical.
S The contents of a program registered in the master must be
written in the format defined for macro variable data. For
details of the format, see Section 13.2, ”External I/O Device
Control”.
S When outputting macro variables, be sure to use the ISO
code by setting the setting parameter or bit 1 (ISO) of
parameter No. 0000 to 1. If the EIA code is used for output,
the BP/S alarm (No. 001) is issued on the slave, and the P/S
alarm (No. 086) is issued on the master.

S Procedure used with the ordinary data input/output function

based on the I/O Link
1) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
2) Set the EDIT mode.
3) Press the PROG function key to display the program screen.
4) Press address O.
5) Key in a desired program number ”(value set in parameter
No. 8760) + n 10 + 1” (with n representing a slave group
number).
6) Press the [(OPRT)] soft key, the continuous menu key
( ), the [PUNCH] soft key, then the [EXEC] soft key.
The macro variable data is output to the slave.
S Procedure used with data input/output function B based on the
I/O Link
1) With the PMC function instruction WINDW, set a desired
program number ”(value set in parameter No. 8760) + n
10 + 1” (with n representing a slave group number).
2) Specify a slave group number with the group number
specification signals SRLNI0 to SRLNI3.

824
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

3) Select the I/O Link by setting the I/O Link specification

signal IOLS to 1.
4) Set the external punch start signal EXWT to 1. The macro
variable data is output to the slave.
(4) Diagnostic (PMC) data input/output method
(a) Diagnostic (PMC) data input (Slave diagnostic (PMC) data →
Master program area)
As in the case of parameter data and macro variable data, slave
diagnostic (PMC) data in the part program format is stored as a
master NC program in the program memory area.
The diagnostic (PMC) data of the slave of group n is registered in
the master with the following program number:
(Value set in parameter No. 8760) + n 10 + 2

NOTE
S This operation creates a new program in the master, and the
diagnostic (PMC) data of a slave is written there. The
expression ”Diagnostic (PMC) data input” does not mean
that the master diagnostic (PMC) state and slave diagnostic
(PMC) state are made identical.
S For details (data format) of programs registered in the
master, see Section 13.2, ”External I/O Device Control”.

S Procedure used with the ordinary data input/output function

based on the I/O Link
1) With the slave DI signals EDG00 to EDG15, set the start
number of diagnostic (PMC) data to be stored. With EDN00
to EDN15, set the number of diagnostic (PMC) data items
to be stored.
2) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
3) Set the EDIT mode.
4) Press the PROG function key to display the program screen.
5) Enter a desired program number.
i) Press address O.
ii) Key in a desired program number ”(value set in
parameter No. 8760) + n 10 + 2” (with n representing
a slave group number).
6) Press the [(OPRT)] soft key, the continuous menu key
( ), the [READ] soft key, then the [EXEC] soft key. The
slave diagnostic (PMC) data is stored.
S Procedure used with data input/output function B based on the
I/O Link
1) With the slave DI signals EDG00 to EDG15, set the start
number of diagnostic (PMC) data to be stored. With EDN00
to EDN15, set the number of diagnostic (PMC) data items
to be stored.

825
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

2) With the PMC function instruction WINDW, set a desired

program number ”(value set in parameter No. 8760) + n
10 + 2” (with n representing a slave group number).
3) Specify a slave group number with the group number
specification signals SRLNI0 to SRLNI3.
4) Select the I/O Link by setting the I/O Link specification
signal IOLS to 1.
5) Set the external read start signal EXRD to 1. The slave
diagnostic (PMC) data is stored.
(b) PMC data output (PMC data in the master program area → Slave
PMC)
PMC data stored as a master NC program in the program memory
area is returned to a slave.
To the slave of group n, data registered in the master with the
following program number is output:
(Value set in parameter No. 8760) + n 10 + 2

NOTE
S This operation replaces the PMC signal values of a slave
with the data written in the master program area. This does
not mean that the PMC signal state of a slave and the PMC
signal state of the master are made identical.
S The contents of a program registered in the master must be
written in the format defined for PMC data. For details of the
format, see Section 13.2, ”External I/O Device Control”.
S Diagnostic data cannot be output to a slave. Moreover,
some PMC data cannot be output to a slave. For details,
see Section 13.2, ”External I/O Device Control”.

S Procedure used with the ordinary data input/output function

based on the I/O Link
1) Specify a slave group number by setting a number from 20
to 35 as the I/O channel on the setting screen.
2) Set the EDIT mode.
3) Press the PROG function key to display the program screen.
4) Press address O.
5) Key in a desired program number ”(value set in parameter
No. 8760) + n 10 + 2” (with n representing a slave group
number).
6) Press the [(OPRT)] soft key, the continuous menu key
( ), the [PUNCH] soft key, then the [EXEC] soft key.
The PMC data is output to the slave.
S Procedure used with data input/output function B based on the
I/O Link
1) With the PMC function instruction WINDW, set a desired
program number ”(value set in parameter No. 8760) + n
10 + 2” (with n representing a slave group number).

826
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

2) Specify a slave group number with the group number

specification signals SRLNI0 to SRLNI3.
3) Select the I/O Link by setting the I/O Link specification
signal IOLS to 1.
4) Set the external punch start signal EXWT to 1. The PMC
data is output to the slave.

NOTE
The addresses of the slave DI signals EDG00 to EDG15
and EDN00 to EDN15 depend on the model as indicated in
the table below.
Be careful not to make a mistake when inputting macro
variable data and diagnostic (PMC) data. If an incorrect
number or the incorrect number of data items is set, external
I/O device control on slaves is not started.
Signal name Power Mate A/B/C/E Power Mate D/H/iD/iH
EDG00–EDG07 G100.0–G100.7 G252.0–G252.7
EDG08–EDG15 G101.0–G101.7 G253.0–G253.7
EDN00–EDN07 G102.0–G102.7 G254.0–G254.7
EDN08–EDN15 G103.0–G103.7 G255.0–G255.7
For details of setting, see Section 13.2, ”External I/O Device
Control” when the slave is a Power Mate i–D/H. In other
cases, refer to the description of external I/O device control
in the connection manual of each model.

D Stopping input/output Input/output processing can be stopped forcibly by using one of the two
methods described below.
(1) Stop using a reset
Input/output processing can be stopped by a reset.
In this case, however, the slave read/write stop signal ESTPIO is not
output. So, input/output operation being performed by the slave is not
stopped. To stop the input/output operation of a slave, create a ladder
so that the slave read/write stop signal ESTPIO is set to 1 at the time
of reset.
(2) Stop using the external read/punch stop signal EXSTP (only when
data input/output function B based on the I/O Link is used)
Input/output processing is stopped by setting the external read/punch
stop signal EXSTP to 1. In this case, slave read/write stop signal
ESTPIO is output, so that all processing is terminated after checking
the completion of input/output operation of the slave. See the timing
chart indicated in ”(2) When an alarm is issued on the master side” in
”Timing charts of DI/DO signals” described later.
D PMC function instruction The PMC function instruction WINDW is used to set a program number
to be used with data input/output function B based on the I/O Link.
[Details of data]
This instruction is a window function for specifying a program number
to be used for program input/output using the external I/O device control
function via the I/O Link.

827
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

[Input data structure]

Top address + 0
(Function code)
194
+2
(Completion code)
–
(Setting not needed)
+4
(Data length)
2

+6
(Data number)
0

+8
(Data attitude)
0

+ 10
(Data)
Program number

Use a signed binary format to specify a program number in the data

section.
(1 to 9999 or –9999 with 2 bytes)
[Output data structure]

Top address + 0
(Function code)
194
+2
(Completion code)
?
(See the completion code
described later.)
+4
(Data length)
2
(Data at input time)
+6
(Data number)
0
(Data at input time)
+8
(Data attitude)
0
(Data at input time)
+ 10
(Data)
Program number
(Data at input time)

828
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

[Completion code]
0: Normal termination
5: Data other than 1 to 9999 and –9999 was specified.
The data length, data number, and data attitude are not checked.
For details of the PMC function instruction, refer to ”FANUC PMC
Programming Manual”. (This function is described in ”Program number
specification for the I/O Link”.)
D Slave state signals When the data input/output functions based on the I/O Link are used, the
(input) state signals of a specified slave must be posted to the master. Ensure that
those signals are input to the master through the path indicated below.
Master Slave

Address G Address X Address X Address G

BGION 3)
BGIALM
BGEN

(Slave state signals) 2)

Address F Address Y Address Y Address F

1) RPBSY
RPALM
BGEACT

1) Based on the ladder for the slave

2) Based on the I/O Link
3) Based on the ladder for the master

For the functions of the slave state signals, see the descriptions of signals.
For the signals on the slave side, see the descriptions of external I/O
device control.

829
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

D Slave control signals When the data input/output functions based on the I/O Link are used,
(output) slave control signals must be output by the master to exercise external I/O
device control on a specified slave. Ensure that those signals are input to
the slave through the path indicated below.
Master Slave

Address G Address X Address X Address G

3) IOLNK EXRD
EXSTP EXWT
EPRG EVAR
EPARM EDGN

2)

Address F Address Y Address Y Address F

1)
IOLNKM ERDIO
ESTPIO EWTIO
EPRGM EVARM
EPARMM EDGNM

1) Based on the ladder for the slave

2) Based on the I/O Link
3) Based on the ladder for the master

For the functions of the slave control signals, see the descriptions of
signals.
For the signals on the slave side, see the descriptions of external I/O
device control.
D Timing charts of DI/DO The timing charts of DI/DO signals applicable when data input/output
signals function B based on the I/O Link is used are provided below.
When the ordinary data input/output function based on the I/O Link is
used, <1> to <4> in the figures represent input/output operations using
the MDI unit.
(1) When input/output operates normally
*1) Set a program number with the PMC function instruction
(WINDW).
*2) With the group number specification signals SRLNI0 to
SRLNI3, specify the group number of a slave that performs
input/output operation.
*3) Set the I/O Link specification signal IOLS to 1.
*4) To perform input operation, set the external read start signal
EXRD to 1.
To perform output operation, set the external punch start signal
EXWT to 1.
5) Master processing outputs the slave I/O Link selection signal
IOLNKM and the group number output signals SRLNO0 to
SRLNO3.
6) Make a preparation for data input/output based on the I/O Link,
if necessary.

830
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

*7) Upon completion of the processing of 6), set the I/O Link check
signal IOLACK to 1. The master waits until the I/O Link check
signal IOLACK is set to 1.
8) Master processing outputs the slave external read/write start
signal ERDIO/EWTIO and the slave input/output data selection
signals EPRGM, EVARM, EPARMM, and EDGNM.
9) The master waits for the start of the external I/O device control
function of the slave.
(The master waits until the external I/O device control function
of the slave starts.)
10) Master processing executes data input/output through the I/O
Link.
11) Upon completion of data input/output, the master sets the slave
external read/write start signal and slave input/output data
selection signals to 0.
12) The master waits for the completion of operation of the external
I/O device control function of the slave.
The master waits until the external I/O device control function of
the slave is terminated or stopped.
13) Upon completion of the external I/O device control function of
the slave, the Power Mate read/write in–progress signal is set to
0.
14) The master sets the slave I/O Link selection signal IOLNKM to
0.
*15) The I/O Link specification signal IOLS and the I/O Link check
signal IOLACK are set to 0.

NOTE
The operations marked with * are performed by a ladder.
The other operations are performed by the NC.

831
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

6) 9) 10) 12)

1)
Program No.
(Input)
2)

Group number specification

signal SRLNIx (Input)

3) 15)
I/O Link specification signal IOLS
(Input)
4)
External read/punch signal
EXRD/EXWT (Input)

5) 14)
Slave I/O Link selection signal
IOLNKM (Output)

Group number output signal

SRLNOx (Output)

11)
Read/punch in–progress signal
RPBSY (Output)

11)
Background in–use signal
BGEACT (Output)

7)
I/O Link check signal IOLACK
(Input)

8) 11)
Slave external read/write start
signal ERDIO/EWTIO
(Output)

8) 11)
Slave input/output data selection
signals EPRGM, EVARM,
EPARMM, and EDGNM (Output)
13)
Power Mate read/write in–progress
signal BGION (Input)

Power Mate background in–use

signal BGEN (Input)

832
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

(2) When an alarm is issued on the master side

(A case where processing is stopped by the external read/punch signal
EXSTP is included.)
1) to 10) are the same as in ”(1) When input/output operates normally”.
11) When an alarm is issued on the master or the external read/punch
stop signal EXSTP is set to 1, the slave read/write stop signal
ESTPIO is set to 1.
12) The master waits for the external I/O device control function of
the slave to stop.
The master waits until the external I/O device control function of
the slave is terminated or stopped.
13) When the external I/O device control function of the slave stops,
the Power Mate read/write in–progress signal BGION is set to 0.
14) The master sets the slave I/O Link selection signal IOLNKM and
the slave read/write stop signal ESTPIO to 0.
*15) The I/O Link specification signal IOLS and the I/O Link check
signal IOLACK are set to 0.

NOTE
The operations marked with * are performed by a ladder.
The other operations are performed by the NC.

833
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

6) 9) 10) 12)

1)
Program No.
(Input)
2)
Group number specification signal
SRLNIx (Input)

3) 15)
I/O Link specification signal IOLS
(Input)
4)
External read/punch signal
EXRD/EXWT (Input)
5) 14)
Slave I/O Link selection signal
IOLNKM (Output)

5)
Group number output signal
SRLNOx (Output)

11)
Read/punch in–progress signal
RPBSY (Output)
11)
Background in–use signal BGEACT
(Output)
15)
7)
I/O Link check signal IOLACK
(Input)
8) 11)
Slave external read/write start signal
ERDIO/EWTIO (Output)
8) 11)
Slave input/output data selection
signals EPRGM, EVARM, EPARMM,
and EDGNM (Output)
11) 14)
Slave read/write stop signal ESTPIO
(Output)
11)
Read/punch alarm signal RPALM
(Output)
13)
Power Mate read/write in–progress
signal BGION (Input)

Power Mate background in–use

signal BGEN (Input)

834
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

(3) When an alarm is issued on the slave side

1) to 10) are the same as in ”(1) When input/output operates normally”.
11) When an alarm is issued on the slave, the Power Mate read/write
alarm signal BGIALM is set to 1 and the Power Mate read/write
in–progress signal BGION is set to 0.
12) The master sets the slave I/O Link selection signal IOLNKM to
0.
*13) The I/O Link specification signal IOLS and the I/O Link check
signal IOLACK are set to 0.

NOTE
The operations marked with * are performed by a ladder.
The other operations are performed by the NC.

835
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

6) 9) 10)
1)
Program No.
(Input)
2)
Group number specification
signal SRLNIx (Input)

3)
I/O Link specification signal IOLS 13)
(Input)
4)
External read/punch signal
EXRD/EXWT (Input)

5)
Slave I/O Link selection signal
IOLNKM (Output)

5)
Group number output signal
SRLNOx (Output)

Read/punch in–progress signal 12)

RPBSY (Output)

Background in–use signal

BGEACT (Output) 7)
13)
I/O Link check signal IOLACK
(Input)
8)
Slave external read/write start 12)
signal ERDIO/EWTIO
(Output)
8)
Slave input/output data selection 12)
signals EPRGM, EVARM,
EPARMM, and EDGNM (Output)

11)
Power Mate read/write alarm
signal BGIALM (Input)
11)
Power Mate read/write in–progress
signal BGION (Input) 11)
Power Mate background in–use
signal BGEN (Input)

836
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

D Troubleshooting The data input/output functions based on the FANUC I/O Link are
implemented by many different elements such as a ladder, I/O Link
assignment, master parameters, and slave parameters. So, a trouble can
occur, for example, at start–up time.
As reference information, the table below indicates trouble symptoms,
causes, and actions to be taken.
Symptom Cause/action

Data input/output operation is started, The background is already active

but the master and slave make no re- (with the background in–use signal
sponse. BGEACT already set to 1).
In this case, this function cannot be
started.
Example)
1 The program screen is selected in
the MDI mode.
2 Background editing is already
started.

Communication such as RS–232–C

communication is in progress.
Multiple types of communications
cannot be performed at a time. An
attempt to start an additional type of
communication is ignored.

A slave that is not a Power Mate is

selected.
When data input/output function B
based on the I/O Link is used, this
function is not started if the slave spe-
cified by the group number set with
the group number specification sig-
nals SRLNI0 to SRLNI3 is not a Pow-
er Mate.

This function may not be started for a

cause such as a ladder error. Re-
check the ladder for an error such as
an address error.

When an attempt is made to output The I/O Link check signal IOLACK is
data to a slave, the following occurs: not set to 1.
Master: ”OUTPUT” continues The cause may be a ladder error or
blinking. I/O assignment error.
Slave: No response is made. (*)

When an attempt is made to input

data from a slave, the following oc-
curs:
Master: ”LSK” continues blinking.
Slave: No response is made. (*)

When an attempt is made to output PWE of the slave is set to 0.

parameters to a slave, the following
occurs:
Master: ”OUTPUT” continues
blinking.
Slave: No response is made. When slave parameters are to be mo-
(*) dified, PWE needs to be set 1. (*)

837
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Symptom Cause/action

When an attempt is made to output DWE of the slave is set to 0.

PMC data to a slave, the following
occurs:
Master: ”OUTPUT” continues
blinking.
Slave: No response is made. When slave PMC data is to be modi-
(*) fied, DWE needs to be set 1. (*)

When an attempt is made to output Bit 1 (ISO) of parameter No. 0000 is

macro variables to a slave, the follow- set to 1 (EIA code).
ing occurs: The EIA code does not include #, so
Master: P/S alarm 86 is issued. that the ISO code needs to be set.
Slave: BP/S alarm 1 is issued.
(*)

When an attempt is made to input The start number and the number of
macro variables or diagnostic (PMC) transfer data items are not set cor-
data from a slave, the following oc- rectly in the slave DI signals EDG00
curs: to EDG15 and EDN00 to EDN15.
Master: ”LSK” continues blinking. Example)
Slave: No response is made. 1 The set information is not trans-
(*) ferred to EDG00 to EDG15 and
EDN00 to EDN15 for a ladder er-
ror or I/O assignment error.
2 A nonexistent number or the in-
correct number of data items is
specified.

CAUTION
When a symptom marked with (*) occurs, the internal
processing of the master is waiting for a condition to be met.
In this state, the screen is not updated. So, note that the
states of signals cannot be checked on a real–time basis on
a screen such as the PMC diagnosis screen.

838
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Signal

Power Mate read/write

in–progress signal
BGION <G092#2>
[Classification] Input signal
[Function] This signal posts that the Power Mate of the slave is engaged in data
input/output operation.
[Operation] Ensure that this signal is set to 1 when the Power Mate of the slave is
engaged in input/output operation.
This signal is one of the slave state signals, and the signal on the slave side
is RPBSY <F53#2/F223#2>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that this signal is set to 1 via the I/O Link when the
RPBSY signal of the slave is set to 1.

Power Mate read/write

alarm signal
BGIALM <G092#3>
[Classification] Input signal
[Function] This signal posts that the Power Mate of the slave issued an alarm during
data input/output operation.
[Operation] Ensure that this signal is set to 1 when an alarm is issued while the Power
Mate of the slave is engaged in input/output operation.
This signal is one of the slave state signals, and the signal on the slave side
is RPALM <F53#3/F223#3>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that this signal is set to 1 via the I/O Link when the
RPALM signal of the slave is set to 1.

Power Mate background

in–use signal
BGEN <G092#4>
[Classification] Input signal
[Function] This signal posts that the Power Mate of the slave is engaged in
background editing.
[Operation] Ensure that this signal is set to 1 when the Power Mate of the slave is
engaged in background editing.
This signal is one of the slave state signals, and the signal on the slave side
is BGEACT <F53#4/F223#4>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that this signal is set to 1 via the I/O Link when the
BGEACT signal of the slave is set to 1.

839
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

I/O Link check signal

IOLACK <G092#0>
[Classification] Input signal
[Function] This signal posts that the slave state signals are valid.
[Operation] When this signal is set to 1, the control unit operates as described below.
S The slave state signals become valid.
The slave state signals are used for data input/output between the master
and slave. For this data input/output operation, ladder processing is
needed. Upon completion of ladder processing, this signal is set to 1 to
validate the slave state signals.

I/O Link specification

signal
IOLS <G092#1>
[Classification] Input signal
[Function] This signal chooses whether those signals that are shared with the external
I/O device control function are used with data input/output function B
based on the I/O Link (master).
[Operation] When this signal is set to 1, the control unit operates as described below.
S The signals (EXRD, EXSTP, EXWT, RPBSY, RPALM, and
BGEACT) for the external I/O device control function are used with
data input/output function B based on the I/O Link (master). (This
means that when EXRD or EXWT is turned on, master processing
using the data input/output functions based on the I/O Link is
executed.)

NOTE
S When the Power Mate i–D/H is not used as the master for
the data input/output functions based on the I/O Link, be
sure to set the I/O Link specification signal (IOLS) of the
Power Mate i–D/H to 0. If IOLS is set to 1, data input/output
through RS–232–C cannot be performed with the external
I/O device control function. (This is because master
processing is performed.)
S The I/O Link specification signal IOLS is not used with the
ordinary data input/output function based on the I/O Link.

840
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Group number
specification signals
SRLNI0 to SRLNI3
<G091#0 to #3>
[Classification] Input signal
[Function] These signals specify a group number for the Power Mate that functions
as a slave when data input/output function B based on the I/O Link
(master) is used.
[Operation] With four binary code signals, a group number is specified for the Power
Mate used as a slave.

NOTE
The group number specification signals SRLNI0 to SRLNI3
are not used with the ordinary data input/output function
based on the I/O Link.

Slave I/O Link selection

signal
IOLNKM <F177#0>
[Classification] Output signal
[Function] This signal directs the slave to perform data input/output operation via the
I/O Link.
[Output condition] This signal is set to 1 in the following case:
S When data input/output operation is performed by the master with the
data input/output functions based on the I/O Link
This signal is set to 0 in the following case:
S When data input/output operation performed by the master with the
data input/output functions based on the I/O Link ends
This signal is one of the slave control signals, and the signal on the slave
side is IOLNK <G251#0/G99#2>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the IOLNK
<G251#0/G99#2> signal of the slave is set to 1 via the I/O Link.

841
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Slave external read start

signal
ERDIO <F177#1>
[Classification] Output signal
[Function] This signal posts that the master has started data output operation via the
I/O Link.
[Output condition] This signal is set to 1 in the following case:
S When data output operation is started by the master with the data
input/output functions based on the I/O Link
This signal is set to 0 in the following case:
S When data output operation performed by the master with the data
input/output functions based on the I/O Link ends
This signal is one of the slave control signals, and the signal on the slave
side is EXRD <G58#1/G98#1>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the EXRD signal of the
slave is set to 1 via the I/O Link.

Slave read/write stop

signal
ESTPIO <F177#2>
[Classification] Output signal
[Function] This signal directs the slave to forcibly stop data input/output operation
via the I/O Link.
[Output condition] This signal is set to 1 in the following cases:
S When an alarm is issued on the master side during operation performed
with the data input/output functions based on the I/O Link
S When the external read/punch stop signal EXSTP is set to 1 during
operation performed with data input/output function B based on the
I/O Link
This signal is set to 0 in the following case:
S When data input/output operation performed by the master with the
data input/output functions based on the I/O Link ends
This signal is one of the slave control signals, and the signal on the slave
side is EXSTP <G58#2/G98#2>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the EXSTP signal of
the slave is set to 1 via the I/O Link.

842
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Slave external write start

signal
EWTIO <F177#3>
[Classification] Output signal
[Function] This signal posts that the master has started data input operation via the
I/O Link.
[Output condition] This signal is set to 1 in the following case:
S When data input operation is started by the master with the data
input/output functions based on the I/O Link
This signal is set to 0 in the following case:
S When data input operation performed by the master with the data
input/output functions based on the I/O Link ends
This signal is one of the slave control signals, and the signal on the slave
side is EXWT <G58#3/G98#3>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the EXWT signal of
the slave is set to 1 via the I/O Link.

Slave program selection

signal
EPRGM <F177#4>
[Classification] Output signal
[Function] This signal notifies the slave that input/output data consists of programs.
[Output condition] This signal is set to 1 in the following case:
S When input/output data consists of programs and data input/output
operation is started
This signal is set to 0 in the following case:
S When data input/output operation ends
This signal is one of the slave control signals, and the signal on the slave
side is EPRG <G251#4/G98#4>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the EPRG
<G251#4/G98#4> signal of the slave is set to 1 via the I/O Link.

843
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Slave macro variable

selection signal
EVARM <F177#5>
[Classification] Output signal
[Function] This signal notifies the slave that input/output data consists of macro
variables.
[Output condition] This signal is set to 1 in the following case:
S When input/output data consists of macro variables and data
input/output operation is started
This signal is set to 0 in the following case:
S When data input/output operation ends
This signal is one of the slave control signals, and the signal on the slave
side is EVAR <G251#5/G98#5>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the EVAR
<G251#5/G98#5> signal of the slave is set to 1 via the I/O Link.

Slave parameter
selection signal
EPARMM <F177#6>
[Classification] Output signal
[Function] This signal notifies the slave that input/output data consists of parameters.
[Output condition] This signal is set to 1 in the following case:
S When input/output data consists of parameters and data input/output
operation is started
This signal is set to 0 in the following case:
S When data input/output operation ends
This signal is one of the slave control signals, and the signal on the slave
side is EPARM <G251#6/G98#6>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the EPARM
<G251#6/G98#6> signal of the slave is set to 1 via the I/O Link.

844
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Slave diagnostic data

selection signal
EDGNM <F177#7>
[Classification] Output signal
[Function] This signal notifies the slave that input/output data consists of diagnostic
(PMC) data.
[Output condition] This signal is set to 1 in the following case:
S When input/output data consists of diagnostic (PMC) data and data
input/output operation is started
This signal is set to 0 in the following case:
S When data input/output operation ends
This signal is one of the slave control signals, and the signal on the slave
side is EDGN <G251#7/G98#7>. (The address of the first half is for the
Power Mate D/H/iD/iH, and the address of the second half is for other
models.)
Create a ladder so that when this signal is set to 1, the EDGN
<G251#7/G98#7> signal of the slave is set to 1 via the I/O Link.

Group number output

signals
SRLNO0 to SRLNO3
<F178#0 to #3>
[Classification] Output signal
[Function] These signals post a group number for the Power Mate that functions as
a slave.
[Output condition] With four binary code signals, a group number for the Power Mate used
as a slave is posted.
These signals become valid when the slave I/O Link selection signal
IOLNKM is set to 1.
The signals above are designed for external I/O device control and are
used by the master with the data input/output function B based on the I/O
Link. The slave also uses the same signals. So, be careful not to be
confused. (For example, when the master performs punch operation, the
slave performs read operation. When the master performs read operation,
the slave performs punch operation.)

External read start signal

EXRD <G058#1>
[Classification] Input signal
[Function] This signal starts data input operation when the external I/O device
control function, data input/output function B based on the I/O Link
(master), or the data input/output functions based on the I/O Link (slave)
are used.
[Operation] When this signal is set to 1, the control unit operates as described below.

845
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

(a) Via the RS–232–C interface or memory card slot

S In all modes except the MDI mode, programs are
registered/collated, or macro variables, parameters, or PMC data
is input by using the background editing function via an external
input device or memory card.
Which data to input is determined by the setting of each of the data
selection signals EPMC <G251#3>, EPRG <G251#4>, EVAR
<G251#5>, EPARM <G251#6>, and EDGN <G251#7>.
(b) Slave via the I/O Link (data input/output functions based on the I/O
Link (slave)) (Bit 0 of parameter No. 8761 = 0, IOLNK <G251#0> =
1, IOLS <G92#1> = 0)
S In all modes except the MDI mode, programs are
registered/collated, or macro variables, parameters, or PMC data
is input via the I/O Link by using the background editing function
from the program area of a unit (such as the Power Mate i–D/H and
FS16(i)/18(i)/21(i)) used as the master.
Create a ladder so that this signal is turned on when the slave
external read start signal ERDIO of the master is on.
Which data to input is determined by the setting of each of the data
selection signals EPRG <G251#4>, EVAR <G251#5>, EPARM
<G251#6>, and EDGN <G251#7>.
(c) Master via the I/O Link (data input/output function B based on the I/O
Link (master)) (Bit 0 of parameter No. 8761 = 0, IOLS <G92#1> = 1)
S In all modes except the MDI mode, programs are
registered/collated, or slave macro variables, parameters, or
diagnostic (PMC) data is stored in the program area via the I/O
Link by using the background editing function from the Power
Mate used as a slave.
Which data to input or store is determined by the program number
set with the PMC function instruction WINDW.

846
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

NOTE
S In the case of program input, which of registration and
collation to perform depends on the memory protection key
KEY3 <G046#5> (when bit 7 of parameter No. 3290 = 0) or
KEY1 <G046#3> (when bit 7 of parameter No. 3290 = 1).
S During data input operation, the read/punch in–progress
signal RPBSY is set to 1.
S If the background in–use signal BGEACT is set to 1, for
example, during background editing or in the MDI mode, the
external read start signal EXRD is ignored.
S When a reset is applied or the external read/punch stop
signal EXSTP is set to 1 during data input, input operation
is stopped.
S If the RS–232–C interface is already used in the foreground
(for example, during DNC operation or data input/output
operation using the [READ] or [PUNCH] soft key in the
editing mode), the external read start signal EXRD is
ignored.
S To enable program registration/collation, an additional
condition must be satisfied. For example, no program that
has the same number as a program to be
registered/collated must be under execution in the
foreground.

External punch start

signal
EXWT <G058#3>
[Classification] Input signal
[Function] This signal starts data output operation when the external I/O device
control function, data input/output function B based on the I/O Link
(master), or the data input/output functions based on the I/O Link (slave)
are used.
[Operation] When this signal is set to 1, the control unit operates as described below.
(a) Via the RS–232–C interface or memory card slot
S In all modes except the MDI mode, programs, macro variables,
parameters, diagnostic data, or PMC data is output to the external
input device or memory card by using the background editing
function.
Which data to output is determined by the setting of each of the data
selection signals EPMC <G251#3>, EPRG <G251#4>, EVAR
<G251#5>, EPARM <G251#6>, and EDGN <G251#7>.

847
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

(b) Slave via the I/O Link (data input/output functions based on the I/O
Link (slave)) (Bit 0 of parameter No. 8761 = 0, IOLNK <G251#0> =
1, IOLS <G92#1> = 0)
S In all modes except the MDI mode, programs, macro variables,
parameters, or diagnostic (PMC) data is output to the program area
of a unit (such as the Power Mate i–D/H and FS16(i)/18(i)/21(i))
used as the master via the I/O Link by using the background editing
function.
Create a ladder so that this signal is turned on when the slave
external write start signal EWTIO of the master is on.
Which data to output is determined by the setting of each of the data
selection signals EPRG <G251#4>, EVAR <G251#5>, EPARM
<G251#6>, and EDGN <G251#7>.
(c) Master via the I/O Link (data input/output function B based on the I/O
Link (master)) (Bit 0 of parameter No. 8761 = 0, IOLS <G92#1> = 1)
S In all modes except the MDI mode, programs, or macro variables,
parameters, or PMC data stored in the program area is output to the
Power Mate used as a slave via the I/O Link by using the
background editing function.
Which data to output is determined by the program number set with
the PMC function instruction WINDW.

NOTE
S During output operation, the read/punch in–progress signal
RPBSY is set to 1.
S If the background in–use signal BGEACT is set to 1, for
example, during background editing or in the MDI mode, the
external punch start signal EXWT is ignored.
S When a reset is applied or the external read/punch stop
signal EXSTP is set to 1 during data output, output
operation is stopped.
S If the RS–232–C interface is already used in the foreground
(for example, during DNC operation or program input
operation in the editing mode), the external punch start
signal EXWT is ignored.
S To enable program output operation, an additional condition
must be satisfied. For example, those programs that are
being executed or are protected with the bits 0 and 4 (NE8
and NE9) of parameter No. 3202 cannot be output.

848
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

External read/punch stop

signal
EXSTP <G058#2>
[Classification] Input signal
[Function] This signal forcibly stops data input/output operation when the external
I/O device control function, data input/output function B based on the I/O
Link (master), or the data input/output functions based on the I/O Link
(slave) are used.
[Operation] When this signal is set to 1, the control unit operates as described below.
S Data input/output operation started with the external read start signal
or external punch start signal is stopped immediately.

Read/punch in–progress
signal
RPBSY <F053#2>
[Classification] Output signal
[Function] This signal posts that data is being input/output with the external read start
signal or external punch start signal.
[Output condition] This signal is set to 1 in the following case:
S When input/output operation is started with the external read start
signal or external punch start signal
This signal is set to 0 in the following case:
S When data input/output operation started with the external read start
signal or external punch start signal ends
This signal is set to 0 when data input/output operation is stopped
normally and also when data input/output operation is stopped
forcibly with a reset or the external read/punch stop signal EXSTP.

Read/punch alarm signal

RPALM <F053#3>
[Classification] Output signal
[Function] This signal posts that an alarm was issued during data input/output
operation started with the external read start signal or external punch start
signal.
[Output condition] This signal is set to 1 in the following case:
S When an alarm is issued during data input/output operation started
with the external read start signal or external punch start signal
This signal is set to 0 in the following case:
S When a reset is applied or the external read/punch stop signal EXSTP
is input

849
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

EXRD
EXSTP

PRBSY

BGEACT
Read Read Read Read Read
start end start interrupt start

Fig. 13.3(a) Data input operation

EXWT
EXSTP

PRBSY

BGEACT
Punch Punch Punch Punch Punch
start end start interrupt start

Fig. 13.3(b) Data output operation

EXRD or EXWT
RPALM

PRBSY

BGEACT
Read/punch Read/punch Read start
start interrupt

Fig. 13.3(c) When an external read/punch alarm is issued

Background in–use
signal
BGEACT <F053#4>
[Classification] Output signal
[Function] This signal posts that the background editing function is operating.
[Output condition] This signal is set to 1 in the following cases:
S When the background editing mode is set with the [BG EDIT] soft key
S When the MDI mode is selected
S When data input/output operation is started with the external read start
signal or external punch start signal
This signal is set to 0 in the following cases:
S When the background editing mode is terminated with the [BG END]
soft key
S When the mode is switched from the MDI mode to another mode
S When data input/output operation started with the external read start
signal or external punch start signal is stopped
This signal is set to 0 when the background editing function is stopped
normally and also when the background editing function is stopped
forcibly with a reset or the external read/punch stop signal EXSTP.

850
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

Signal Address
#7 #6 #5 #4 #3 #2 #1 #0
G058 EXWT EXSTP EXRD

#7 #6 #5 #4 #3 #2 #1 #0
G091 SRLNI3 SRLNI1 SRLNI1 SRLNI0

#7 #6 #5 #4 #3 #2 #1 #0
G092 BGEN BGIALM BGION IOLS IOLACK

#7 #6 #5 #4 #3 #2 #1 #0
F053 BGEACT RPALM RPBSY

#7 #6 #5 #4 #3 #2 #1 #0
F177 EDGNM EPARMM EVARM EPRGM EWTIO ESPTIO ERDIO IOLNKM

#7 #6 #5 #4 #3 #2 #1 #0
F178 SRLNO3 SRLNO2 SRLNO1 SRLNO0

Parameter
0200 I/O device selection

This parameter can also be set on the ”Setting screen”.

[Data type] Byte
[Valid data range] 0 to 35
This parameter sets which interface to use for data input/output.
Setting Description

0,1 RS–232–C serial port 1

2 RS–232–C serial port 2

4 Memory card interface (on the main NC unit side)

6 DNC1/Ethernet (to be set only when DNC operation is performed)

7 Memory card interface (on the touch panel side)

20 Group 0
21 Group 1
22 Group 2 Data is transferred to and from the Power Mate of
  group n (n = 0 to 15) via the FANUC I/O Link.
34 Group 14
35 Group 15

851
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

NOTE
1 An I/O device can be selected on the setting screen as well, and the setting screen is usually
used for selection.
2 To transfer data to and from an external I/O device by using an I/O device interface (RS–232–C
serial port), the specifications (baud rate, the number of stop bits, and so forth) of the connected
I/O device need to be set in the parameters corresponding to the interface. (Refer to Section
4.2 in the parameter manual (B–63180EN).)
Each of I/O CHANNEL = 0 and I/O CHANNEL = 1 represents an I/O device connected to
RS–232–C serial port 1, but parameters for setting a baud rate, the number of stop bits, and
so forth are provided separately for each.

Mother board

I/O CHANNEL=0, 1
RS–232–C serial port 1/2 RS–232–C I/O device
R232 (JD42) (Channel 1)

I/O CHANNEL=2
RS–232–C I/O device
(Channel 2)

3 An I/O device interface may be referred to as a reader/puncher interface. RS–232–C serial port
1 and RS–232–C serial port 2 may be referred to as channel 1 and channel 2, respectively.
4 Channel 2 has no control line, so that the Handy file and floppy cassette cannot be connected.

8760 Number of a program with which slave data is registered (data input/output func-
tions based on the I/O Link)

[Data type] Word

[Valid data range] 0 to 9999
When the data input/output functions based on the I/O Link (master) is
used, this parameter sets the program number of a program with which
data (parameter/macro variable/diagnostic (PMC) data) from the slave is
registered.
The following program numbers are used for data from the slave of group
n:
Parameter: Setting + n 10 + 0
Macro variable: Setting + n 10 + 1
Diagnostic (PMC) data: Setting + n 10 + 2

852
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

(Example) When 8000 is set

[Program number] [Type of data saved with the program]
8000: Parameters of group 0 (I/O CHANNEL = 20)
8001: Macro variables of group 0 (I/O CHANNEL = 20)
8002: Diagnostic (PMC) data of group 0 (I/O CHANNEL = 20)
8010: Parameters of group 1 (I/O CHANNEL = 21)
8011: Macro variables of group 1 (I/O CHANNEL = 21)
8012: Diagnostic (PMC) data of group 1 (I/O CHANNEL = 21)
8020: Parameters of group 2 (I/O CHANNEL = 22)
8021: Macro variables of group 2 (I/O CHANNEL = 22)
8022: Diagnostic (PMC) data of group 2 (I/O CHANNEL = 22)
: :
: :
: :
8150: Parameters of group 15 (I/O CHANNEL = 35)
8151: Macro variables of group 15 (I/O CHANNEL = 35)
8152: Diagnostic (PMC) data of group 15 (I/O CHANNEL = 35)

#7 #6 #5 #4 #3 #2 #1 #0
8761 EIB

[Data type] Bit

EIB External I/O device control is exercised according to:
0 : Conventional specifications
1 : Extended specifications

NOTE
Set this bit to 0 when using data input/output function B
based on the I/O Link (master) and the data input/output
functions based on the I/O Link (slave).

853
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Alarm and message

No. Message Description

085 COMMUNICATION An overrun error, parity error, or framing

ERROR error occurred in read operation via the
reader/puncher interface or FANUC I/O
Link. The number of bits of input data
does not match, or the setting of a baud
rate or I/O device specification number
is incorrect.
086 DR SIGNAL OFF In data input/output via the reader/
puncher interface, the ready signal
(DR) of the I/O device is off. The power
to the I/O device is not turned on, a
cable is disconnected, or a printed cir-
cuit board is faulty. If this message is
output when data input/output via the
FANUC I/O Link is started, a prepara-
tion for data input/output on the slave
side is incomplete (BG editing is not
completed). If this message is output
during input/output operation, input/
output operation on the slave side is
suspended (with an alarm).
087 BUFFER OVER FLOW In read operation via the reader/punch-
er interface, an attempt to stop read op-
eration fails even when more than 10
characters are input. The I/O device or
a printed circuit board is faulty. Alterna-
tively, in data read operation via the FA-
NUC I/O Link, output operation from the
slave does not stop even when the
master directs the stopping of read op-
eration.

854
B–63173EN–1/02 13. INPUT/OUTPUT OF DATA

13.4
DATA INPUT/OUTPUT
FUNCTIONS BASED
ON THE I/O LINK
(SLAVE)

Outline Via the FANUC I/O Link, NC programs, parameters, macro variables,
diagnostic data, or PMC data can be transferred between a unit used as the
master and a Power Mate i–D/H unit. (Diagnostic data is output only.)
The method of data input/output control depends on the function of the
master of the FANUC I/O Link. The data input/output functions based
on the I/O Link cannot be used in combination with an I/O Link master
unit that does not have the function.
The Power Mate–A/B/C/D/E/F/H cannot function as the master of the
functions. When the Power Mate i–D/H is used as the master, see Section
13.3, ”Data Input/Output Functions Based On the I/O Link (Master)”, for
details of the functions.

Signal Only a particularly important signal is described below. For other signals,
see Section 13.2, ”External I/O Device Control”.

FANUC I/O Link signal

IOLNK
<G251#0>
[Classification] Input signal
[Function] This signal selects a channel for transferring programs, parameters, macro
variables, diagnostic data, or PMC data to and from the master unit via
the FANUC I/O Link when bit 0 (EIB) of parameter No. 8761 is set to 0
(conventional specifications) for external I/O device control. (Data
input/output functions based on the I/O Link (slave))
IOLNK = 0: When external I/O device control is used, data is
input/output via the RS–232–C interface.
IOLNK = 1: When external I/O device control is used, data is
input/output via the FANUC I/O Link. (The data
input/output functions based on the I/O Link (slave) are
used.)

Signal Address
#7 #6 #5 #4 #3 #2 #1 #0
G251 IOLNK

855
13. INPUT/OUTPUT OF DATA B–63173EN–1/02

Parameter Only particularly important parameters are described below. For other
parameters, see Section 13.2, ”External I/O Device Control”.

0200 I/O device selection

Setting input is possible.

[Data type] Byte
[Valid data range] 0 to 35
Set this parameter to 0 when using the data input/output functions based
on the I/O Link (slave).

#7 #6 #5 #4 #3 #2 #1 #0
8761 EIB

[Data type] Bit

EIB External I/O device control is exercised according to:
0 : Conventional specifications
1 : Memory card specifications

NOTE
Set this bit to 0 when using data input/output function B
based on the I/O Link (master) and the data input/output
functions based on the I/O Link (slave).

856
B–63173EN–1/02 14. MEASUREMENT

14 MEASUREMENT

857
14. MEASUREMENT B–63173EN–1/02

14.1
TOOL LENGTH
MEASUREMENT

General
The value displayed as a relative position can be set in the offset memory
as an offset value by a soft key.

Call offset value display screen on the CRT. Relative positions are also
displayed on this screen. Then select the reference tool and set it at the
fixed point on the machine by manual operation. Reset the displayed
relative position to zero. Set the tool for measurement at the same fixed
point on the machine by manual operation. The relative position display
at this point shows difference between the reference tool and the tool
measured and the relative position display value is then set as offset
amounts.

ÄÄ ÄÄ
ÄÄ ÄÄ
ÄÄ ÄÄ
Reference tool

ÄÄ
ÄÄ This difference
is set as offset
amount

Fixed point

Reference Item
OPERATOR’S MANUAL V.11.4.2 Tool Length Measurement
(B–63174EN)

858
B–63173EN–1/02 14. MEASUREMENT

14.2
SKIP FUNCTION
14.2.1
Skip Function
General Linear interpolation can be commanded by specifying axial move
following the G31 command, like G01. If an external skip signal is input
during the execution of this command, execution of the command is
interrupted and the next block is executed.
The skip function is used when the end of machining is not programmed
but specified with a signal from the machine, for example, in grinding. It
is used also for measuring the dimensions of a workpiece.

The coordinate values when the skip signal is turned on can be used in a
custom macro because they are stored in the custom macro system
variable #5061 to #5068, as follows:
#5061 Fisrt axis coordinate value
#5062 Second axis coordinate value
#5063 3rd axis coordinate value
:
:
#5068 8th axis coordinate value

Signal

Skip Signal
SKIP
D <X000#7> or
<X1000#7> on Power
Mate i–H and on
1–path control and
path 1 side of 2–path
control of the Power
Mate i–D
D <X001#7> or
<X1001#7> on path 2
side of 2–path control
of the Power Mate i–D
SKIPP <G006#6>
[Classification] Input signal
[Function] This signal terminates skip cutting. That is, the position where a skip
signal turns to “1” in a block containing G31 is stored in a custom macro
variable, and the move command of the block is terminated at the same
time.
[Operation] When a skip signal turns to “1”, the control unit works as described below.
· When a block contains a skip cutting command G31, the control unit
reads and stores the current position of the specified axis at that time.
The control unit stops the axis, then cancels the remaining distance that
the block was supposed to be moved.

859
14. MEASUREMENT B–63173EN–1/02

· The skip signal is monitored not for a rising edge, but for its state. So,
if a skip signal continues to be “1”, a skip condition is assumed to be
satisfied immediately when the next skip cutting is specified.

NOTE
1 The skip signal width requires at least 10 msec.
2 The CNC directly reads the skip signal SKIP<X000#7,
X001#7> or <X1000#7, X1001#7> from the machine tool;
the PMC no longer requires to process the signal.
3 If the skip function G31 is not used, the PMC can use the
signal terminal SKIP<X000#7, X001#7> or <X1000#7,
X1001#7> corresponding to the skip signal as a general
purpose input signal.

Signal address

D Power Mate i–H and

1–path control and #7 #6 #5 #4 #3 #2 #1 #0
path 1 side of 2–path X000 SKIP
control of the Power
#7 #6 #5 #4 #3 #2 #1 #0
Mate i–D X1000 SKIP

#7 #6 #5 #4 #3 #2 #1 #0
G006 SKIPP

D Path 2 side of 2–path

control of the Power #7 #6 #5 #4 #3 #2 #1 #0
Mate i–D X001 SKIP IGP

#7 #6 #5 #4 #3 #2 #1 #0
X1001 SKIP IGP

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6200 SKF SK0 GSK

[Data type] Bit

GSK In skip cutting (G31), the skip signal SKIPP (bit 6 of G006) is:
0 : Not used as a skip signal.
1 : Used as a skip signal.
SK0 This parameter specifies whether the skip signal is made valid under the
state of the skip signal SKIP and the multistage skip signals SKIP, SKIP2
to SKIP4.
0 : When these signals are 1, they are assumed to be input (skip).
1 : When these signals are 0, they are assumed to be input (skip).

860
B–63173EN–1/02 14. MEASUREMENT

SKF Dry run, override, and automatic acceleration/deceleration for G31 skip
command
0 : Disabled
1 : Enabled

#7 #6 #5 #4 #3 #2 #1 #0
6202 1S1

1S1 0 : The SKIP signal is invalid.

1 : The SKIP signal is valid.

Warning

WARNING
Disable feedrate override, dry run, and automatic
acceleration/deceleration (enabled with parameter No.
6200#7 SKF=1) when the feedrate per minute is specified,
allowing for reducing an error in the position of the tool when
a skip signal is input. These functions are enabled when the
feedrate per rotation is specified.

Note

NOTE
1 The G31 block is always set to G01 mode. The feedrate is
specified by an F code.
2 When the measuring motion is made by utilizing the skip
signal, program a constant feedrate; otherwise, if the
feedrate changes, the measuring error will be noticeable.
With a constant feedrate, the maximum measuring error can
be calculated as follows:
ERRmax = Fm × 1 × 4
60 1000
ERRmax : Maximum measuring error (mm or inch)
Fm : Measuring feedrate (mm/min or inch/min)
3 Overtravel amount Qmax after skip signal has been turned
to “1” is calculated by the following:
Qmax = Fm × 1 × 1
(20#1 + Tc + Ts)
60 1000
Qmax : Overtravel amount (mm or inch)
Fm : Feedrate (mm/min or inch/min)
Tc : Cutting time constant (ms)
Ts : Servo time constant (ms) (1 loop gain)
#1 : The value becomes 28 when the skip signal SKIPP
<G006#6> is used. (Also it changes according to
the processing time of ladder program).

861
14. MEASUREMENT B–63173EN–1/02

Reference item
OPERATOR’S MANUAL II.4.14 SKIP FUNCTION(G31)
(B–63174EN)

14.2.2
Multi–step Skip

General In a block specifying P1 to P4 after G31, the multi-step skip function

stores coordinates in a custom macro variable and cancels the remaining
distance that the block was supposed to be moved when a skip signal (8
points) or high-speed skip signal (8 points however in the case of Series
21i/210i 1 point) is turned on.
Also in a block specifying Q1 to Q4 after G04, this function skips a dwell
when the skip signal or high speed skip signal has turned on.
A skip signal from equipment such as a fixed-dimension size measuring
instrument can be used to skip programs being executed.
In plunge grinding, for example, a series of operations from rough
machining to spark-out can be performed automatically by applying a
skip signal each time rough machining, semi-fine machining, fine-
machining, or spark-out operation is completed.

Signal

Skip signal
SKIP, SKIP2 to SKIP4
D <X0000#0, #1, #2, #7>
or <X1000#0, #1, #2,
#7> Power Mate i–H
and 1–path control
and path 1 side of
2–path control of the
Power Mate i–D
D <X0001#0, #1, #2, #7>
or <X1001#0, #1, #2,
#7> Path 2 side of
2–path control of the
Power Mate i–D SKIPP
<G006#6>
[Classification] Input signal
[Function] These signals terminate skip cutting. That is, the position where a skip
signal turns to “1” in a command program block containing G31P1 (or
G31), G31P2, or G31P3, G31P4 is stored in a custom macro variable, and
the move command of the block is terminated at the same time.
Furthermore, in a block containing G04, G04Q1, G04Q2, G04Q3 or
G04Q4, the dwell command of the block is terminated.

862
B–63173EN–1/02 14. MEASUREMENT

In either case, until all other commands (such as auxiliary functions) of

the block are completed, machining never proceeds to the next block.
Which of the four skip signals is applicable to blocks containing the G
codes can be determined by parameter (no. 6202 to 6206). The eight skip
signals can correspond to the G codes on a one-to-one basis. One skip
signal can also be made applicable to multiple G codes. Conversely,
multiple skip signals can be made applicable to one G code.
[Operation] When a skip signal turns to “1”, the control unit functions as described
below.
· When a block contains a G code from (G31, G31P1 to P4) for skip
cutting, and the skip signal is made applicable by parameter setting to
the command, the control unit reads and stores the current position of
the specified axis at that time. The control unit stops the axis, then
cancels the remaining distance that the block was supposed to be
moved.
· When a block contains a G04, or G04Q1 to Q4 code for dwell, and the
skip signal is made applicable by parameter setting to the command, the
control unit stops dwell operation, and cancels any remaining dwell
time.
· The skip signal is monitored not for a rising edge, but for its state. So,
if a skip signal continues to be “1”, a skip condition is assumed to be
satisfied immediately when the next skip cutting or dwell operation is
specified.

Signal address

D Power Mate i–H and

1–path control and #7 #6 #5 #4 #3 #2 #1 #0
path 1 side of 2–path X000 SKIP
control of the #7 #6 #5 #4 #3 #2 #1 #0
Power Mate i–D X1000 SKIP

D Path 2 side of 2–path

control of the Power #7 #6 #5 #4 #3 #2 #1 #0
Mate i–D G006 SKIPP

#7 #6 #5 #4 #3 #2 #1 #0
X001 SKIP SKIP4 SKIP3 SKIP2

#7 #6 #5 #4 #3 #2 #1 #0
X1001 SKIP SKIP4 SKIP3 SKIP2

863
14. MEASUREMENT B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6202 1S4 1S3 1S2 1S1

6203 2S4 2S3 2S2 2S1

6204 3S4 3S3 3S2 3S1

6205 4S4 4S3 4S2 4S1

6206 DS4 DS3 DS2 DS1

[Data type] Bit

1S1–1S4, 2S1–2S4, 3S1–3S4, 4S1–4S4, DS1–DS4
Specify which skip signal is enabled when the skip command (G31, or
G31P1 to G31P4) and the dwell command (G04, G04Q1 to G04Q4) are
issued with the multi–step skip function.
The following table shows the correspondence between the bits, input
signals, and commands.
The settings of the bits have the following meanings:
0 : The skip signal corresponding to the bit is disabled.
1 : The skip signal corresponding to the bit is enabled.
Multi–step skip function
Command G04
G31 G04Q1,
G31P2 G31P3 G31P4
G31P1 G04Q2,
Input G04Q2 G04Q3 G04Q4
G04Q1 G04Q3
signal G04Q4
SKIP, SKIPP 1S1 2S1 3S1 4S1 DS1

SKIP2 1S2 2S2 3S2 4S2 DS2

SKIP3 1S3 2S3 3S3 4S3 DS3

SKIP4 1S4 2S4 3S4 4S4 DS4

#7 #6 #5 #4 #3 #2 #1 #0
6209 DSK

[Data type] Bit

DSK 0 : Disables skip signal SKIPP from the PMC for the dwell skip function.
1 : Enables skip signal SKIPP from the PMC for the dwell skip function.

864
B–63173EN–1/02 14. MEASUREMENT

Note
NOTE
The skip cutting commands G31 P1, G31 P2, G31 P3, and
G31 P4 are all identical, except that they correspond to
different skip signals. The tool moves along the specified
axis until the SKIP signal is set to “1” or the end point of the
specified movement is reached, while performing linear
interpolation. The feedrate is specified in the program. G31
is the same as G31 P1.
Dwell commands G04, G04 Q1, G04 Q2, G04 Q3, and G04
Q4 are also identical, except that they correspond to
different skip signals.

Reference item
OPERATOR’S MANUAL II.4.5 Multi–step Skip (G31)
(B–63174EN)

14.2.3
High–Speed Skip
Function

General The skip function can be performed by using a high–speed skip signal
(DI30 – DI37: connected directly to the CNC; not via the PMC) instead
of an ordinary skip signal (SKIP1 – SKIP4). In this case, up to eight
signals can be input. This high–speed skip signal input function allows
high precision measurement.

Acceleration/ According to this skip function, CNC can memorize the ”current
Deceleration and Servo position” of the axis at the moment when a skip signal is input. However,
Delay Compensation the ”current position” includes a delay in the servo system. In other words,
(Type A/B) the ”current position” deviates by the distance corresponding to the servo
delay from the actual tool position. This deviation can be estimated from
the following error in the servo system and the number of remaining
pulses caused by the acceleration/ deceleration. Taking this deviation into
account eliminates the necessity to include the servo delay in a
measurement error.
The deviation of the ”current position” can be compensated for by either
of the following two types, using parameter SEA (bit 0 of parameter No.
6201) or parameter SEB (bit 1 of parameter No. 6201).
(1) Type A: The deviation is estimated from the cutting time constant and
the servo time constant (loop gain).
(2) Type B: The deviation is assumed to be a sum of the following error
and the number of remaining pulses caused by the acceleration/
deceleration when the skip signal is turned on.

865
14. MEASUREMENT B–63173EN–1/02

Direction in which the

axis moves

High–speed
skip signal

Pnc

Q P

Position where Position of the axis when

the axis actually the skip signal was input Origin of the
stopped coordinate
system

Pnc: Position where an axis is actually stopped after detecting a skip

signal. [mm/inch]
P: Position to be measured [mm/inch]
Q: Servo delay [mm/inch]
Under the conditions shown above, the NC calculates the following
equation according to the parameter SEA (bit 0 of parameter No. 6201)
or the SEB (bit 1 of parameter No. 6201):
P = Pnc – Q
As for type A (SEA bit 0 of parameter No. 6201 is ”1”), the deviation is
calculated by:
Q = Fm 1/60 (a Tc/1000+Ts/1000)
Fm: Feedrate [mm/min or inch/min]
Tc: Cutting time constant [msec] (Parameter No. 1622:)
If parameter SKF (bit 7 of parameter No. 6200) = 0, then Tc = 0.
Ts: Servo time constant [msec]
Assuming that the loop gain (parameter No. 1825) is G (unit: 1/s),
then Ts =1000/G
a: =1 in case exponential acceleration/deceleration
=1/2 in case linear acceleration/deceleration

NOTE
In case of type A (parameter SEA (bit 0 of No. 6201)=1), the
skip signal must be turned on when the axis moves at
constant feedrate.

866
B–63173EN–1/02 14. MEASUREMENT

Movement between this After the in–position check is done between the block of this command
command and and the former/latter block, the next block is started.
former/latter block
Speed

This command
Latter block

Time

Speed In–position check

Former block This command

Time

In–position check

Signal

High–speed skip signal

DI30 – DI37
<X1003#0–#7>
[Classification] Input signal
[Function] These signals interrupt skip cutting. That is, the position, where a skip
signal turns to ”1” in a command program block containing G31, G31P1
to P8, is stored in a custom macro variable, and the move command of the
block is interrupted at the same time.
Furthermore, in a block containing G04, G04Q1 to Q8, the dwell
command of the block is interrupted by this signal.
In either case, until all other commands (such as auxiliary functions) of
the block are completed, machining never proceeds to the next block.
Which of the eight skip signals is applicable to blocks containing the G
codes can be determined by parameter (No. 6202 to 6206, No 6270 to
6273). The eight skip signals can correspond to the G codes on a
one–to–one basis. One skip signal can also be made applicable to multiple
G codes. Conversely, multiple skip signals can be made applicable to one
G code.

867
14. MEASUREMENT B–63173EN–1/02

[Operation] When a skip signal turns to ”1”, the control unit functions as described
below.
· When a block contains a G code for skip cutting (from G31, G31P1 to
P8), and the skip signal is made applicable to the command by
parameter setting, the control unit reads and stores the current position
of the specified axis at that time. The control unit stops the axis, and then
cancels the remaining distance that the block was supposed to be
moved.
· When a block contains a G04, or G04Q1 to Q8 for dwell, and the skip
signal is made applicable to the command by parameter setting, the
control unit stops dwell operation, and cancels any remaining dwell
time.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X1003 DI37 DI36 DI35 DI34 DI33 DI32 DI31 DI30

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6200 SRE SLS

[Data type] Bit

SLS While the high–speed skip signals are input, the high–speed skip signals
are :
0 : Not available
1 : Available

NOTE
The following parameters must be set, if the above
parameter is set to ”1” and the high–speed skip signals are
available.
No.8731, 8732, 8733

SRE In case the status trigger method for high–speed skip signals is selected
(bit 6 of No.6209 = 0) :
0 : The signal is considered to be input at the status ”1”.
1 : The signal is considered to be input at the status ”0”.

NOTE
The skip signals (SKIP, SKIP2 – SKIP4) are available
irrespective of whether this parameter is set. If the
parameter IGX (bit 4 of No.6201) is set to 1, these signals
are not available.

868
B–63173EN–1/02 14. MEASUREMENT

#7 #6 #5 #4 #3 #2 #1 #0
6201 IGX SEB SEA

[Data type] Bit

SEA When a high–speed skip signal turns on while the skip function is used,
acceleration/deceleration and servo delay are:
0 : Ignored.
1 : Considered and compensated (type A).

SEB When a high–speed skip signal turns on while the skip function is used,
acceleration/deceleration and servo delay are:
0 : Ignored.
1 : Considered and compensated (type B).

IGX When the high–speed skip function is used, SKIP, SKIP2 to SKIP4, and
SKIPP(G006#6) are:
0 : Enabled as skip signals.
1 : Disabled as skip signals.

#7 #6 #5 #4 #3 #2 #1 #0
6202 1S8 1S7 1S6 1S5 1S4 1S3 1S2 1S1

6203 2S8 2S7 2S6 2S5 2S4 2S3 2S2 2S1

6204 3S8 3S7 3S6 3S5 3S4 3S3 3S2 3S1

6205 4S8 4S7 4S6 4S5 4S4 4S3 4S2 4S1

6206 DS8 DS7 DS6 DS5 DS4 DS3 DS2 DS1

6270 5S8 5S7 5S6 5S5 5S4 5S3 5S2 5S1

6271 6S8 6S7 6S6 6S5 6S4 6S3 6S2 6S1

6272 7S8 7S7 7S6 7S5 7S4 7S3 7S2 7S1

6273 8S8 8S7 8S6 8S5 8S4 8S3 8S2 8S1

[Data type] Bit

1S1–1S8, 2S1–2S8, 3S1–3S8, 4S1–4S8, 5S1–5S8, 6S1–6S8,

7S1–7S8, 8S1–8S8, DS1–DS8 :
Specify which skip signal is enabled when the skip command (G31, or
G31P1 to G31P8) and the dwell command (G04, G04Q1 to G04Q8) are
issued with the multi–step skip function.
The following table shows the correspondence among the bits, input
signals, and commands.
The settings of the bits have the following meanings:
0 : The skip signal corresponding to the bit is disabled.
1 : The skip signal corresponding to the bit is enabled.

869
14. MEASUREMENT B–63173EN–1/02

Multi–step skip function

Command
G31 G04
G31P2 G31P3 G31P4 G31P5 G31P6 G31P7 G31P8
G31P1 G04Q1
Input G04Q2 G04Q3 G04Q4 G04Q5 G04Q6 G04Q7 G04Q8
G04Q1 ~Q8
signal

SKIP/DI30 1S1 2S1 3S1 4S1 5S1 6S1 7S1 8S1 DS1

SKIP2/DI31 1S2 2S2 3S2 4S2 5S2 6S2 7S2 8S2 DS2

SKIP3/DI32 1S3 2S3 3S3 4S3 5S3 6S3 7S3 8S3 DS3

SKIP4/DI33 1S4 2S4 3S4 4S4 5S4 6S4 7S4 8S4 DS4

DI34 1S5 2S5 3S5 4S5 5S5 6S5 7S5 8S5 DS5

Di35 1S6 2S6 3S6 4S6 5S6 6S6 7S6 8S6 DS6

DI36 1S7 2S7 3S7 4S7 5S7 6S7 7S7 8S7 DS7

DI37 1S8 2S8 3S8 4S8 5S8 6S8 7S8 8S8 DS8

#7 #6 #5 #4 #3 #2 #1 #0
6209 SEDG

[Data type] Bit

SEDG The status trigger method for high–speed skip signals in high–speed skip
function
0 : Is available
1 : Is not available (The only edge trigger is available.)
In case that the status trigger method is not available, the skip operation
is not performed, even if the skip signal is enabled before the block of the
high–speed skip starts executing.

#7 #6 #5 #4 #3 #2 #1 #0
8731
EPMC7 EPMC6 EPMC5 EPMC4 EPMC3 EPMC2 EPMC1 EPMC0

[Data type] Bit

EPMCn The signal DI3n (X1003 bit n) is
0 : Used for high–speed skip function or measuring function by using
high–speed skip signal
1 : Used for interrupt type PMC

NOTE
This parameter must be set to 0, when the above functions
are not used.

870
B–63173EN–1/02 14. MEASUREMENT

#7 #6 #5 #4 #3 #2 #1 #0
8732 UPEG7 UPEG6 UPEG5 UPEG4 UPEG3 UPEG2 UPEG1 UPEG0

[Data type] Bit

UPEGn The rising edge (0 → 1) of the signal DI3n (X1003 bit n) is :
0 : Not used for interrupt type PMC or high–speed skip signal.
1 : Used for interrupt type PMC or high–speed skip signal.

#7 #6 #5 #4 #3 #2 #1 #0
8733 DWEG7 DWEG6 DWEG5 DWEG4 DWEG3 DWEG2 DWEG1 DWEG0

[Data type] Bit

DWEGn The falling edge (1 → 0) of the signal DI3n (X1003 bit n) is
0 : Not used for interrupt type PMC or high–speed skip signal
1 : Used for interrupt type PMC or high–speed skip signal.

6240 Compensation for high–speed skip signal DI30

6241 Compensation for high–speed skip signal DI31

6242 Compensation for high–speed skip signal DI32

6243 Compensation for high–speed skip signal DI33

6244 Compensation for high–speed skip signal DI34

6245 Compensation for high–speed skip signal DI35

6246 Compensation for high–speed skip signal DI36

6247 Compensation for high–speed skip signal DI37

[Data type] Word

[Unit of data] msec
[Valid data range] 0–8000
Error caused by the delay of a sensor can be compensated by this
parameter. Setting data is ineffective when the value was out of range.

871
14. MEASUREMENT B–63173EN–1/02

14.2.4
High–Speed Skip
Function (with
Traveling Distance
from Skip Signal)

General In the G31 block specifying the traveling distance R from skip signal, if
the high–speed skip signal is input during execution of this block, the
control unit stops the axis after moving the specified traveling distance
from skip signal and then cancels the remaining distance that the block
was supposed to be moved.

Basic operations
Speed

Traveling distance
R from skip signal

Time
Skip signal input

CAUTION
Please input the skip signal while the axis speed is constant.

NOTE
1 Dry run, override, and automatic acceleration/deceleration
for G31 skip command are always enabled irrespective of
whether parameter SKF (bit 7 of No.6200) is set.
2 Acceleration/deceleration before interpolation can not be
applied to this block.

872
B–63173EN–1/02 14. MEASUREMENT

In case the axis can not One of the following actions are done when the movement can not be
be decelerated and decelerated and stopped within the specified traveling distance from skip
stopped within the signal.
specified traveling (1) In case the parameter SKR (bit 7 of No.6209)=0 (the axis comes back
distance from skip signal to the stop position after the axis passes by the stop position):
because the distance is
too short High–speed skip Temporal stop position
signal input

Start position Stop position

Reversal action
Specified traveling
distance from skip
signal Distance to
decelerate

(2) In case the parameter SKR(bit 7 of No.6209)=1 (the axis decelerates

and stops without reversal motion):

High–speed skip
signal input
Start position Stop position

Specified traveling
distance from skip Distance to
signal decelerate

Movement between the The in–position check and the accelerating/decelerating completion
block with this command check between blocks are not done, when both this block and the next
and the next block block are commanded the cutting feed.
But the next block is read after the skip signal is input. So, the axis
decelerates between blocks for a time, if the traveling distance from skip
signal is short.

873
14. MEASUREMENT B–63173EN–1/02

(1) When the traveling distance from skip signal is long enough to
decelerate.

Speed Skip signal input

This command Next block (G01)

Time

Note) The part of is specified traveling distance from skip signal.

(2) When the traveling distance from skip signal is short. (Parameter SKR
(bit 7 of No.6209) is 1.)

Speed Skip signal input

This command Next block (G01)

Time

Note) The part of is specified traveling distance from skip signal.

The valid area for skip In the block of this command, the valid area for skip signal is shown
signal below.
(a) In case the axis stops at the start point of the block with this command.

Speed
Specified travel-
ing distance R
from skip signal
Time

T T Time

The valid area for skip signal

NOTE
1 T is the time constant of the acceleration/deceleration.
2 The servo delay is not considered in above figure.
3 The skip signal is not valid during decelerating.

874
B–63173EN–1/02 14. MEASUREMENT

(b) In case the axis does not stop between the former block and the block
of G31.

Speed
Specified traveling
distance R from
skip signal

Block of G01 Block of G31

Time
T T

The valid area for skip signal

NOTE
1 T is the time constant of the acceleration/deceleration.
2 The servo delay is not considered in above figure.
3 The skip signal is not valid during decelerating.

CAUTION
When the skip signal inputs at the period of A in above
figure, the measurement position may be out of the area of
this command.

875
14. MEASUREMENT B–63173EN–1/02

Signal

High–Speed Skip Signal

DI30 – DI37
<X1003#0–#7>
[Classification] Input signal
[Function] These signals interrupt skip cutting. That is, the position, where a skip
signal turns to ”1” in a command program block containing G31, G31P1
to P8 R_, is stored in a custom macro variable, and the move command
of the block is interrupted after moving the specified traveling distance
from skip signal. In this case, until all other commands (such as auxiliary
functions) of the block are completed, machining never proceeds to the
next block.
Which of the eight skip signals is applicable to blocks containing the G
codes can be determined by parameter (No. 6202 to 6205, No 6270 to
6273). The eight skip signals can correspond to the G codes on a
one–to–one basis. One skip signal can also be made applicable to multiple
G codes. Conversely, multiple skip signals can be made applicable to one
G code.
[Operation] When a skip signal turns to ”1”, the control unit functions as described
below.
· When a block contains a G code for skip cutting (from G31, G31P1 to
P8), and the skip signal is made applicable to the command by
parameter setting, the control unit reads and stores the current position
of the specified axis at that time. The control unit stops the axis after
moving the specified traveling distance from skip signal and then
cancels the remaining distance that the block was supposed to be
moved.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X1003 DI37 DI36 DI35 DI34 DI33 DI32 DI31 DI30

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6200 SRE SLS

[Data type] Bit

SLS While the high–speed skip signals are input, the high–speed skip signals
are:
0 : Not available
1 : Available

876
B–63173EN–1/02 14. MEASUREMENT

NOTE
The following parameters must be set, if the above
parameter is set to ”1” and the high–speed skip signals are
available.
No.8731, 8732, 8733

SRE In case the status trigger method for high–speed skip signals is selected
(bit6 of No.6209 = 0) :
0 : The signal is considered to be input at the status ”1”.
1 : The signal is considered to be input at the status ”0”.

NOTE
The skip signals (SKIP, SKIP2 – SKIP4) are available
irrespective of whether this parameter is set. If the
parameter IGX (bit 4 of No.6201) is set to 1, these signals
are not available.

#7 #6 #5 #4 #3 #2 #1 #0
6201 IGX

[Data type] Bit

IGX When the high–speed skip function is used, SKIP, SKIP2 to SKIP4, and
SKIPP (G006#6) are:
0 : Enabled as skip signals.
1 : Disabled as skip signals.

#7 #6 #5 #4 #3 #2 #1 #0
6202 1S8 1S7 1S6 1S5 1S4 1S3 1S2 1S1

6203 2S8 2S7 2S6 2S5 2S4 2S3 2S2 2S1

6204 3S8 3S7 3S6 3S5 3S4 3S3 3S2 3S1

6205 4S8 4S7 4S6 4S5 4S4 4S3 4S2 4S1

6206 DS8 DS7 DS6 DS5 DS4 DS3 DS2 DS1

6270 5S8 5S7 5S6 5S5 5S4 5S3 5S2 5S1

6271 6S8 6S7 6S6 6S5 6S4 6S3 6S2 6S1

6272 7S8 7S7 7S6 7S5 7S4 7S3 7S2 7S1

6273 8S8 8S7 8S6 8S5 8S4 8S3 8S2 8S1

877
14. MEASUREMENT B–63173EN–1/02

[Data type] Bit

1S1–1S8, 2S1–2S8, 3S1–3S8, 4S1–4S8, 5S1–5S8, 6S1–6S8,
7S1–7S8, 8S1–8S8, DS1–DS8 :
Specify which skip signal is enabled when the skip command (G31, or
G31P1 to G31P8) is issued with the multi–step skip function.
The following table shows the correspondence among the bits, input
signals, and commands.
The settings of the bits have the following meanings:
0 : The skip signal corresponding to the bit is disabled.
1 : The skip signal corresponding to the bit is enabled.
Multi–step skip function
Command G31
G31P2 G31P3 G31P4 G31P5 G31P6 G31P7 G31P8
Input signal G31P1

SKIP/DI30 1S1 2S1 3S1 4S1 5S1 6S1 7S1 8S1

SKIP2/DI31 1S2 2S2 3S2 4S2 5S2 6S2 7S2 8S2

SKIP3/DI32 1S3 2S3 3S3 4S3 5S3 6S3 7S3 8S3

SKIP4/DI33 1S4 2S4 3S4 4S4 5S4 6S4 7S4 8S4

DI34 1S5 2S5 3S5 4S5 5S5 6S5 7S5 8S5

Di35 1S6 2S6 3S6 4S6 5S6 6S6 7S6 8S6

DI36 1S7 2S7 3S7 4S7 5S7 6S7 7S7 8S7

DI37 1S8 2S8 3S8 4S8 5S8 6S8 7S8 8S8

#7 #6 #5 #4 #3 #2 #1 #0
6209 SKRT SEDG

[Data type] Bit

SEDG The status trigger method for high–speed skip signals in high–speed skip
function
0 : Is available
1 : Is not available (The only edge trigger is available.)
In case that the status trigger method is not available, the skip operation
is not performed, even if the skip signal is enabled before the block of the
high–speed skip starts executing.
SKRT In case the traveling distance from skip signal in the high–speed skip is
shorter than the decelerating distance,
0 : The axis comes back to the stopped position after the axis passes by
the stopped position once.
1 : The axis stops at the position where the axis can stop.

878
B–63173EN–1/02 14. MEASUREMENT

#7 #6 #5 #4 #3 #2 #1 #0
8731
EPMC7 EPMC6 EPMC5 EPMC4 EPMC3 EPMC2 EPMC1 EPMC0

[Data type] Bit

EPMCn The signal DI3n (X1003 bit n) is
0 : Used for high–speed skip function or measuring function by using
high–speed skip signal
1 : Used for interrupt type PMC

NOTE
This parameter must be set to 0, when the above functions
are not used.

#7 #6 #5 #4 #3 #2 #1 #0
8732 UPEG7 UPEG6 UPEG5 UPEG4 UPEG3 UPEG2 UPEG1 UPEG0

[Data type] Bit

UPEGn The rising edge (0 → 1) of the signal DI3n (X1003 bit n) is :
0 : Not used for interrupt type PMC or high–speed skip signal.
1 : Used for interrupt type PMC or high–speed skip signal.

#7 #6 #5 #4 #3 #2 #1 #0
8733 DWEG7 DWEG6 DWEG5 DWEG4 DWEG3 DWEG2 DWEG1 DWEG0

[Data type] Bit

DWEGn The falling edge (1 → 0) of the signal DI3n (X1003 bit n) is
0 : Not used for interrupt type PMC or high–speed skip signal
1 : Used for interrupt type PMC or high–speed skip signal.

879
14. MEASUREMENT B–63173EN–1/02

6240 Compensation for high–speed skip signal DI30

6241 Compensation for high–speed skip signal DI31

6242 Compensation for high–speed skip signal DI32

6243 Compensation for high–speed skip signal DI33

6244 Compensation for high–speed skip signal DI34

6245 Compensation for high–speed skip signal DI35

6246 Compensation for high–speed skip signal DI36

6247 Compensation for high–speed skip signal DI37

[Data type] Word

[Unit of data] msec
[Valid data range] 0–8000
Error caused by the delay of a sensor can be compensated by this
parameter. Setting data is ineffective when the value was out of range.

Caution

CAUTION
1 The traveling distance R from skip signal is specified the
distance that is traveled along a tangent, when two or more
axes are specified in this block.
2 The axis passes by the specified end–position by the
traveling distance from skip signal, if the skip signal is not
input for the block of G31.
3 In case of rotary axis, please set feed rate of the axis less
than n 2500deg/min (n: moving amount per one rotation).
4 When the shorter route control for the rotary axis, that is
enabled the roll–over function, is selected, the direction of
axis movement is the same as the direction specified when
the traveling distance from skip signal is not given.
5 Please input a skip signal at intervals of 16 msec or more.

880
B–63173EN–1/02 14. MEASUREMENT

14.3
MEASURING
FUNCTION BY USING
HIGH–SPEED SKIP
SIGNAL (Power Mate
i–H)

General The workpiece coordinate value of an axis just detected when a

high–speed skip signal inputs, or the interval from a high speed skip
signal input to the next can be stored into the macro system variables.
Eight high–speed skip signals are prepared to measure eight axes one by
one.

D Measure The workpiece coordinate values of an axis just detected when a

high–speed skip signal input, or the interval from a high–speed skip signal
(DI30–DI37) input to the next can be stored into the macro system
variables. Measured data type (workpiece coordinate value or distance
between two signals) depends on the parameter No.6218.
The measurement is executed when the high–speed skip signal turns on,
turns off or both of them (this depends on the parameter No.8732 and
No.8733).
The high–speed skip signal that is used to measure is selected by the
measuring signal (G244).

D Buffers (System Eight ring buffers are prepared to keep measured data, and each of them
variables) can hold 100 points of data (system variables: #9000–#9799). By the
parameter No.6220–No.6227 and No.6230–No6237, you can select
which ring buffer is used to store measured data into. Number of data that
is stored in a ring buffer depends on the parameter No.6210–No.6217.
The initial data of the system variables can be set by user (default is 0).

Measured data in this area are kept in a ring buffer

Sensor during axis moving (maximum number of data is 100).
Marker
Process

D Write pointer of ring The system variables 9800–9814 are assigned for a write pointer of ring
buffer buffer. The initial value of the write pointer can be set by user (please
confirm that measuring signal is off when this value will be set).

881
14. MEASUREMENT B–63173EN–1/02

Signal

High–speed skip signal

DI30 – DI37
<X1003#0–#7>
[Classification] Input signal
[Function] When this high speed skip signal inputs, the work piece coordinate values
or the interval from the previous high–speed skip signal input can be
measured and stored into the system variables pointed by the write
pointer. By the parameter (No.8732, No.8733), you can select whether the
signal detecting timing is the rising edge, the falling edge or both of them.
You can assign the relation between the signal and a ring buffer by the
parameter (No.6220–No.6227).

Measuring signal
MEAS0–MEAS7
<G244#0–#7>
[Classification] Input signal
[Function] These signals enable to use this measuring function.
[Operation] While a measuring signal is ”1”, the workpiece coordinate values or the
interval can be measured by using high–speed skip signals.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X1003 DI37 DI36 DI35 DI34 DI33 DI32 DI31 DI30

#7 #6 #5 #4 #3 #2 #1 #0
G244 MEAS7 MEAS6 MEAS5 MEAS4 MEAS3 MEAS2 MEAS1 MEAS0

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8732 UPEG7 UPEG6 UPEG5 UPEG4 UPEG3 UPEG2 UPEG1 UPEG0

[Data type] Bit

UPEGn Rising edge (0→1) of the high speed skip signal X1003#n is
0 : Not effective.
1 : Effective.

NOTE
1 After setting this parameter, turn the power off then on again
so that the setting will take effect.
2 The same signal cannot be used by both the high–speed
skip measurement function and the interrupt type PMC
function.

882
B–63173EN–1/02 14. MEASUREMENT

#7 #6 #5 #4 #3 #2 #1 #0
8733 DWEG7 DWEG6 DWEG5 DWEG4 DWEG3 DWEG2 DWEG1 DWEG0

[Data type] Bit

DWEGn Falling edge (1→0) of the high speed skip signal X1003#n is
0 : Not effective.
1 : Effective.

NOTE
1 After setting this parameter, turn the power off then on again
so that the setting will take effect.
2 The same signal cannot be used by both the high–speed
skip measurement function and the interrupt type PMC
function.

#7 #6 #5 #4 #3 #2 #1 #0
6218 DIS7 DIS6 DIS5 DIS4 DIS3 DIS2 DIS1 DIS0

[Data type] Bit

DISn When a high–speed skip signal is detected,
0 : The work piece coordinate value is stored in buffer n (system variable:
9n00–9n99).
1 : The interval is stored in buffer n (system variable: 9n00–9n99).

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

6210 Number of data stored in buffer 1 (system variable: 9000–9099)

6211 Number of data stored in buffer 2 (system variable: 9100–9199)

6212 Number of data stored in buffer 3 (system variable: 9200–9299)

6213 Number of data stored in buffer 4 (system variable: 9300–9399)

6214 Number of data stored in buffer 5 (system variable: 9400–9499)

6215 Number of data stored in buffer 6 (system variable: 9500–9599)

6216 Number of data stored in buffer 7 (system variable: 9600–9699)

6217 Number of data stored in buffer 8 (system variable: 9700–9799)

[Data type] Word

[Range of valid data] 1–100
Number of data that is stored in buffer depends on this parameter.
Measuring function is ineffective when data was set out of range.

883
14. MEASUREMENT B–63173EN–1/02

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

6220 High–speed skip signal that is assigned to the buffer 1 (DI3n).

6221 High–speed skip signal that is assigned to the buffer 2 (DI3n).

6222 High–speed skip signal that is assigned to the buffer 3 (DI3n).

6223 High–speed skip signal that is assigned to the buffer 4 (DI3n).

6224 High–speed skip signal that is assigned to the buffer 5 (DI3n).

6225 High–speed skip signal that is assigned to the buffer 6 (DI3n).

6226 High–speed skip signal that is assigned to the buffer 7 (DI3n).

6227 High–speed skip signal that is assigned to the buffer 8 (DI3n).

[Data type] Byte

[Range of valid data] 1–8 (n+1)
High–speed skip signal that is set in this parameter is used to measure.
And measured data is stored in the buffer that is set in this parameter.
Measuring function is ineffective when data was set out of range.

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

884
B–63173EN–1/02 14. MEASUREMENT

6230 Axis number that is assigned to buffer 1.

6231 Axis number that is assigned to buffer 2.

6232 Axis number that is assigned to buffer 3.

6233 Axis number that is assigned to buffer 4.

6234 Axis number that is assigned to buffer 5.

6235 Axis number that is assigned to buffer 6.

6236 Axis number that is assigned to buffer 7.

6237 Axis number that is assigned to buffer 8.

[Data type] Byte

[Range of valid data] 1–8
Axis number that is set in this parameter is going to be measured when
high–speed skip signal is detected. Effective signal is set in parameter
No.6220–No.6227. Measured data is stored in the buffer that is set in this
parameter.
Measuring function is ineffective when data was set out of range.

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

6240 Measurement compensation for signal 1.

6241 Measurement compensation for signal 2.

6242 Measurement compensation for signal 3.

6243 Measurement compensation for signal 4.

6244 Measurement compensation for signal 5.

6245 Measurement compensation for signal 6.

6246 Measurement compensation for signal 7.

6247 Measurement compensation for signal 8.

[Data type] Word

[Unit of data] msec
[Range of valid data] 0–8000
Error caused by the delay of a sensor can be corrected by this parameter.
Set data is ineffective when data was set out of range.

885
14. MEASUREMENT B–63173EN–1/02

NOTE
After setting this parameter, turn the power off then on again
so that the setting will take effect.

System variables Measured data

Variable No. Function (writable)

9000 to 9099 Buffer 1, in which measured data are stored.

9100 to 9199 Buffer 2, in which measured data are stored.

9200 to 9299 Buffer 3, in which measured data are stored.

9300 to 9399 Buffer 4, in which measured data are stored.

9400 to 9499 Buffer 5, in which measured data are stored.

9500 to 9599 Buffer 6, in which measured data are stored.

9600 to 9699 Buffer 7, in which measured data are stored.

9700 to 9799 Buffer 8, in which measured data are stored.

Write pointer
Variable No. Function (initial value is set by user, default is 0)

9800 Write pointer for buffer 1.

9802 Write pointer for buffer 2.

9804 Write pointer for buffer 3.

9806 Write pointer for buffer 4.

9808 Write pointer for buffer 5.

9810 Write pointer for buffer 6.

9812 Write pointer for buffer 7.

9814 Write pointer for buffer 8.

[Range of valid data] 0 to [value set in the parameter (No.6210–No.6217)]–1

NOTE
Measuring function is ineffective when data was set out of
range.

Reading/Writing of The measured data and the write pointers can be read by using PMC
measured data by PMC function command WINDR, and written by using WINDW, from the
PMC ladder.

886
B–63173EN–1/02 14. MEASUREMENT

Reading a measured
data (high–speed type)
[Description] The system variables relating to measuring function can be read.
(1) System variables #9000–#9799
Measured data can be read. Data type is DWORD.
(2) System variables #9800 or later
Buffer pointer can be read. Data type is WORD.
[Input data structure]

Top address +0
(Function code)

400

2
(Completion code)
–
(Need not to be set)

4 (Data length)
–
(Need not to be set)

6
(Data number)
N
(N: System variable number)

8
(Data attribute)
–
(Need not to be set)

10
(Data area)
–
(Need not to be set)

887
14. MEASUREMENT B–63173EN–1/02

[Completion code] 0: System variables have been read normally.

3: The number of a system variable that cannot be read was specified as
the data number.
6: The measuring function option is not provided.
[Output data structure]

Top address +0
(Function code)

400

2 (Completion code)
?
(See the explanation of the
completion codes.)
4 (Data length) L=2: WORD type
L L=4: DWORD type
(L: data length of system
variables by byte unit)
6
(Data number)
N
(N: input data)

8
(Data attribute)

10 Data of system variables Signed binary

N=9000–9799 measured data (A negative value is
(4 bytes) represented in 2’s
N=9800 or later buffer pointer complement.)
(2 bytes)

888
B–63173EN–1/02 14. MEASUREMENT

Writing a measured data

(low–speed type)
[Description] The system variables relating to measuring function can be written.
(1) System variables #9000–#9799
Initial data of measured value can be written. Data type is DWORD.
(2) System variables #9800 or later
Initial data of buffer pointer (0–99) can be write. Data type is WORD.
[Input data structure]

Top address +0
(Function code)

401

2
(Completion code)
–
(Need not to be set)

4 (Data length) L=2: WORD type

L L=4: DWORD type
(L: data length of system
variables by byte unit)
6
(Data number)
N
(N: System variable number)

8
(Data attribute)

10 Data of system variables Signed binary

N=9000–9799 measured data (A negative value is
(4 bytes) represented in 2’s
N=9800 or later buffer pointer complement.)
(2 bytes)

889
14. MEASUREMENT B–63173EN–1/02

[Completion code] 0: System variables have been written normally.

2: The data length that is invalid was specified.
3: The number of a system variable that cannot be written was specified
as the data number.
5: The specified data is out of range.
6: The measuring function option is not provided.
[Output data structure]

Top address +0
(Function code)

401

2 (Completion code)
?
(See the explanation of the
completion codes.)
4 (Data length)
L
(L: input data)

6
(Data number)
N
(N: input data)

8
(Data attribute)

10
(Data area)
–
(Need not to be set)

Example The following is a sample program in case that X–axis makes one rotation
while Y–axis is moved for an interval of markers (A). The intervals are
measured by using this function and a sensor.

Marker Sensor X–axis

B Synchronized position
A

Y–axis

890
B–63173EN–1/02 14. MEASUREMENT

Motions
S Y–axis is moved at constant velocity by using PMC axis control, and
so on.
(If velocity is not constant, measuring accuracy goes down.)
S X–axis is controlled in order to makes one rotation while Y–axis
moved an interval of marker by using multi–axes synchronous
function.
S This motion stops, when input signal for custom macro (#1000) UI000
(G54.0) is 1.
X–axis and first marker are at synchronized position like above figure
when this application is started. This time, an interval between first
marker and second is already measured, and this measured data(A) is in
first buffer(#9000).
Above figure shows a situation that this application just starting.
And then,
1. Put the multi–axes synchronous command.
2. Start to move Y–axis
3. X–axis makes one rotation while Y–axis is moved for a measured
interval between markers.
4. Measure next interval between markers.
5. Continue motions of 3 and 4.
Notes
S Consider not to put a command of X axis motion before an interval of
marker is measured
S Two or more buffers are needed. This sample uses two buffers.
S In case of using two buffers, set interval(B) between sensor and
synchronized position longer than interval(A), and shorter than
interval(A) 2.
S Make sure that the write pointer of buffer(#9800 or later) go a step in
order to put command after the measuring.

Parameters for measuring

8732#0=0 rising edge of high speed skip signal is effective
6218#0=1 interval is measured
6210=2 number of stored data for buffer 1 is 2
6220=1 DI30(X1003#0) is assigned to buffer 1
6230=2 second axis(Y–axis) is assigned to buffer 1
Parameters for multi–axes synchronous function
8380 X=2 second axis(Y–axis) is a parent
8380 Y=0 this axis is a parent
8381 X=1 a parent axis is servo axis
8381 Y=100 this axis is a parent and servo
Others
1260 X=360000 Amount of a shift per one rotation of a rotation axis is 360_

891
14. MEASUREMENT B–63173EN–1/02

O0001;
N10 #100 =9000; First buffer is #9000
N20 #101 =0; Initialize a variable number for storing write pointer
N30 WHILE[#1000 =0] DO1; Continue while G54.0 is 0
N40IF[#101 EQ #9800] GOTO 100; If measuring isn’t finished, do nothing
N50 G145 G91 G01 X360. R#[#100]; If measuring is finished, put a command of multi–axes
synchronous.
N60 #100 =#100+1; Increment buffer pointer.
N70 #101 =#9800; Store the write pointer.
N80 IF[#100 LT 9002] GOTO 100 If last buffer, return to first buffer.
N90 #100 =9000;
N100 END1; Go to N30.
N110 M02;

NOTE
S Plural number of signals can not be assigned to one axis,
when a transfer distance is measured. Please assign one
signal to one axis in such situation. Plural number of signal
can be assigned to one axis, when a work piece coordinate
value is measured.
S If consecutive measuring is carried out with using one
signal, please set an interval of signal inputs more than
16msec.
S If measuring carried out in rotary axis, please set feed rate
of measured axis less than n 2500deg/min (n: amount of
a shift per one rotation)
S Measuring signal must be off, when write–pointer is going
to be changed.
S This function can not be used with high response function
and look–ahead feed– forward control function.
S Measuring signal must be off, when parameter is going to
be changed, weather they are related with this function or
not. Measuring can not be done correctly, if parameters are
changed while measuring signal is on.

892
B–63173EN–1/02 15. PMC CONTROL FUNCTION

15 PMC CONTROL FUNCTION

893
15. PMC CONTROL FUNCTION B–63173EN–1/02

15.1
PMC AXIS
CONTROL

General The PMC can directly control any given axis, independently of the CNC.
In other words, moving the tool along axes that are not controlled by the
CNC is possible by entering commands, such as those specifying moving
distance and feedrate, from the PMC. This enables the control of turrets,
pallets, index tables and other peripheral devices using any given axes of
the CNC.

Whether the CNC or PMC controls an axis is determined by the input

signal provided for that particular axis.

The PMC can directly control the following operations:

(1) Rapid traverse with moving distance specified
(2) Cutting feed – feed per minute, with moving distance specified
(3) Cutting feed – feed per revolution, with moving distance specified
(4) Skip – feed per minute, with moving distance specified
(5) Dwell
(6) Continuous feed
(7) Reference position return
(8) 1st reference position return
(9) 2nd reference position return
(10) 3rd reference position return
(11) External pulse synchronization – Main spindle
(12) External pulse synchronization – first manual handle
(13) External pulse synchronization – second manual handle
(14) Feedrate control
(15) Auxiliary function
(16) Selection of the machine coordinate system
(17) Torque control
(18) Cutting feed of time specification type
The PMC is provided with eight paths to control these operations using
input and output signals.

By issuing commands through these eight paths, the PMC can

simultaneously control multiple axes separately. Use parameter No. 8010
to determine which path controls which axis. Commands may be issued
through one path to two or more axes, thus allowing the PMC to control
multiple axes using one path.

894
B–63173EN–1/02 15. PMC CONTROL FUNCTION

PMC CNC
DI/ DO
Commands from path 1 Group A α axis control

Commands from path 2 Group B β axis control

Commands from path 3 Group C γ axis control

Commands from path 4 Group D ε axis control

Commands from path 5 Group E ε axis control

Commands from path 6 Group F ζ axis control

Commands from path 7 Group G η axis control

Commands from path 8 Group H θ axis control

In the following description, input/output signals from the four paths are
called group A (path 1), group B (path 2), group C (path 3), group D (path
4), group E (path 5), group F (path 6), group G (path 7), and group H (path
8), respectively.

The name of an input/output signal used for PMC axis control always
contains a lowercase “g”, as in EBUFg. However, there is no such signal
as EBUFg. The actual signal names represented by EBUFg are EBUFA,
EBUFB, EBUFC, EBUFD, EBUFE, EBUFF, EBUFG, and EBUFH,
which respectively correspond to signals of group A (path 1), group B
(path 2), group C (path 3), group D (path 4), group E (path 5), group F
(path 6), group G (path 7), and group H (path 8).
Basic procedure (1) In parameter No. 8010, specify which DI/DO signal group (A, B, C,
or D) is to be used for PMC axis control on a per–axis basis.
When using the same group for simultaneously controlling two or
more axes, check that the settings of the parameters related to
feedrate (rapid traverse rate, acceleration/deceleration time
constant, linear axis/rotation axis, etc.) are identical for each axis to
be controlled.
(2) To enable direct PMC axis control, set each control axis selection
signal (EAX1 to EAX8), that corresponds to an axis to be controlled,
to 1.
(3) Determine the operation.
The axis control command signals (EC0g to EC6g) specify the type
of operation. The axis control feedrate signals (EIF0g to EIF15g)
specify the feedrate. The axis control data signals (EID0g to
EID31g) specify the moving distance and other data.

895
15. PMC CONTROL FUNCTION B–63173EN–1/02

These signals, together with block stop prohibition signal EMSBKg

(described later), determine one complete operation, which is tantamount
to one block executed during CNC–controlled automatic operation.
These signals may be collectively called the axis control block data
signals.

` List of Signals Determining Data, Tantamount to One Block for PMC

Axis Control

Generic name Signal name Symbol Data type

Block stop prohibi- EMSBKg Bit type

tion signal

Axis control EC0g to EC6g Byte type

Axis control command signal
block data
signals Axis control feedrate EIF0g to EIF15g Word type
signal

Axis control data EID0g to EID31g Two–word type

signal

(4) When the data governing a complete operation (one block) is

determined, reverse the logical state of axis control command read
signal EBUFg (i.e., from “0” to “1” or vice versa). Note that, for this
to occur, axis control command read completion signal EBSYg must
be in the same logical state as EBUFg.
D The CNC is capable of storing axis control functions from the PMC
in its buffer so that multiple operations can be performed in series,
under the control of the PMC. This allows the CNC to accept a new
command block from the PMC during the execution of another
block if the buffer has free space.
The following figure illustrates an example in which command [1]
is being executed, commands [2] and [3] are stored in the buffers,
and command [4] has been issued (the axis control block data signal
is set).

PMC Commands Setting of the axis control CNC’s buffers

block data signal

Block 1 Command [1] [4] [3] Input buffer

Block 2 Command [2] ↓

Block 3 Command [3] [2] Waiting buffer

Block 4 Command [4]

↓

Block 5 Command [5] [1] Executing buffer

~ ~
Block n

896
B–63173EN–1/02 15. PMC CONTROL FUNCTION

When the execution of command [1] is completed:

⋅ command [2] is transferred from the waiting buffer to the executing
buffer;
⋅ command [3] is transferred from the input buffer to the waiting buffer;
and
⋅ command [4] is transferred to the input buffer as the command block
(axis control block data signal).
After the reception of command [4] by the input buffer, the PMC can issue
command [5] to the CNC (the axis control block data signal is set).
The timing chart for the command operation is shown below.
[1] [2] [3] [4] [5]
Command block
(Input)

EBUFg
(Input)
(1) (2) (3) (4) (5)

EBSYg
(Output)
The buffer is full.

Input buffer [3] [4]

Waiting buffer [2] [3]

Executing [1] [2]

buffer Beginning of execution Beginning of execution
End of
execution

(1), (2), (3), (4), (5) : A new block cannot be issued during these
intervals (while EBUFg and EBSYg are in different logical states).
D The status of the CNC buffer can be determined by the exclusive OR
of axis control command read signal EBUFg, input from the PMC, and
axis control command read completion signal EBSYg, output from the
CNC.
EBUFg Exclusive
ø OR CNC buffer status
EBSYg (XOR)

0 1
The previous block has already been read into the
ø ø 0
CNC buffer. The PMC can issue the next block.
0 1

The previous block has not yet been read com-

pletely. It is just being read or waiting for the CNC
0 1
buffer to become available. Do not issue the next
ø ø 1
block, nor reverse the logical state of EBUFg. Re-
1 0
versing the EBUFg state invalidates any block that
has been already issued.

897
15. PMC CONTROL FUNCTION B–63173EN–1/02

(5) Repeat steps (3) and (4) until all the blocks have been issued.
When the final block has been issued, set control axis selection
signals EAX1 to EAX8 to “0”. Before setting these signals to “0”,
however, check that the blocks stored in the CNC’s input, waiting,
and executing buffers have all been executed. Setting the signals to
“0” while a block is being executed, or while a block remains in any
of these buffers, results in the issue of a P/S alarm. This alarm
suspends the current block execution and invalidates the blocks
stored in the input and waiting buffers.
To ensure no block is being executed, or that there are no blocks
remaining in the input or waiting buffer, check that control axis
selection status signal *EAXSL is set to “0”.
For those axes that are always subject to PMC control, such as those
controlling turrets, pallets, and ATCs, ensure that the EAX1 to
EAX8 signals are always set to “1”. There is no need to set these
signals to “0” after issuing commands from the PMC to the CNC.
When all command blocks have been executed (there are no blocks
remaining to be executed), the CNC automatically stops execution.
(6) When control axis selection signals EAX1 to EAX8 are set “1” to
“0”, control is returned to the CNC.

Signal
Signal list
No. Symbol Signal name

1 EAX1 to EAX8 Control axis selection signals

2 EC0g to EC6g Axis control command signals

3 EIF0g to EIF15g Axis control feedrate signals

4 EID0g to EID31g Axis control data signals

5 EBUFg Axis control command read signal

6 EBSYg Axis control command read completion signal

7 ECLRg Reset signal

8 ESTPg Axis control temporary stop signal

9 ESBKg Block stop signal

10 EMSBKg Block stop disable signal

11 EM11g to EM48g Auxiliary function code signals

12 EMFg Auxiliary function strobe signal

13 EFINg Auxiliary function completion signal

14 ESOFg Servo–off signal

15 EMBUFg Buffering disable signal

16 *EAXSL Control axis selection status signal

898
B–63173EN–1/02 15. PMC CONTROL FUNCTION

No. Symbol Signal name

17 EINPg In–position signal

18 ECKZg Following zero checking signal

19 EIALg Alarm signal

20 EGENg Axis moving signal

21 EDENg Auxiliary function executing signal

22 EOTNg Negative–direction overtravel signal

23 EOTPg Positive–direction overtravel signal

24 *FV0E to *FV7E Feedrate override signals

25 OVCE Override cancellation signal

26 ROV1E, ROV2E Rapid traverse override signals

27 DRNE Dry run signal

28 RTE Manual rapid traverse selection signal

29 EOV0 Override 0% signal

30 ESKIP Skip signal

31 EADEN1 to EADEN8 Distribution completion signals

32 EABUFg Buffer full signal

33 EACNT1 to EACNT8 Controlling signals

34 ELCKZg Accumulated zero check signal

35 TRQMx Torque control mode signal

899
15. PMC CONTROL FUNCTION B–63173EN–1/02

Signal Detail

1 Control axis selection

signals EAX1 to EAX8
[Classification] Input signal
[Function] When the signal is set to “1”, the corresponding axis becomes subject to
PMC control.
When the signal is set to “0”, PMC control becomes invalid. Changing
the setting of the control axis selection signal is possible only when
control axis selection status signal *EAXSL is set to “0”. Changing the
setting when *EAXSL is set to “1” results in the issue of a P/S alarm (No.
139). Alarm signal EIALg is set to “1”.
When NCC, bit 5 of parameter No. 8001, is set to “0”, a command issued
from the CNC is executed while the control axis selection signal is set to
“1” and signal *EAXSL is set to “0”. When the parameter is set to “1”,
the same attempt results in the issue of a P/S alarm (No. 139). Note that
the command is invalidated when the tool is moving along the axis in
manual continuous feed mode.
If the control axis selection signal is set to “1” while the CNC is currently
executing a command, a P/S alarm is generated. In manual continuous
feed mode, setting this signal to “1” suspends the execution of the
command. While *EAXSL is set to “0”, the status of alarm signal EIALg
does not change to 1 when the control axis selection signal is set to 1 and
a P/S alarm (No. 139) is generated. In this case, the axis can be controlled
from the PMC, even when the CNC is in the alarm status.

NOTE
After setting control axis selection signals EAX1 to EAX8 to
1, it takes at least 8 msec before the PMC can issue
commands to the CNC.

2 Axis control command

signals EC0g to EC6g
[Classification] Input signal
[Function] Specifies the following operations through each path.
Axis control
command
Operation
(hexadecimal
code)

Rapid traverse (linear acceleration/deceleration)

00h
Performs the same operation as G00, used by the CNC.

Cutting feed – feed per minute

(exponential acceleration/deceleration or linear acceleration/
deceleration after interpolation)
01h
Performs the same operation as G94 G01, used by the
CNC.

900
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Axis control
command
Operation
(hexadecimal
code)

Cutting feed – feed per revolution (exponential acceleration/

deceleration or linear acceleration/deceleration after inter-
polation)
02h
Performs the same operation as G95 G01, used by the
CNC.

Skip – feed per minute

03h Performs the same operation as G31 G01, used by the
CNC.

Dwell
04h
Performs the same operation as G04, used by the CNC.

Reference position return

Moves the tool in the direction of reference position return

05h specified by ZMIx, bit 5 of parameter No. 1006, in rapid tra-
verse mode, then performs the same operation as manual
reference position return, done by the CNC.

Continuous feed (exponential acceleration/deceleration,

linear acceleration/deceleration, or bell–shaped accelera-
tion/decelerastion)
06h
Moves the tool in the specified direction in jog feed mode.
Performs the same operation as that of JOG feed, done by
the CNC.

1st reference position return

07h Performs the same operation as done when positioning the

tool to the reference position from the intermediate point
specified by G28 of the CNC.

2nd reference position return

08h Performs the same operation as done when positioning the

tool to the reference position from the intermediate point
specified by G30 P2 of the CNC.

3rd reference position return

09h Performs the same operation as done when positioning the

tool to the reference position from the intermediate point
specified by G30 P3 of the CNC.

External pulse synchronization – main spindle

0Bh
Synchronizes with the main spindle.

External pulse synchronization – 1st manual handle

0Dh
Synchronizes with the 1st manual handle.

External pulse synchronization – 2nd manual handle

0Eh
Synchronizes with the second manual handle.

901
15. PMC CONTROL FUNCTION B–63173EN–1/02

Axis control
command
Operation
(hexadecimal
code)

Speed command (linear acceleration/deceleration or bell–

shaped acceleration/deceleration)
10h
Performs continuous feed at the specified speed.

Torque control
11h
Continuous feed under torque control

Auxiliary function
12h Performs the same function as the auxiliary function (M func-
tion), used by the CNC.

Machine coordinate system selection

20h
Performs the same operation as G53, used by the CNC.

21h Cutting feed of time specification type

Rapid traverse rate When using the rapid traverse command (EC0g to EC6g: 00h), the
feedrate can be specified in either the same parameter as that used by the
CNC (No. 1420) or the PMC’s axis interface feedrate signals EIF0g to
EIF15g. This can be set with RPD, bit 0 of parameter No. 8002.

Reference without dogs The reference position return command (EC0g to EC6g: 05h) enables the
position return following operation: When DLZ, bit 1 of parameter No. 1002, specifying
reference position return without dogs for all axes, or DLZx, bit 1 of
parameter No. 1005, specifying reference position return without dogs for
each axis, is valid and the tool has not been returned to the reference
position since the power was turned on, move each axis in the direction
specified by the continuous feed command (EC0g to EC6g: 06h)
(position the tool to a point near the reference position) and issue the
reference position return command (EC0g to EC6g: 05h). This returns
the tool to the reference position (positions the tool to the grid nearest the
current position) without using the deceleration signal for reference
position return.

Note that, when positioning the tool to a point near the reference position,
the tool must be moved in the direction of reference position return at such
a speed that the servo position error exceeds the value of parameter No.
1836.

The direction of the grid relative to the proximate position depends on

ZMIx, bit 5 of parameter No. 1006.

After the reference position has been established, reference position

return can be performed at high speed by issuing the reference position
return command (EC0g to EC6g: 05h), irrespective of the reference
position return direction specified by ZMIx, bit 5 of parameter No. 1006.

902
B–63173EN–1/02 15. PMC CONTROL FUNCTION

First reference position When using the 1st reference position return command (EC0g to EC6g:
return for an incomplete 07h), if DLZ, bit 1 of parameter No. 1002, specifying reference position
reference position return return without dogs for all axes, or DLZx, bit 1 of parameter No. 1005,
without dogs specifying reference position return without dogs on a per–axis basis is
valid and the tool has not been returned to the reference position since the
power was turned on, issuing the 1st reference position return command
(EC0g to EC6g: 07h) results in the issue of a P/S alarm (No. 090).

Continuous feed As in the case of cutting feed for CNC control, bits 0 and 1 of parameter
No. 1610 can be used to select a type of acceleration/deceleration for
continuous feed (EC0g to EC6g: 06h): linear–shaped, bell–shaped, or
exponential. Set the time constant to parameter No. 1622.

1st to 3rd reference When using the 1st to 3rd reference position return commands (EC0g to
position return EC6g: 07h to 0Ah), the feedrate can be specified using RPD, bit 0 of
parameter No. 8002, in the same manner as when using the rapid traverse
command (EC0g to EC6g: 00h).

Note that, in the case of the 1st reference position return, if the tool has
not been manually returned to the reference position after the power was
turned on, the feedrate specified by parameter No. 1424 applies.

External pulse When using the external pulse synchronization commands (EC0g to
synchronization EC6g: 0Bh, 0Dh to 0Eh), the tool moves backwards if the external pulse
has a negative value. When a manual handle interrupt is executed for the
axis to which the external pulse is being applied, the moving distance is
the sum of the external pulse and the interrupt pulse.

When a serial spindle is used, synchronization with the main spindle

(EC0g to EC6g: 0Bh) is not possible.

Display of remaining When using the continuous feed command (EC0g to EC6g: 06h) and the
distance external pulse synchronization command (EC0g to EC6g: 0Bh, 0Dh to
0Eh), the displayed remaining distance is always “0”.

Speed command When the speed command (EC0g to EC6g: 10h) is used, specify the axis
to be controlled as a rotation axis in ROTX, bit 0 of parameter No.1006.

While position control is being executed for the continuous feed

command (EC0g to EC6g: 06h), the speed command (EC0g to EC6g:
10h) exerts speed control over the servo motor, thus allowing the speed
to be dynamically changed during continuous feed.
Note the following things.
(1) Acceleration/deceleration(acc/dec)
Two types of acc/dec, linear and bell–shaped, are available.
If linear acc/dec is used, set the time constant for each axis to the
parameter No.8028. And set 0 to the parameter No.8029.
If bell–shaped acc/dec is used, set the time constant T1 for each axis
to the parameter No.8028. And set the time constant T2 for each axis
to the parameter No.8029.

903
15. PMC CONTROL FUNCTION B–63173EN–1/02

(2) Updating of the coordinates

As the coordinates are updated while jog feed is being executed by the
speed command, the tool positions are not lost. Therefore it is
unnecessary to establish the reference point again in case the position
control is executed after the speed command.
Note that the coordinates do not show the accurate positions while the
axes are moving. So do not use the functions that watch the positions
like the position switch.
Furthermore the pitch error compensation and the straightness
compensation do not work normally when the speed command in
PMC axis control is executed. So do not use those compensations.

CAUTION
The update speed of the coordinates (followup speed) has
an upper limit (120,000deg/min if the parameter
No.1901#7=0, or 240,000deg/min if the parameter
No.1901#7=1). Because of it, if the following relation is not
satisfied, the servo positioning deviation increases as the
axis moves, and then the alarm of an excessive error
occurs. So be sure to set the parameters and execute
speed command so that the following relation may be
satisfied.
P (rotation per minute) DMR
(least command increment)
CMR
<240000 (in case parameter No.1901#7=1. If parameter
No.1907#7=0, the left side must be less than
120000.)
P is the number of pulses per rotation of the pulse coder.
DMR is detection multiplier (which is set by parameter
No.1816) or flexible feed gear (which is set by parameters
No.2084 and No.2085).
CMR is command multiplier (which is set by parameter
No.1820).
In case DMR, CMR and the least command increment must
not be set freely, the limitation is imposed to the rotation
speed.
In case it is necessary to rotate the motor at very high speed,
although the situation can be unsuitable for position
controlling, determine the rotation speed first and then
adjust DMR, CMR and the least command increment so
that the above relation may be satisfied.

904
B–63173EN–1/02 15. PMC CONTROL FUNCTION

(3) Positioning deviation limit in movement

Positioning deviation can be calculated as follows.
P (rotation per minute) DMR
(Positioning deviation) =
2500
(Unit: Detection unit)
The sign is minus when the motor is moving in the positive direction.
P is the number of pulses per rotation of the pulse coder.
DMR is detection multiplier (which is set by parameter No.1816) or
flexible feed gear (which is set by parameters No.2084 and No.2085).
When speed command is executed, it is recommended to determine a
standard value for the parameter No.1828 in the following step. First,
calculate the right side of the above formula substituting the maximum
rotation speed which is to be commanded. And then, multiply the result
by 1.5.

Machine coordinate The machine coordinate system selection command (EC0g to EC6g:
system selection 20h) performs absolute positioning to move the tool in rapid traverse to
a specified position on the machine coordinate system. This command
is used to move the tool to a position specifically defined for the machine,
such as the tool exchange position.
For a rotation axis, short cut rotation can also be specified. Cancel tool
length compensation.
The machine coordinate system must be set before attempting to use this
command. After turning on the power, return the tool to the reference
position either manually or by using G28. When an absolute position
detector is provided, returning the tool to the reference position is not
necessary because the tool position will be stored in memory.

Torque control command When torque control is selected (EC0g to EC6g: 11h), the PMC
controlled axis can be subjected to torque control instead of position
control. In the torque control mode, the servo motor outputs the torque
specified by the NC.
(1) Switching from position control to torque control
a. Setting a torque control axis
Set the axis to be subjected to torque control in the TRQMx bit (bit
7 of parameter No. 2007). Set the torque control axis also in
parameter No. 2105 of torque constant. The motor–specific
standard value is automatically set in this parameter when the
power is turned on with the DGPR bit (bit 1 of parameter No. 2000)
set to 0.
b. Position management in torque control mode
In torque control mode, whether to perform follow–up can be
selected by setting the TQF bit (bit 4 of parameter No. 1803).
When follow–up is not performed, an integrated travel value (error
count) exceeding the value of parameter No. 1885 causes servo
alarm 423 to be issued. When torque control is switched to position
control, follow–up is always performed, even if follow–up
suppression is selected.

905
15. PMC CONTROL FUNCTION B–63173EN–1/02

The CNC manages the position even in torque control mode. After
torque control is switched to position control, no reference position
return is necessary.
c. Traveling direction and speed in torque control mode
In torque control mode, the torque specified by the axis control data
signal is output. While there is no target of torque generation or
while the output torque falls below the specified torque, the
traveling direction is determined by the plus or minus sign added
to the torque data, as in position control. When the traveling speed
exceeds the specified speed, servo alarm 422 is issued.
d. Timing of switching to torque control
A mode is switched to torque control mode after the position error
enters the effective range (in–position state).
(2) Switching from torque control to position control
(canceling torque control mode)
Torque control mode is canceled when any of the following conditions
is satisfied:
1) The reset signal ECLRg is brought to “1”.
2) A servo alarm is issued.
3) An OT alarm is issued on the torque control axis.
4) An emergency stop occurs.
5) The servo motor is turned off by the servo off signal ESOFg.
a. Timing for canceling torque control
When torque control by the PMC controlled axis is canceled,
follow–up may or may not be performed, depending on the setting
in the TRF bit (bit 4 of parameter No. 1803). If follow–up is
suppressed, the torque control mode signal TRQMx immediately
goes “0” when a cause to cancel torque control is detected. Then,
position control mode is selected. The execution terminates when
the position error enters the effective range. If follow–up is
performed, the torque control mode signal TRQMx goes “0” when
a cause to cancel torque control is detected. Then, follow–up starts.
When the position error falls below or equals to the cancel limit
value specified in parameter No. 1886, position control mode is
selected. The execution terminates when the position error enters
the effective range.
b. Command after torque control mode is canceled
When torque control mode is canceled, normal position control
mode is selected. In torque control mode, the position is managed,
and the machine coordinates are not displaced. The workpiece
coordinates, however, are shifted from the machine coordinates.
The shift must be canceled by specifying the command for setting
the workpiece coordinate system or the like.

906
B–63173EN–1/02 15. PMC CONTROL FUNCTION

CAUTION
1 If the torque control axis may be moved in torque control
mode, the follow–up parameter TRF (bit 4 of parameter No.
1803) must be set to “1”.
2 If torque control mode is canceled while the torque control
axis is moving, the return to position control mode causes
a mechanical impact. A faster movement causes a greater
impact. To cancel torque control mode, decelerate or stop
the movement in advance.
3 When specifying the torque control command after a
manual reference position return is completed, set the feed
direction selection signal to “0” in advance. Alternatively,
select a mode other than manual reference position return
mode in advance.
4 In torque control mode, never detach a controlled axis by
the controlled axis detach signal DTCHx or by a setting
parameter.

In cutting feed by PMC axis control, this function specifies the cutting
feedrate by the amount of time required for movement of one block.
The function makes it easy to use multiple PMC control axes to make
movement as linear interpolation.
Since this function cannot perform strict linear interpolation, however, it
cannot be kept for cutting or other high precision use.

NOTE
This function is optional.

The following table shows the correspondence between the axis control
commands and their data:
Command block
Axis control code
Operation Command data
signal EC0g to EC6g
Rapid traverse 00h Total moving distance
EID0g to EID31g
Rapid traverse rate
EIF0g to EIF15g

The rapid traverse rate

is valid when PRD, bit 0
of parameter No. 8002,
is set to “1”.

Cutting feed – feed per 01h Total moving distance

minute EID0g to EID31g
Feedrate
Skip – feed per minute 03h EIF0g to EIF15g

907
15. PMC CONTROL FUNCTION B–63173EN–1/02

Axis control code

Operation Command data
signal EC0g to EC6g
Cutting feed – feed per 02h Total moving distance
revolution EID0g to EID31g
Feed per rotation
EIF0g to EIF15g

Dwell 04h Dwell time

EID0 to EID31g

Reference position 05h None

return

Continuous feed 06h Feed direction EID31g

Continuous feedrate
EIF0g to EIF15g

1st reference position 07h Rapid traverse rate

return EIF0g to EIF15g

2nd reference position 08h The rapid traverse rate

return is valid when PRD, bit 0
of parameter No. 8002,
3rd reference position 09h is set to “1”.
return

External pulse 0Bh Pulse weight

synchronization – EIF0g to EIF15g
main spindle

External pulse 0Dh

synchronization –
manual handle 0Eh

Speed command 10h Continuous feed

EIF0g to EIF15g

Torque control 11h Maximum feedrate,

EIF0g to EIF15g
Torque data, EID0g to
EID31g

Auxiliary function 12h Auxiliary function code

EID0g to EID15g

Machine coordinate 20h Machine coordinate

system setting system setting
(absolute value)
EID0g to EID31g
Rapid traverse rate
EIF0g to EIF15g
The rapid traverse rate
setting is effective when
bit 0 (RPD) of parameter
No. 8002 is set to “1”.

Cutting feed of time 21h Total amount of move-

specification type ment: EID0g to EID31g
Cutting feedrate: EIF0g
to EIF15g

908
B–63173EN–1/02 15. PMC CONTROL FUNCTION

3 Axis control feedrate

signals EIF0g to
EIF15g
[Classification] Input signal
[Function] (1) Rapid traverse (EC0g to EC6g: 00h)
(2) 1st reference position return (EC0g to EC6g: 07h)
(3) 2nd reference position return (EC0g to EC6g: 08h)
(4) 3rd reference position return (EC0g to EC6g: 09h)
(5) Machine coordinate system selection (EC0g to EC6g: 20h)
For these commands, signals EIF0g to EIF15g are used to specify
the rapid traverse rate, in binary format, when bit 0 (RPD) of
parameter No. 8002 is set to “1”. For 1st reference position return,
however, the rapid traverse rate specified with parameter No. 1424
is used if manual reference position return has not been performed
after the power was first turned on.
[Unit of data] Data unit
Unit
IS–B IS–C

Linear Metric machine 1 mm/min

axis Inch machine 0.1 inch/min
Rotation axis 1 deg/min

[Valid data range] Specify data within the range given in the following table.
Data range
Unit
IS-B IS-C

Linear Metric machine 30 to 15000 30 to 12000 mm/min

axis Inch machine 30 to 6000 30 to 4800 inch/min
Rotation axis 30 to 15000 30 to 12000 deg/min

(6) Cutting feed – feed per minute (EC0g to EC6g: 01h)

(7) Skip – feed per minute (EC0g to EC6g: 03h)
For these commands, the signals are used to specify, in binary
format, the feedrate along an axis. The specified feedrate can be
magnified by ten by the setting of bit 3 (F10) of parameter No. 8002.
[Unit of data] When bit 3 (F10) of parameter No. 8002 is set to 0
Data unit
Unit
IS–B IS–C

Linear Metric machine 1 0.1 mm/min

axis Inch machine 0.01 0.01 inch/min
Rotation axis 1 0.1 deg/min

When bit 3 (F10) of parameter No. 8002 is set to 1

Data unit
Unit
IS–B IS–C

Linear Metric machine 10 1 mm/min

axis Inch machine 0.1 0.01 inch/min
Rotation axis 10 1 deg/min

909
15. PMC CONTROL FUNCTION B–63173EN–1/02

[Valid data range] 1 to 65535

(Actual values must fall within the ranges given in the following table.)
Data range
Unit
IS–B IS–C

Linear Metric machine 1 to 100000 0.1 to 12000.0 mm/min

axis Inch machine 0.01 to 4000.00 0.001 to 480.000 inch/min
Rotation axis 1 to 100000 0.1 to 12000.0 deg/min

CAUTION
1 When “0” is specified, the CNC continues to perform
buffering without moving the tool. In such a case, release
the buffering by issuing reset signal ECLRg.
2 Cutting feedrate clamp is disabled.

(8) Cutting feed – feed per rotation (EC0g to EC6g: 02h)

For this command, the signals are used to specify the amount by
which the tool is moved for every rotation of the spindle.
[Unit of data] The data unit depends on the settings of bits 6 (FR1) and 7 (FR2) of
parameter No. 8002, as listed in the following table.
Parameter Metric input Inch input Rotation axis
FR2 FR1 (mm/rev) (inch/rev) (deg/rev)

1 1
0.01 0.0001 0.01
0 0
0 1 0.1 0.001 0.1
1 0 1 0.01 1

[Valid data range] 1 to 65535

(Actual values must fall within the ranges given in the following table.)
Data range
Unit
IS–B IS–C

Linear Metric input 0.01 to 500.00 mm/rev

axis Inch input 0.0001 to 9.9999 inch/rev
Rotation axis 0.01 to 500.00 deg/rev

WARNING
1 The value of parameter No. 8022 is used as the upper limit
for clamping the feedrate.
2 Override for the feedrate is effective. Dry run is invalid.

CAUTION
The specified feedrate can be magnified by 1, 10, or 100 by
setting bits 6 (FR1) and 7 (FR2) of parameter No. 8002
accordingly.

910
B–63173EN–1/02 15. PMC CONTROL FUNCTION

(9) External pulse synchronization – main spindle

(EC0g to EC6g: 0Bh)
(10) External pulse synchronization – first manual handle
(EC0g to EC6g: 0Dh)
(11) External pulse synchronization – second manual handle
(EC0g to EC6g: 0Eh)
For these commands, the signals are used to specify the weight of the
external pulses. A weight range of "1/256 to "127 can be set by using
signals EIF0g to EIF7g for the figures after the decimal point. When a
negative weight is specified, the tool is moved in the reverse direction.
When a new pulse weight is specified while the tool is moving in
synchronization with external pulses, inverting signal EBUFg causes the
tool to move with the new pulse weight.

As commands for (9) to (11) are executed without buffering, axis control
command read completion signal EBSYg usually need not be checked.

CAUTION
The pulse weight is clamped according to the value set for
parameter No. 1424 (parameter for the manual rapid
traverse rate for each axis).

(12) Continuous feed (EC0g to EC6g: 06h)

Set the feedrate as the same as for cutting feed – feed per minute
(EC0g to EC6g: 01h). The feedrate can be changed during
continuous feed.
Specify the feedrate with signals EIF0g to EIF15g, and invert the
axis control command read signal EBUFg during continuous feed,
then the tool moves at the new feedrate.
As commands for jog feed are executed without buffering, axis
control command read completion signal EBSYg usually need not
be checked.
The specified feedrate can be magnified by 10 by setting bit 3 (F10)
of parameter No. 8002.
D Maximum feedrate (with override of 254%)
IS–B IS–C
Metric input Inch input Metric input Inch input
Magnified 166458 1664.58 16645mm/min 166.45inch/
by 1 mm/min inch/min min

Magnified 240000 9600inch/min 100000 1664.58inch/

by 10 mm/min mm/min min

911
15. PMC CONTROL FUNCTION B–63173EN–1/02

CAUTION
The maximum feedrate depends on whether override is
applied or canceled. The following table lists the maximum
feedrate when override is canceled.

IS–B IS–C
Metric input Inch input Metric input Inch input
Magni- 65535mm/min 655.35 6553mm/min 65.53inch/min
fied by 1 inch/min

Magni- 240000 6553.50 65535mm/min 655.35

fied by mm/min inch/min inch/min
10

NOTE
The actual speed may not be displayed correctly,
depending on the feedrate.

(13) Speed command (EC0g to EC6g: 10h)

For this command, the signals are used to specify, in binary format,
the servo motor speed.
Specify a positive value for rotation in the forward direction.
Specify a negative value (twos complement) for rotation in the
reverse direction.
When a new servo motor speed is specified, inverting the axis
control command read signal EBUFg accelerates or decelerates the
servo motor until it attains the new speed.

Data range Unit

–32768 to +32767 min–1

NOTE
The servo motor speed may contain a slight error, as
follows:

Gears
Speed command
Amplifier Motor

Axis
Detector ↑
(a)

912
B–63173EN–1/02 15. PMC CONTROL FUNCTION

(a) The speed command for PMC axis control requires specification
of the servo motor speed, not the feedrate along an axis. To
specify a feedrate along the axis when gears are used to link the
servo motor and axis, the feedrate must be converted to a rotation
speed of the servo motor speed. As the motor speed must be
specified with an integer, the converted speed is subject to a
round–off error.

NOTE
In speed command mode, the speed after
acceleration/deceleration is specified to the servo control
unit. The loop gain for position control is invalid.

(14) When a torque control command (EC0g to EC6g: 11h) is specified

Specify the maximum speed in torque control mode, in min–1.
A servo alarm (No. 422) is issued if there is no object for which a
torque is to be generated or if the feedrate exceeds the specified value
while torque control is being applied.
The maximum feedrate in torque control mode can be changed in
torque control mode by setting the new feedrate data in the signal
then inverting the logic of axis control command read signal
EBUFg.
Valid data range Units

1 to 32767 min–1

NOTE
The data units will be cm/min when a linear motor is being
used.

4 Axis control feedrate

signals
EIF0g to EIF15g
[Classification] Input signal
[Function] Specifies the amount of time that elapses a block is completed.
[Unit of data] 0.1 sec
[Valid data range] 1 to 32767
When the feedrate is 0, no operation is performed with buffering made.
A dry run or override is not applied, but operation stops when the override
is 0%.

913
15. PMC CONTROL FUNCTION B–63173EN–1/02

5 Axis control data

signals
EID0g to EID31g
[Classification] Input signal
[Function]
[Unit of data] IS–B IS–C Unit
Metric input 0.001 0.0001 mm
Degree input deg

Inch input 0.0001 0.00001 inch

[Valid data range]

(1) Rapid traverse (EC0g to EC6g: 00h)
(2) Cutting feed – feed per minute (EC0g to EC6g: 01h)
(3) Cutting feed – feed per rotation (EC0g to EC6g: 02h)
(4) Skip – feed per minute (EC0g to EC6g: 03h)
For these commands, signals EID0g to EID31g are used to specify, in
binary format, the incremental moving distance, according to the input
increment used for the axis.
IS–B IS–C Unit
Metric input "99999.999 "9999.9999 mm
Degree input deg

Inch input "9999.9999 "999.99999 inch

(5) Dwell (EC0g to EC6g: 04h)

For this command, the signals are used to specify, in binary format,
the dwell time.
Data range Unit

1 to 9999999 ms

NOTE
When the increment system IS–C is used, the least input
increment for the dwell time can be set to 0.1 ms, according
to the setting of bit 1 (DWE) of parameter No. 8002.

914
B–63173EN–1/02 15. PMC CONTROL FUNCTION

(6) Continuous feed (EC0g to EC6g: 06h)

For this command, signal EID31g is used to specify the direction of
continuous feed, as follows:
0: Positive direction
1: Negative direction
Signals EID0g to EID30g are undefined.

(7) Auxiliary functions (EC0g to EC6g: 12h)

For this command, the signals are used to specify, in binary format,
an auxiliary function code to be sent to the PMC. The auxiliary
function code can be specified using either one or two bytes,
depending on the setting of bit 6 (AUX) of parameter No. 8001, in
signals EID0g to EID15g.

(8) Machine coordinate system selection (EC0g to EC6g: 20h)

For this command, the signals are used to specify, in binary format,
an absolute machine coordinate, according to the increment system
used by the axis.
Example: For absolute value “10000”
Input increment inch 1.0000 mm 10.000

Output increment mm 25.400 inch 0.3937

The direction of rotation can be specified about a rotation axis with

a parameter. To enable the roll–over function, set bit 0 (ROAx) of
parameter No. 1008 to 1. Then, select whether the tool is to be
rotated in the direction corresponding to the sign of the specified
value, or in whichever direction minimizes the distance to the end
point, using bit 1 (RABx) of parameter No. 1008. The moving
distance per rotation must be set in parameter No. 1260.
(9) When a torque control command (EC0g to EC6g: 11h) is specified
Specify the torque data.
Specify a positive value when the torque is to be applied in the
positive direction. Specify a negative value when the torque is to be
applied in the negative direction.
The specified torque data can be changed in torque control mode by
setting the new data in the signal then inverting the logic of axis
control command read signal EBUFg.

Valid data range Units

–99999999 to +99999999 0.00001 Nm

NOTE
The data units will be 0.001 N when a linear motor is being
used.

915
15. PMC CONTROL FUNCTION B–63173EN–1/02

6 Axis control data

signals
EID0g to EID31g
[Classification] Input signal
[Unit of data] Data unit
Unit
IS–B IS–C

Metric input 0.001 0.0001 mm

Linear axis
Inch input 0.0001 0.00001 inch

Rotation axis 0.001 0.0001 deg

[Valid data range] The amount incremental movement in the axis input unit system is
specified in binary format.
Data unit
Unit
IS–B IS–C

Metric input "99999.999 "9999.9999 mm

Linear axis
Inch input "9999.9999 "999.99999 inch

Rotation axis "99999.999 "9999.9999 deg

7 Axis control command

read signal EBUFg
[Classification] Input signal
[Function] Directs the CNC to read a block of command data for PMC axis control.
See “Basic procedure” for details of the operation performed when this
signal is set from “0” to “1” or from “1” to “0”.

8 Axis control command

read completion
signal EBSYg

[Classification] Output signal

[Function] Notifies the system that the CNC has read a block of command data for
PMC axis control and has stored the block in the input buffer. See “Basic
procedure” for details of the output conditions and the procedure.

916
B–63173EN–1/02 15. PMC CONTROL FUNCTION

9 Reset signal ECLRg

[Classification] Input signal
[Function] Resets the corresponding PMC–controlled axis.
When this signal is set to “1”, the following is performed:
(1) When the tool is moving along the axis: Decelerates and stops the
tool.
(2) When the tool is dwelling: Stops the operation.
(3) When an auxiliary function is being executed: Stops the operation.
Simultaneously, all buffered commands are canceled. Any control
command is ignored while this signal is set to “1”.
The continuous feed command (EC0g to EC6g: 06h) and external pulse
synchronization command (EC0g to EC6g: 0Bh, 0Dh to 0Eh) can be
terminated by setting reset signal ECLRg to “1”. When these commands
are terminated, the servo motor decelerates and stops, the axis moving
signal EGENg is set to “0”, and the control axis selection status signal
*EAXSL is set to “0”. Confirm that the control axis selection status signal
*EAXSL has been set to “0” before issuing the next command. Do not
set reset signal ECLRg to “0” until the control axis selection status signal
*EAXSL has been set to “0”.
The speed command (EC0g to EC6g: 10h) can also be terminated by
setting the reset signal ECLRg to “1”. When this command is terminated,
the servo motor decelerates and stops, and the axis moving signal EGENg
is set to “0”. Confirm that the axis moving signal EGENg has been set
to “0” before issuing the next command. Do not attempt to set the reset
signal ECLRg to “0” until the axis moving signal EGENg has been set to
“0”.

10 Axis control
temporary stop signal
ESTPg

[Classification] Input signal

[Function] When this signal is set to “1”, the following is performed:
(1) When the tool is moving along the axis: Decelerates and stops the
tool.
(2) When the tool is dwelling: Stops the operation.
(3) When an auxiliary function is being executed: Stops the operation
when auxiliary function completion signal EFINg is input.
The stopped operation can be restarted by setting this signal to “0”.

917
15. PMC CONTROL FUNCTION B–63173EN–1/02

11 Block stop signal

ESBKg
12 Block stop disable
signal EMSBKg

[Classification] Input signal

[Function] When block stop signal ESBKg is set to “1” during the execution of a
command issued from the PMC, axis control is stopped after the block
being executed is completed. When this signal is set to “0”, the buffered
command is executed. Block stop signal ESBKg is disabled when block
stop disable signal EMSBKg is set to “1” for the block.

The timing chart for the command operation is shown below.

|← More than →|
ESBKg 8 msec
(input)
[1] [2] [3]
Command
block
(input)
EBUFg
(input)

EBSYg
(output)
The buffer is full.

Input buffer [2] [3]

Waiting buffer
[1] [2]

Executing
buffer [1]
Beginning of execution

13 Auxiliary function
code signals
EM11g to EM48g

[Classification] Output signal

14 Auxiliary function
strobe signal EMFg

[Classification] Output signal

918
B–63173EN–1/02 15. PMC CONTROL FUNCTION

15 Auxiliary function
completion signal
EFINg
[Classification] Input signal
[Function] When an auxiliary function command (EC0g to EC6g: 12h) is issued by
the PMC, the auxiliary function code is specified in a byte (using signals
EID0g to EID7g) or two bytes (using signals EID0g to EID15g),
depending on the setting of bit 6 (AUX) of parameter No. 8001.
The CNC sends the auxiliary function code specified in signals EID0g to
EID7g and EID8g to EID15g to auxiliary function code signals EM11g
to EM28g and EM31g to EM48g and awaits auxiliary function
completion signal EFINg. When the auxiliary function completion signal
EFINg is returned, the CNC starts executing the next block.
The timings for sending the auxiliary function code signals and auxiliary
function strobe signal, as well as for receiving the auxiliary function
completion signal, are the same as those for the auxiliary functions (M
functions) under the control of the CNC. See “Auxiliary function
executing signal” for details.

16 Servo–off signal
ESOFg
[Classification] Input signal
[Function] When this signal is set to “1”, the servo motor for the corresponding
PMC–controlled axis is turned off (servo–off state).
When this signal is set to “0”, the servo motor is turned on.
When a torque control command (EC0g to EC6g: 11h) is specified,
entering the servo–off state cancels torque control mode, but the torque
control state remains set. In such a case, set reset signal ECLRg to “1”.

919
15. PMC CONTROL FUNCTION B–63173EN–1/02

17 Buffering disable
signal EMBUFg
[Classification] Input signal
[Function] When this signal is set to “1”, commands from the PMC are not read while
the executing, waiting, or input buffer contains a block. If this signal is
set to “1” when any of these buffers contain a block, that block is executed
but subsequent commands are read only when the buffers are all empty.
To discriminate the buffering disabled condition, the CNC outputs the
axis control command read completion signal (EBSYg) only when a
command is read when all buffers are empty.
The timing chart for the command operation is shown below.

EMBUFg
(input)
[1] [2]
Command
block
(input)
EBUFg
(input)
Command
disabled
EBSYg
(output)

Input buffer

Waiting buffer

Executing [1] [2]

buffer
Beginning of End Beginning of
execution execution

Buffering is disabled, regardless of buffering disable signal EMBUFg, for

the following commands:
(1) Skip–feed per minute (EC0g to EC6g: 03h)
(2) Reference position return (EC0g to EC6g: 05h)
(3) 1st reference position return (EC0g to EC6g: 07h)
(4) 2nd reference position return (EC0g to EC6g: 08h)
(5) 3rd reference position return (EC0g to EC6g: 09h)
(6) Machine coordinate system selection (EC0g to EC6g: 20h)
The following commands, for which reset signal ECLRg is used for
termination, operate as though buffering had been disabled. That is, the
subsequently specified block is not executed but canceled:
(1) Continuous feed (EC0g to EC6g: 06h)
(2) External pulse synchronization – main spindle
(EC0g to EC6g: 0Bh)

920
B–63173EN–1/02 15. PMC CONTROL FUNCTION

(3) External pulse synchronization – first manual handle

(EC0g to EC6g: 0Dh)
(4) External pulse synchronization – second manual handle
(EC0g to EC6g: 0Eh)
(5) Speed command (EC0g to EC6g: 10h)

18 Control axis selection

status signal *EAXSL
[Classification] Output signal
[Function] When this signal is set to “0”, control axis selection signals EAX1 to
EAX8 can be changed.
This signal is set to “1” in the following cases:
(1) When the tool is moving along a PMC–controlled axis
(2) When a block is being read into a buffer
(3) When the servo–off signal ESOFg is set to “1”
When this signal is set to “1”, control axis selection signals EAX1 to
EAX8 cannot be changed. Any attempt to change these signals results in
the output of P/S alarm No. 139.
If an attempt to change signals EAX1 to EAX8 is made when servo–off
signal ESOFg is “1”, P/S alarm No. 139 occurs and cannot be released
simply by setting reset signal ECLRg to “1”. In such a case, restore
signals EAX1 to EAX8 or set servo–off signal ESOFg to “0” before
setting reset signal ECLRg to “1”.
When a command is issued for any of the eight paths with PMC axis
control, signal *EAXSL is set to “1” to disable axis selection. Thus,
changing signals EAX1 to EAX8 results in the output of P/S alarm No.
139. For paths for which commands are not issued, however, axis
selection is enabled if bit 5 (DSL) of parameter No. 8004 is set
accordingly.

19 In–position signal
EINPg
[Classification] Output signal
[Function] This signal is set to “1” when the corresponding PMC–controlled axis is
in the in–position state.
When the tool is decelerated, in–position check is performed to disable
the next command until the tool enters the in–position area. The
in–position check, however, can be skipped using bit 6 (NCI) of
parameter No. 8004 to reduce the cycle time.

NOTE
When the axis fed at a very low speed, in –position signal
might turn “1”.

921
15. PMC CONTROL FUNCTION B–63173EN–1/02

20 Following zero
checking signal
ECKZg

[Classification] Output signal

[Function] This signal is set to “1” when following zero check or in–position check
is being performed for the corresponding PMC–controlled axis.

21 Alarm signal EIALg

[Classification] Output signal
[Function] This signal is set to “1” when a servo alarm, overtravel alarm, or P/S alarm
No. 130 or 139 occurs for the corresponding PMC–controlled axis. This
signal is set to “0” when reset signal ECLRg is set to “1” after the alarm
is released, as described below.
D Servo alarm
Eliminate the cause of the alarm, then reset the CNC.
D Overtravel alarm
Move the tool into the area within the stored stroke limit, then reset the
CNC.
The following commands can be used to move the tool into the area
within the stored stroke limit during an overtravel alarm:
(1) Rapid traverse (EC0g to EC6g: 00h)
(2) Cutting feed–feed per minute (EC0g to EC6g: 01h)
(3) Cutting feed–feed per rotation (EC0g to EC6g: 02h)
(4) Continuous feed (EC0g to EC6g: 06h)
(5) External pulse synchronization – first manual handle
(EC0g to EC6g: 0Dh)
(6) External pulse synchronization – second manual handle
(EC0g to EC6g: 0Eh)
D P/S alarm (130 or 139)
Reset the CNC. See “Alarms and messages” for details.
Reset signal ECLRg cannot be used to reset the CNC in the above cases.
Use the reset button on the setting panel, external reset signal ERS, or
emergency stop signal *ESP.

922
B–63173EN–1/02 15. PMC CONTROL FUNCTION

22 Axis moving signal

EGENg

[Classification] Output signal

[Function] This signal is set to “1” when the tool is moving along the corresponding
PMC–controlled axis according to commands such as rapid traverse
(EC0g to EC6g: 00h) and cutting feed (EC0g to EC6g: 01h).

NOTE
This signal is set to “0” when distribution for the axis is
completed (the signal is set to “0” during deceleration).

23 Auxiliary function
executing signal
EDENg

[Classification] Output signal

[Function] When an auxiliary function (EC0g to EC6g: 12h) is specified by the
PMC, this signal is set to “1” during the period from when auxiliary
function codes EID0g to EID15g are sent to auxiliary function code
signals EM11g to EM48g until auxiliary function completion signal
EFINg is returned.
The timing chart for the command operation is shown below.

Auxiliary function command Next command

Command block
(input)

EM11g to EM48g
(output)

TMF
EMFg
(output)

TFIN
EFINg
(input)

EDENg
(output)

TMF and TFIN are set with parameters No. 3010 and 3011.

923
15. PMC CONTROL FUNCTION B–63173EN–1/02

24 Negative–direction
overtravel signal
EOTNg
25 Positive–direction
overtravel signal
EOTPg
[Classification] Output signal
[Function] These signals are set to “1” when an overtravel alarm is detected. When
the stroke limit in the negative direction is exceeded, signal EOTNg is set
to “1”. When the stroke limit in the positive direction is exceeded, signal
EOTPg is set to “1”. Simultaneously, alarm signal EIALg is set to “1”.
These signals are set to “0” when the overtravel alarm is released and reset
signal ECLRg is set to “1”. See “Alarm signal EIALg” for details of how
to release an overtravel alarm.

26 Feedrate override
signals
*FV0E to *FV7E(Note 1)
*FV0Eg to *FV7Eg

[Classification] Input signal

[Function] Like the CNC’s feedrate override signals *FV0 to *FV7, these signals can
be used to select the override for the cutting feedrate, in steps of 1% from
0 to 254%, independently of the CNC side by setting bit 2(OVE) of
parameter No. 8001 to ”1”.
When bit 1(INOV) of parameter No. 8009 is set to ”0”, the signal of
*FV0E to *FV7E is effective for all groups. When bit 1(INOV) of
parameter No. 8009 is set to ”1”, the signal of *FV0Eg to *FV7Eg is
effective for each group independently
These signals are composed with an eight–bit binary code and correspond
to the override value as follows:

ȍ |2
7
Override value + i
Vi|%
i+0

Vi = 0 when signal *FViE is 1

Vi = 1 when signal *FViE is 0
That is, each signal has the following significance:
*FV7E = 128%, *FV3E = 8% ,
*FV6E = 64%, *FV2E = 4% ,
*FV5E = 32%, *FV1E = 2% ,
*FV4E = 16%, *FV0E = 1%
When all signals are set to ”0”, the override is regarded as 0%, as well as
when all signals are ”1”.
(Note1) When bit 1(INOV) of parameter No. 8009 is set to ”1”, the signal
of *FV0E to *FV7E is used for the signal of group A.

924
B–63173EN–1/02 15. PMC CONTROL FUNCTION

27 Override cancellation
signal
OVCE(Note 2)
OVCEg
[Classification] Input signal
[Function] When the override signal for PMC axis control is enabled independently
of the CNC axis control by setting bit 2(OVE) of parameter No.8001, the
cutting feed override is fixed to 100% by setting this signal to ”1”. This
signal does not affect the rapid traverse override.
When bit 0(IOVC) of parameter No. 8009 is set to ”0”, the signal of
OVCE is effective. When bit 0(IOVC) of parameter No. 8009 is set to ”1”,
the signal of OVCEg is effective and override cancellation is effective for
each group independently.
(Note2) When bit 0(IOVC) of parameter No. 8009 is set to ”1”, the signal
of OVCE is used for the signal of group A.

28 Rapid traverse
override signals
ROV1E and ROV2E

[Classification] Input signal

[Function] These signals can be used to select the override for the rapid traverse rate,
independently of the CNC, by setting bit 2 (OVE) of parameter No. 8001.

Rapid traverse override signals

Override value
ROV2E ROV1E

0 0 100%
0 1 50%
1 0 25%
1 1 F0

F0 is the minimum feedrate specified with parameter No. 1421.

29 Dry run signal DRNE

30 Manual rapid traverse
selection signal RTE

[Classification] Input signal

[Function] These signals can be used to perform dry run or manual rapid traverse,
independently of the CNC, by setting bit 2 (OVE) of parameter No. 8001.
When dry run signal DRNE is set to “1”, the specified rapid traverse rate
and cutting feedrate are ignored and the tool moves at the dry run speed
(set in parameter No. 1410) multiplied by the specified override. Bit 3
(RDE) of parameter No. 8001 can be used to specify whether to enable
or disable dry run for rapid traverse.

925
15. PMC CONTROL FUNCTION B–63173EN–1/02

When manual rapid traverse selection signal RTE is set to “1” during dry
run, the tool moves at the rapid traverse rate for rapid traverse and at the
maximum jog feedrate for cutting feed. When the signal is set to “0”, the
tool moves at the jog feedrate. When dry run signal DRNE is set to “0”,
the specified rapid traverse rate or cutting feedrate is restored.

Feedrate of Dry run

Manual rapid Command from PMC

traverse select
signal Rapid traverse Feed

1 Rapid traverse rate Maximum cutting

feedrate

0 Dry run feed Dry run feed

rate JV(*) rate JV

* Can also be set to the rapid traverse rate with bit 3 (RDE) of parameter
No. 8001.

31 Override 0% signal
EOV0
[Classification] Output signal
[Function] This signal is set to “1” when the feedrate override is 0%.

32 Skip signal ESKIP

[Classification] Input signal
[Function] When this signal is set to “1” during executing the skip cutting command,
the block being executed is immediately stopped and the next block is
executed. Bit 7 (SKE) of parameter No. 8001 can be used to select
whether to use signal SKIP, which is the common skip signal for the PMC
and CNC, or PMC–specific skip signal ESKIP.

33 Distribution
completion signals
EADEN1 to EADEN8

[Classification] Output signal

[Function] These signals are set to “0” when the tool is moving with a command from
the PMC. The signals are set to “1” when the tool is not moving, except
when it is stopped by the issue of an axis control temporary stop signal
ESTPg during the execution of a move command.

926
B–63173EN–1/02 15. PMC CONTROL FUNCTION

34 Buffer full signal

EABUFg

[Classification] Output signal

[Function] This signal is set to “1” when the input buffer contains a command block.

35 Controlling signals
EACNT1 to EACNT8

[Classification] Output signal

[Function] When the control axis selection status signal *EAXSL is set to “1”, signal
EACNTn corresponding to the axis being controlled is set to “1”.

36 Accumulated zero
check signal ELCKZg

[Classification] Input signal

[Function] Setting this signal to 1 causes an accumulated zero check between blocks
to be made at a subsequent cutting feed command.
(1) Cutting feed per minute (EC0g to EC6g: 01h)
(2) Cutting feed per rotation (EC0g to EC6g: 02h)

This enables the chopping function.

37 Torque control mode

signal TRQMx

[Classification] Output signal

[Function] This signal indicates which axis is placed in torque control mode under
PMC axis control.

38 Interlock signals for

each PMC axis control
axis direction
+EDITA to +EDITH
–EDITA to –EDITH
[Classification] Input signal
[Function] When interlock for each PMC axis control axis direction is set to 1, the
CNC provides an interlock only in the corresponding direction. The
signals are classified for each path and valid for all the axes belonging to
the path.

927
15. PMC CONTROL FUNCTION B–63173EN–1/02

Signal address
MT→CNC

ADDRESS

#7 #6 #5 #4 #3 #2 #1 #0
X000 SKIP ESKIP

#7 #6 #5 #4 #3 #2 #1 #0
X1000 SKIP ESKIP

PMC→CNC

ADDRESS

G136 EAX8 EAX7 EAX6 EAX5 EAX4 EAX3 EAX2 EAX1

G150 DRNE RTE OVCE ROV2E ROV1E

G151 *FV7E *FV6E *FV5E *FV4E *FV3E *FV2E *FV1E *FV0E

G462 +EDITH +EDITG +EDITF +EDITE +EDITD +EDITC +EDITB +EDITA

G463 –EDITH –EDITG –EDITF –EDITE –EDITD –EDITC –EDITB –EDITA

#7 #6 #5 #4 #3 #2 #1 #0
G142 EBUFA ECLRA ESTPA ESOFA ESBKA EMBUFA ELCKZA EFINA

G143 EMSBKA EC6A EC5A EC4A EC3A EC2A EC1A EC0A

G144 EIF7A EIF6A EIF5A EIF4A EIF3A EIF2A EIF1A EIF0A

G145 EIF15A EIF14A EIF13A EIF12A EIF11A EIF10A EIF9A EIF8A

G146 EID7A EID6A EID5A EID4A EID3A EID2A EID1A EID0A

For
group A
G147 EID15A EID14A EID13A EID12A EID11A EID10A EID9A EID8A

G148 EID23A EID22A EID21A EID20A EID19A EID18A EID17A EID16A

G149 EID31A EID30A EID29A EID28A EID27A EID26A EID25A EID24A

G150 OVCE

G151 *FV7E *FV6E *FV5E *FV4E *FV3E *FV2E *FV1E *FV0E

928
B–63173EN–1/02 15. PMC CONTROL FUNCTION

#7 #6 #5 #4 #3 #2 #1 #0
G154 EBUFB ECLRB ESTPB ESOFB ESBKB EMBUFB ELCKZB EFINB

G155 EMSBKB EC6B EC5B EC4B EC3B EC2B EC1B EC0B

G156 EIF7B EIF6B EIF5B EIF4B EIF3B EIF2B EIF1B EIF0B

G157 EIF15B EIF14B EIF13B EIF12B EIF11B EIF10B EIF9B EIF8B

G158 EID7B EID6B EID5B EID4B EID3B EID2B EID1B EID0B

For
group B
G159 EID15B EID14B EID13B EID12B EID11B EID10B EID9B EID8B

G160 EID23B EID22B EID21B EID20B EID19B EID18B EID17B EID16B

G161 EID31B EID30B EID29B EID28B EID27B EID26B EID25B EID24B

G162 OVCEB

G163 *FV7EB *FV6EB *FV5EB *FV4EB *FV3EB *FV2EB *FV1EB *FV0EB

#7 #6 #5 #4 #3 #2 #1 #0
G166 EBUFC ECLRC ESTPC ESOFC ESBKC EMBUFC ELCKZC EFINC

G167 EMSBKC EC6C EC5C EC4C EC3C EC2C EC1C EC0C

G168 EIF7C EIF6C EIF5C EIF4C EIF3C EIF2C EIF1C EIF0C

G169 EIF15C EIF14C EIF13C EIF12C EIF11C EIF10C EIF9C EIF8C

G170 EID7C EID6C EID5C EID4C EID3C EID2C EID1C EID0C

For
group C
G171 EID15C EID14C EID13C EID12C EID11C EID10C EID9C EID8C

G172 EID23C EID22C EID21C EID20C EID19C EID18C EID17C EID16C

G173 EID31C EID30C EID29C EID28C EID27C EID26C EID25C EID24C

G174 OVCEC

G175 *FV7EC *FV6EC *FV5EC *FV4EC *FV3EC *FV2EC *FV1EC *FV0EC

929
15. PMC CONTROL FUNCTION B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G178 EBUFD ECLRD ESTPD ESOFD ESBKD EMBUFD ELCKZD EFIND

G179 EMSBKD EC6D EC5D EC4D EC3D EC2D EC1D EC0D

G180 EIF7D EIF6D EIF5D EIF4D EIF3D EIF2D EIF1D EIF0D

G181 EIF15D EIF14D EIF13D EIF12D EIF11D EIF10D EIF9D EIF8D

G182 EID7D EID6D EID5D EID4D EID3D EID2D EID1D EID0D

For
group D
G183 EID15D EID14D EID13D EID12D EID11D EID10D EID9D EID8D

G184 EID23D EID22D EID21D EID20D EID19D EID18D EID17D EID16D

G185 EID31D EID30D EID29D EID28D EID27D EID26D EID25D EID24D

G186 OVCED

G187 *FV7ED *FV6ED *FV5ED *FV4ED *FV3ED *FV2ED *FV1ED *FV0ED

#7 #6 #5 #4 #3 #2 #1 #0
G464 EBUFE ECLRE ESTPE ESOFE ESBKE EMBUFE ELCKZE EFINE

G465 EMSBKE EC6E EC5E EC4E EC3E EC2E EC1E EC0E

G466 EIF7E EIF6E EIF5E EIF4E EIF3E EIF2E EIF1E EIF0E

G467 EIF15E EIF14E EIF13E EIF12E EIF11E EIF10E EIF9E EIF8E

G468 EID7E EID6E EID5E EID4E EID3E EID2E EID1E EID0E

For
group E
G469 EID15E EID14E EID13E EID12E EID11E EID10E EID9E EID8E

G470 EID23E EID22E EID21E EID20E EID19E EID18E EID17E EID16E

G471 EID31E EID30E EID29E EID28E EID27E EID26E EID25E EID24E

G472 OVCEE

G473 *FV7ED *FV6ED *FV5ED *FV4ED *FV3ED *FV2ED *FV1ED *FV0ED

930
B–63173EN–1/02 15. PMC CONTROL FUNCTION

#7 #6 #5 #4 #3 #2 #1 #0
G476 EBUFF ECLRF ESTPF ESOFF ESBKF EMBUFF ELCKZF EFINF

G477 EMSBKF EC6F EC5F EC4F EC3F EC2F EC1F EC0F

G478 EIF7F EIF6F EIF5F EIF4F EIF3F EIF2F EIF1F EIF0F

G479 EIF15F EIF14F EIF13F EIF12F EIF11F EIF10F EIF9F EIF8F

G480 EID7F EID6F EID5F EID4F EID3F EID2F EID1F EID0F

For
group F
G481 EID15F EID14F EID13F EID12F EID11F EID10F EID9F EID8F

G482 EID23F EID22F EID21F EID20F EID19F EID18F EID17F EID16F

G483 EID31F EID30F EID29F EID28F EID27F EID26F EID25F EID24F

G484 OVCFF

G485 *FV7EF *FV6EF *FV5EF *FV4EF *FV3EF *FV2EF *FV1EF *FV0EF

#7 #6 #5 #4 #3 #2 #1 #0
G488 EBUFG ECLRG ESTPG ESOFG ESBKG EMBUFG ELCKZG EFING

G489 EMSBKG EC6G EC5G EC4G EC3G EC2G EC1G EC0G

G490 EIF7G EIF6G EIF5G EIF4G EIF3G EIF2G EIF1G EIF0G

G491 EIF15G EIF14G EIF13G EIF12G EIF11G EIF10G EIF9G EIF8G

G492 EID7G EID6G EID5G EID4G EID3G EID2G EID1G EID0G

For
group G
G493 EID15G EID14G EID13G EID12G EID11G EID10G EID9G EID8G

G494 EID23G EID22G EID21G EID20G EID19G EID18G EID17G EID16G

G495 EID31G EID30G EID29G EID28G EID27G EID26G EID25G EID24G

G496 OVCFG

G497 *FV7EG *FV6EG *FV5EG *FV4EG *FV3EG *FV2EG *FV1EG *FV0EG

931
15. PMC CONTROL FUNCTION B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G500 EBUFH ECLRH ESTPH ESOFH ESBKH EMBUFH ELCKZH EFINH

G501 EMSBKH EC6H EC5H EC4H EC3H EC2H EC1H EC0H

G502 EIF7H EIF6H EIF5H EIF4H EIF3H EIF2H EIF1H EIF0H

G503 EIF15H EIF14H EIF13H EIF12H EIF11H EIF10H EIF9H EIF8H

G504 EID7H EID6H EID5H EID4H EID3H EID2H EID1H EID0H

For
group H
G505 EID15H EID14H EID13H EID12H EID11H EID10H EID9H EID8H

G506 EID23H EID22H EID21H EID20H EID19H EID18H EID17H EID16H

G507 EID31H EID30H EID29H EID28H EID27H EID26H EID25H EID24H

G508 OVCFH

G509 *FV7EH *FV6EH *FV5EH *FV4EH *FV3EH *FV2EH *FV1EH *FV0EH

CNC→PMC

ADDRESS

#7 #6 #5 #4 #3 #2 #1 #0
F112 EADEN8 EADEN7 EADEN6 EADEN5 EADEN4 EADEN3 EADEN2 EADEN1

F129 *EAXSL EOV0

#7 #6 #5 #4 #3 #2 #1 #0
F130 EBSYA EOTNA EOTPA EGENA EDENA EIALA ECKZA EINPA

For F131 EABUFA EMFA

group A

F132 EM28A EM24A EM22A EM21A EM18A EM14A EM12A EM11A

#7 #6 #5 #4 #3 #2 #1 #0
F133 EBSYB EOTNB EOTPB EGENB EDENB EIALB ECKZB EINPB

For
group B F134 EABUFB EMFB

F135 EM28B EM24B EM22B EM21B EM18B EM14B EM12B EM11B

932
B–63173EN–1/02 15. PMC CONTROL FUNCTION

#7 #6 #5 #4 #3 #2 #1 #0
F136 EBSYC EOTNC EOTPC EGENC EDENC EIALC ECKZC EINPC

For F137 EABUFC EMFC

group C

F138 EM28C EM24C EM22C EM21C EM18C EM14C EM12C EM11C

#7 #6 #5 #4 #3 #2 #1 #0
F139 EBSYD EOTND EOTPD EGEND EDEND EIALD ECKZD EINPD

For F140 EABUFD EMFD

group D

F141 EM28D EM24D EM22D EM21D EM18D EM14D EM12D EM11D

#7 #6 #5 #4 #3 #2 #1 #0
F500 EBSYE EOTNE EOTPE EGENE EDENE EIALE ECKZE EINPE

For F501 EABUFE EMFE

group E

F502 EM28E EM24E EM22E EM21E EM18E EM14E EM12E EM11E

#7 #6 #5 #4 #3 #2 #1 #0
F503 EBSYF EOTNF EOTPF EGENF EDENF EIALF ECKZF EINPF

For F504 EABUFF EMFF

group F

F505 EM28F EM24F EM22F EM21F EM18F EM14F EM12F EM11F

#7 #6 #5 #4 #3 #2 #1 #0
F506 EBSYG EOTNG EOTPG EGENG EDENG EIALG ECKZG EINPG

For F507 EABUFG EMFG

group G

F508 EM28G EM24G EM22G EM21G EM18G EM14G EM12G EM11G

#7 #6 #5 #4 #3 #2 #1 #0
F509 EBSYH EOTNH EOTPH EGENH EDENH EIALH ECKZH EINPH

For F510 EABUFH EMFH

group H

F511 EM28H EM24H EM22H EM21H EM18H EM14H EM12H EM11H

933
15. PMC CONTROL FUNCTION B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
Group A F142 EM48A EM44A EM42A EM41A EM38A EM34A EM32A EM31A

#7 #6 #5 #4 #3 #2 #1 #0
Group B F145 EM48B EM44B EM42B EM41B EM38B EM34B EM32B EM31B

#7 #6 #5 #4 #3 #2 #1 #0
Group C F148 EM48C EM44C EM42C EM41C EM38C EM34C EM32C EM31C

#7 #6 #5 #4 #3 #2 #1 #0
Group D F151 EM48D EM44D EM42D EM41D EM38D EM34D EM32D EM31D

#7 #6 #5 #4 #3 #2 #1 #0
Group E F488 EM48E EM44E EM42E EM41E EM38E EM34E EM32E EM31E

#7 #6 #5 #4 #3 #2 #1 #0
Group F F491 EM48F EM44F EM42F EM41F EM38F EM34F EM32F EM31F

#7 #6 #5 #4 #3 #2 #1 #0
Group G F494 EM48G EM44G EM42G EM41G EM38G EM34G EM32G EM31G

#7 #6 #5 #4 #3 #2 #1 #0
Group H F497 EM48H EM44H EM42H EM41H EM38H EM34H EM32H EM31H

#7 #6 #5 #4 #3 #2 #1 #0
F182 EACNT8 EACNT7 EACNT6 EACNT5 EACNT4 EACNT3 EACNT2 EACNT1

F190 TRQM8 TRQM7 TRQM6 TRQM5 TRQM4 TRQM3 TRQM2 TRQM1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1803 TRF

[Data type] Bit

TRF In torque control mode,
0 : Follow–up is not performed.
1 : Follow–up is performed.

1885 Permissible value of integrated travel distance under torque control

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter sets the maximum permissible value for the integrated
travel distance in torque control mode. If the integrated travel distance
exceeds the value set in this parameter, servo alarm No. 423 is issued.

NOTE
This parameter is valid when the TRF (bit 4 of parameter No.
1803) is set to 0.

934
B–63173EN–1/02 15. PMC CONTROL FUNCTION

1886 Torque control cancel limit

[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter sets the cancel limit value used to cancel torque control
mode.
When the position error falls below or equals to the value set in this
parameter, torque control mode is canceled and position control becomes
effective.

NOTE
This parameter is valid when the TRF (bit 4 of parameter
1803) is held 0.

#7 #6 #5 #4 #3 #2 #1 #0
2000 DGPRx

[Data type] Bit axis

DGPRx At power–ON, the torque constant (parameter No. 2105):
0 : Is automatically set to the standard value specific to the motor.
1 : Is not automatically set to the standard value specific to the motor.

#7 #6 #5 #4 #3 #2 #1 #0
2007 TRQx

[Data type] Bit axis

TRQx Torque control:
0 : Is not performed for the axis.
1 : Is performed for the axis.

2105 Torque constant

[Data type] Word axis

[Unit of data] 0.00001 Nm/(torque command)
[Valid data range] 1 to 32767
A torque constant is set for each motor torque characteristic.

NOTE
When a linear motor is used, the units of data are 0.001
N/(torque command).

935
15. PMC CONTROL FUNCTION B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
3105 PCF

[Data type] Bit

PCF Whether movement along PMC–controlled axes is included in the actual
speed display
0 : Included
1 : Not included

NOTE
This parameter is valid when the same axis is controlled
alternately by the CNC and PMC.

#7 #6 #5 #4 #3 #2 #1 #0
8001 SKE AUX NCC RDE OVE MLE

[Data type] Bit

MLE Whether machine lock signal MLK is valid for PMC–controlled axes
0 : Valid
1 : Invalid

NOTE
Each–axis machine lock signals MLK1 to MLK8 are always
valid, regardless of the setting of this parameter.

OVE Signals related to dry run and override used in PMC axis control
0: Same signals as those used for the CNC
(1) Feedrate override signals *FV0 to *FV7
(2) Override cancellation signal OVC
(3) Rapid traverse override signals ROV1 and ROV2
(4) Dry run signal DRN
(5) Rapid traverse selection signal RT
1: Signals specific to the PMC
(1) Feedrate override signals *FV0E to *FV7E
(2) Override cancellation signal OVCE
(3) Rapid traverse override signals ROV1E and ROV2E
(4) Dry run signal DRNE
(5) Rapid traverse selection signal RTE
RDE Whether dry run is valid for rapid traverse in PMC axis control
0 : Invalid
1 : Valid
NCC When a travel command is issued for a PMC–controlled axis (selected by
a controlled–axis selection signal) according to the program:
0 : P/S alarm 139 is issued while the PMC controls the axis with an axis
control command. While the PMC does not control the axis, a CNC
command is enabled.
1 : P/S alarm 139 is issued unconditionally.

936
B–63173EN–1/02 15. PMC CONTROL FUNCTION

AUX The number of bytes for the code of an auxiliary function (12H) command
to be output is
0 : 1 byte type (0 to 255)
1 : 2 bytes type (0 to 65535)
SKE Skip signal during axis control by the PMC
0 : Uses the same signal SKIP as CNC.
1 : Uses dedicated axis control signal ESKIP used by the PMC.

#7 #6 #5 #4 #3 #2 #1 #0
8002 FR2 FR1 PF2 PF1 F10 SUE DWE RPD

[Data type] Bit

RPD Rapid traverse rate for PMC–controlled axes
0 : Feedrate specified with parameter No. 1420
1 : Feedrate specified with the feedrate data in an axis control command
DWE Minimum time which can be specified in a dwell command in PMC axis
control when the increment system is IS–C
0 : 1 ms
1 : 0.1 ms
SUE Whether acceleration/deceleration is performed for an axis that is
synchronized with external pulses, for external pulse synchronization
commands in PMC axis control
0 : Performed (exponential acceleration/deceleration)
1 : Not performed
F10 Least increment for the feedrate for cutting feed (per minute) in PMC axis
control
F10 Metric input Inch input

0 1 mm/min 0.01 inch/min

1 10 mm/min 0.1 inch/min

PF1, PF2 Set the the feedrate unit of feed per minute in PMC axis control
PF2 PF1 Feedrate unit

0 0 1/1

0 1 1/10

1 0 1/100

1 1 1/1000

FR1, FR2 Set the feedrate unit for feed per rotation for an axis controlled by the
PMC.

FR2 FR1 Metric input Inch input

0 0
0.0001 mm/rev 0.000001 inch/rev
1 1

0 1 0.001 mm/rev 0.00001 inch/rev

1 0 0.01 mm/rev 0.0001 inch/rev

937
15. PMC CONTROL FUNCTION B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
8003 PIM

NOTE
When this parameter is set, the power must be turned off
then back on again to make the setting effective.

[Data type] Bit

PIM If a linear axis is controlled solely by the PMC, the commands for that axis
are:
0 : Affected by inch/metric input.
1 : Not affected by inch/metric input.

#7 #6 #5 #4 #3 #2 #1 #0
8004 NCI DSL NMT CMV

[Data type] Bit

CMV If the PMC issues a command for an axis after the completion of a
movement along that axis according to a command issued by the CNC,
but before receiving the signal indicating that the miscellaneous function
is completed in the same block,
0 : P/S alarm No. 130 occurs.
1 : The axis is handled as a PMC axis and the specified movement is
executed.
NMT If the CNC issues a command that does not result in any movement along
a PMC–controlled axis while another command, specified for the axis, is
being processed,
0 : P/S alarm No. 130 occurs.
1 : No alarm occurs.
DSL If an axis exchange is attempted while the selection of a PMC–controlled
axis is inhibited,
0 : The attempt fails and a P/S alarm No. 139 occurs.
1 : The axis exchange is executed for the axes that belong to an
unspecified path.
NCI During deceleration along an axis controlled by the PMC, the in–position
check is:
0 : Performed.
1 : Not performed.
1 : Diameter programming is used to specify the travel distance and
feedrate.

938
B–63173EN–1/02 15. PMC CONTROL FUNCTION

#7 #6 #5 #4 #3 #2 #1 #0
8005 DRR R10

[Data type] Bit

R10 When the RPD parameter (bit 0 of parameter No.8002) is set to 1, the unit
for specifying a rapid traverse rate for the PMC axis is:
0 : 1 mm/min.
1 : 10 mm/min.
DRR For cutting feed per rotation in PMC axis control, the dry run function is:
0 : Disabled.
1 : Enabled.

#7 #6 #5 #4 #3 #2 #1 #0
8006 EDI

[Data type] Bit

EDI Interlock for each axis in PMC axis control is:
0 : Invalid
1 : Valid

NOTE
When bit 7 of parameter No. 8003 is set to 1, the interlock
signal for each PCM axis control axis direction is invalid.

CAUTION
The interlock signal for each PCM axis control axis direction
is invalid for the following commands.
(1)Dwell: Command code (04H)
(2)Auxiliary function: (12H)

#7 #6 #5 #4 #3 #2 #1 #0
8009 INOV IOVC

[Data type] Bit

IOVC Signal for override cancel used in the PMC axis control
0 : Is common signal for all group
1 : Is each signal for each group
INOV Signal for feedrate override used in the PMC axis control
0 : Is common signal for all group
1 : Is each signal for each group

NOTE
When parameter No. 8009#0(IOVC) or 8009#1(INOV) is
set to 0, each signal of override cancel and feedrate
override can be selected to use same signals used for the
CNC or signals specific to the PMC by setting of parameter
No. 8001#2(OVE).

939
15. PMC CONTROL FUNCTION B–63173EN–1/02

8010 Selection of the DI/DO group for each axis controlled by the PMC

[Data type] Byte axis

[Valid data range] 1 to Number of Controlled axes
Specify the DI/DO group to be used to specify a command for each
PMC–controlled axis.
Value Description
1 DI/DO group A (G142 to G149) is used.
2 DI/DO group B (G154 to G161) is used.
3 DI/DO group C (G166 to G173) is used.
4 DI/DO group D (G178 to G185) is used.
5 DI/DO group E (G464 to G471) is used.
6 DI/DO group F (G476 to G483) is used.
7 DI/DO group G (G488 to G495) is used.
8 DI/DO group H (G500 to G507) is used.

NOTE
If another value is specified, the axis is not PMC–controlled.

8022 Maximum feedrate for feed per rotation along a PMC–controlled axis

[Data type] Word axis

[Unit of data] Valid data range
Increment system Unit of data
[Valid data range] IS-A, IS-B IS-C
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotaion axis 1 deg/min 6 to 15000 6 to 12000
Specify the maximum feedrate for feed per rotation along a PMC–con-
trolled axis

NOTE
The maximum feedrate set to first axis is valid to all axes.
The data of after second axis are invalid.

8028 Linear acceleration/deceleration time constant for jog feed specified by the speed
command for each PMC–controlled axis, or bell–shaped acceleration/deceleration
time constant for jog feed specified by the speed command for each PMC–
controlled axis T1

[Data type] Word axis

[Unit of data] msec/1000 min–1
[Valid data range] 0 to 32767
Specify, for each PMC–controlled axis, the time constant of
acceleration/deceleration by the speed command.
(1) When the linear acc/dec is used:
Specify the time needed to increase or decrease the speed of the servo
motor by 1000 min–1 as the time constant of linear acc/dec.
And set 0 to the parameter No.8029.

940
B–63173EN–1/02 15. PMC CONTROL FUNCTION

(2) When the bell–shaped acc/dec is used:

Specify the time constant of bell–shaped acc/dec T1 to this parameter.
And set the time constant of bell–shaped acc/dec T2 to the parameter
No.8029.
For information about the time constants T1 and T2, see the description
about the parameter No.8029.

NOTE
If 0s are specified to both the parameter No.8028 and
No.8029, the system does not control the
acceleration/deceleration.

8029 bell–shaped acceleration/deceleration time constant for jog feed specified by the
speed command for each PMC–controlled axis T2

[Data type] Word axis

[Unit of data] msec
[Valid data range] 0 to 512
Specify, for each PMC–controlled axis, the time constant of bell–shaped
acceleration/deceleration by the speed command T2.
Set the time constant of bell–shaped acc/dec T1 to the parameter No.8028.
When 0 is set to this parameter, linear acceleration/deceleration is used
during speed command in PMC axis control.(The time constant specified
in the parameter No.8028 is used for linear acceleration/ deceleration.)
Feedrate (min–1)
T1: Time constant supposing the acc/dec is linear.
Commanded
(The time needed to increase or decrease the
feedrate
speed of the servo motor by 1000 min–1 in case
of linear acc/dec.)
T2: The time needed to reach the commanded
1000min-1 feedrate supposing the acc/dec is linear.
For example, if the feedrate before the command
Feedrate Time is 0 and the commanded feedrate is 1000 min–1,
before the then T = T1.
command T1
T2: Time for the curved section
Total time = T +T2
T Time for the linear section T – T2
T2/2 T2/2

941
15. PMC CONTROL FUNCTION B–63173EN–1/02

Alarm and message A servo alarm or overtravel alarm for a PMC–controlled axis is detected
in the same way as an alarm for a CNC–controlled axis.
If an alarm occurs, the alarm is handled by applying the normal procedure,
alarm signal EIALg being set to “1” to inform the PMC of the alarm.
(If an overtravel alarm occurs, either negative overtravel signal EOTNg
or positive overtravel signal EOTPg is also set to “1”.)
If the PMC issues a command for a CNC–controlled axis, a P/S alarm No.
130 occurs.
Commands issued by the PMC are effective if the axis is in feed hold or
single block stop mode. The command results in the issue of an alarm if
cutting feed is executed with an override of 0%, or if the interlock is
enabled.
If the CNC issues a command for a PMC–controlled axis, a P/S alarm No.
130 occurs.
If the PMC issues a movement command for an axis in the plane of polar
coordinate interpolation in polar coordinate interpolation mode (G12.1),
a P/S alarm No. 130 occurs.
(1) P/S Alarm
Number Message Description

130 ILLEGAL AXIS An axis control command was given by

OPERATION PMC to an axis controlled by CNC. Or
an axis control command was given by
CNC to an axis controlled by PMC.
Modify the program.
139 CAN NOT CHANGE PMC A PMC controlled axis was again se-
CONTROL AXIS lected. Or, the CNC issued a control
command for an axis that has been set
as a PMC–controlled axis for which no
command has been specified. Or, an
axis under control of CNC was selected
by PMC.

(2) Servo alarm

Number Message Description

417 SERVO ALARM: An invalid parameter is specified for

n AXIS EXCESS ERR torque control. The torque constant pa-
rameter is set to 0.
422 SERVO ALARM: The maximum speed permitted under
n AXIS EXCESS ERR torque control has been exceeded.
423 SERVO ALARM: The maximum permissible value of in-
n AXIS EXCESS ERR tegrated travel distance set in the pa-
rameter under torque control has been
exceeded.

942
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Warning
WARNING
1 The mode selection, CNC reset, and other CNC statuses
have no effect.
2 Feed hold, single block stop, reset, or interlock of one or all
axes, performed by the CNC, does not affect a
PMC–controlled axis. Similar control is possible by using
the equivalent signals issued from the PMC.
3 The mirror image functions (setting, parameter, input signal)
are disabled.

Caution
CAUTION
1 Emergency stop or machine lock is enabled. Machine lock
can be disabled if the MLE bit (bit 0 of parameter No. 8001)
is specified accordingly. However, machine lock for an
individual axis is always enabled.
2 In consecutive cutting feed blocks, deceleration is not
applied between blocks (however, acceleration/
deceleration is applied when a specified federate is
changed) and the controller proceeds to the next block
without waiting for the in–position check status. In other
blocks, deceleration is applied at the end point of a block,
and after the completion of deceleration, the controller waits
until the in–position check status is entered, and then
executes the next block. When NCI (bit 6 of parameter
No.8004) is set to 1, the next block can also be started
without performing in–position check for each block.
3 Commands for a linear axis that is controlled solely by the
PMC (not used as an axis controlled by the CNC) are not
affected by inch/metric input if the PIM bit (bit 0 of parameter
No. 8003) is specified accordingly. The current position
display, also, is not affected by inch/metric input.
4 For a PMC–controlled axis, manual absolute mode is
always set. If the PMC starts control of an axis after manual
intervention (manual continuous feed, manual handle feed,
etc.) is performed during automatic operation while manual
absolute mode is not set (*ABSM is set to 1), manual
absolute mode is set.
5 Under PMC axis control, all commands are handled as axis
commands. Even for the miscellaneous function, the
position check is effective.

943
15. PMC CONTROL FUNCTION B–63173EN–1/02

Note
NOTE
1 The actual speed excluding the effect of the movement
along a PMC–controlled axis can be displayed if the PCF bit
(bit 1 of parameter No. 3105) is specified.
2 If an absolute pulse coder is used, a specified reference
position is retained in memory, even after the power is
turned off.
3 The individual output of the auxiliary function is provided by
adding a signal for individual output. The timing diagram of
controlling and specifying the auxiliary function is not
changed. The normal specifications of the auxiliary
functions for PMC axis control function are applied.

15.1.1
PMC Axis Indirect
Specification
Command

Overview The DI/DO area of each group is restricted in conventional PMC axis
control, so it was impossible to support a command with much command
data.
Using the PMC axis indirect specification command to extend the
argument area, it is possible to support a PMC axis control command with
much command data.
The PMC axis indirect specification command references the specified
address and executes the operation specified in the destination
subcommand.
The indirect specification command itself indicates the address at which
a subcommand is placed. An example of using a DI signal in group A to
execute the subcommand placed in the area beginning with D1000 is
shown below.

944
B–63173EN–1/02 15. PMC CONTROL FUNCTION

D1000
G142 Subcommand
Indirect command
Example)
Control command: 34 Multiaxis synchro-
nization mechanism
synchronization
First character: ”D” Multiaxis synchro-
nization start point
First number: 100 synchronization
Specification feed
for each accelera-
tion/deceleration

DI area of conventional
PMC axis control
(Fixed address and size) Area in which a subcommand
is placed
(Arbitrary address and size)

In the above example, a subcommand can be executed in the following

procedure.
1) Set EC0A to EC6A (G143.0 to 6) in group A to indirect specification
command code 22H (34), set EIF0A to EIF15A (G144 and G145) to
character code 44H (68) of address character ”D” of the address
(D1000) of the area in which a subcommand is placed, and set EID0A
to EID31 A (G146 to G149) to a value of 1000.
2) Invert EBUFA (G142.7) to execute the instruction specified in a
subcommand.
* It is also possible to use functional command AXCTL (PMC axis
control inctruction).

Indirect command An indirect command is used to specify the address at which a

subcommand, or an operation command, is specified.
D Before executing an indirect command, a subcommand must have
been set.
D The D area (data table) or R area (internal relay) of PMC can be used
to store a subcommand.
D If a subcommand is not correct, alarm 5261 occurs.

Command format The format of an indirect command is as follows:

Offset address
from the beginning
of a group Description
+00 Same as the normal PMC axis command
+01 Command 34
+02 Subcommand address character code (2 bytes)
+04 Subcommand address character code (4 bytes)

945
15. PMC CONTROL FUNCTION B–63173EN–1/02

Command block

Axis control command

Operation Command data
code signals EC0g to EC6g

Address character codes

Indirect
EIF0g to EIF15g
specification 22 h
Start address EID0g to
command
EID31g

The character code of the subcommand start address is specified with an

ASCII code.
As the character code of the subcommand start address, ”D” or ”R” can
be specified.
The PMC areas available to a subcommand can be summarized as
follows.
Start address
ASCII code Description of the address character
character

PMC data table (conservation type

D 44 h (=68)
memory)

R 52h (=82) PMC internal relay

CAUTION
Using the specified subcommand address for other usage
such as for a device net, I/O, a link may cause a malfunction.
This is very dangerous, so be sure to prevent the address
ranges from overlapping one another.

Subcommand Set a subcommand at the address specified by an indirect command.

The first 4 bytes of an subcommand is fixed, but the remaining part is
variable for each subcommand.

Subcommand format A subcommand begins with the address specified by an indirect

command. Its first two bytes contain the subcommand number, the next
two bytes contain the subcommand data length, and the fifth and
subsequent bytes have a different format for each subcommand.
Address Description
+00 Subcommand number (2 bytes)
+02 Subcommand data length (2 bytes)
+04 and later Command data determined for
each subcommand

The subcommand data length is the sum of 4 bytes for the sub command
number and data length and the number of bytes for command data.

946
B–63173EN–1/02 15. PMC CONTROL FUNCTION

D Subcommand types The operation type of a subcommand is determined by a subcommand

number.
The types of subcommands are shown below.

Subcommand
Function name
number

Multiaxis synchronization mechanism synchronization

01 (01h)
command

Multiaxis synchronization start point synchronization

02 (02h)
command

03 (03h) Overtravel amount specification type skip

04 (04h) Acceleration/deceleration specification feed

Subcommand numbers

Command data for Command data for each function specified by a subcommand number is
subcommands summarized below. For details on each function, refer to the
specifications such as the technical report, operator’s manual, or
connection manual of each function.

D Multiaxis Subcommand number: 01 (01h)

synchronization Operation: The specified axis starts synchronous
mechanism operation with the parent axis immediately
synchronization after specification.
command Command format:
Address specified
by an indirect
command Description
+00 Subcommand number 01 (2 bytes)
+02 Subcommand data length 12 (2 bytes)
+04 Amount of local axis movement (4 bytes)
+08 Amount of parent axis movement (4 bytes)

D Multiaxis Subcommand number: 02 (02h)

synchronization start Operation: The specified axis starts synchronous
point synchronization operation as soon as the parent axis passes the
command start position.
Command format:
Address specified
by an indirect
command Description
+00 Subcommand number 02 (2 bytes)
+02 Subcommand data length 16 (2 bytes)
+04 Amount of local axis movement (4 bytes)
+08 Amount of parent axis movement (4 bytes)
+12 Start position (4 bytes)

947
15. PMC CONTROL FUNCTION B–63173EN–1/02

D Overtravel amount Subcommand number: 08 (08h)

specification type skip Operation: Operation stops after the specified amount of
overtravel is made from the position where the
high speed skip signal was input.
Command format:
Address specified
by an indirect
command Description
+00 Subcommand number 02 (2 bytes)
+02 Subcommand data length 20 (2 bytes)
+04 High speed signal to be selected (1 byte)
+05 Reserved (3 bytes)
+08 Feedrate (4 bytes)
+12 Distance (4 bytes)
+16 Amount of overtravel (4 bytes)

D PMC axis control Subcommand number: 12 (0Ch)

aceleration/deceleratio Operation: This is a feed command that can specify the
n specification feed acceleration and deceleration separately.
Command format:
Address specified
by an indirect
command Description
+00 Subcommand number 12 (2 bytes)
+02 Subcommand data length 26 (2 bytes)
+04 Feed type (2 bytes)
+06 In–position check (2 bytes)
+08 Feedrate (mm/min) (4 bytes)
+12 Acceleration (mm/sec )2 (4 bytes)
+16 Deceleration (mm/sec )2 (4 bytes)
+20 Data classification (ABS/INC/MTN) (2 bytes)
+22 Amount of movement/specification
of coordinates (4 bytes)

Example of use The following describes an example of the start point synchronization
command in multiaxis synchronization.
Assumed operations:
D The local axis starts synchronization when the parent axis reaches
100.000.
D After starting synchronization, the local axis moves 12.000 while the
parent axis moves 5.555.
Area used:
D The group of PMC axis control used for subcommands is group A.
D The PMC area used for subcommands occupies 16 bytes beginning
with D2000.

948
B–63173EN–1/02 15. PMC CONTROL FUNCTION

The multiaxis synchronization start point synchronization command

(subcommand number 02h of the PMC axis indirect specification
command) is used to realize this operation.
In this case, the relationships between indirect commands and
subcommands are shown below.

Indirect command
Data
––
G142 200(Indirect command)
G143 68 (44h) (’D’)
G146 2000 (Address)
Subcommand
Data
D2000 02(02h) (Subcommand number)
D2002 16(10h) (Data length)
D2004 12000 (Amount of local axis movement)
D2008 5555 (Amount of parent axis movement)
D2012 100000 (Start position)

Alarm and message

Number Message Description

5261 PMC INDIRECT The specifications in the PMC axis con-

COMMAND IS ILLEGAL trol indirect specification command are
not correct.

949
15. PMC CONTROL FUNCTION B–63173EN–1/02

15.1.2
High–Speed Skip
Function (with
Traveling Distance
from Skip Signal) in
PMC Axis Control

General In case high–speed skip function (with traveling distance from skip
signal) in PMC axis control, if an external skip signal is input during the
execution of the skip command that is specified the moving distance and
the over traveling distance after detecting the skip signal, the execution
of the command is interrupted after moving the specified over traveling
distance from the position at the skip signal input.

Basic operations

Speed

Over traveling
distance

Time
Skip signal input

CAUTION
Please input the skip signal while the axis speed is constant.

950
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Format High–speed skip function (with traveling distance from skip signal) in
PMC axis is specified by the PMC axis indirect command. As for detail
of the PMC axis indirect command, refer to the section of the ”1.10.9
PMC axis indirect command”.
Format in the PMC axis indirect command
Address which is specified
in the offset 04h data of Contents
indirect command

+00H Sub–command 08h (2byte)

+02H Data length 14h (2byte)

+04H Selected high–speed skip signal (1byte)

+05H Reserve (3byte)

+08H Feedrate (4byte)

+0CH Moving distance (4byte)

+10H Over traveling distance after skip (4byte)

D Selected high–speed Specify which skip signals are enabled when skip command is issued with
skip signal (1byte) this function. (Set each bit for skip signal to ”1”.) The following shows
the correspondence between the bits and the enabled skip signals.
Bit 0 –––– DI30
Bit 1 –––– DI31
Bit 2 –––– DI32
Bit 3 –––– DI33
Bit 4 –––– DI34
Bit 5 –––– DI35
Bit 6 –––– DI36
Bit 7 –––– DI37

D Feedrate (4byte) These signals are used to specify, in binary format, the feedrate along an
axis.
[Unit of data] Data unit
Unit
IS–A IS–B IS–C
Metric
10 1 0.1 mm/min
Linear machine
axis Inch
0.1 0.01 0.001 inch/min
machine
Rotation axis 10 1 0.1 deg/min

[Valid data range] Data unit

Unit
IS–A IS–B IS–C
Metric mm/
10–240000 1–240000 0.1–100000.0
Linear machine min
axis Inch inch/
0.1–9600.0 0.01–9600.00 0.001–4000.000
machine min
deg/
Rotation axis 10–240000 1240000 0.1–100000.0
min

951
15. PMC CONTROL FUNCTION B–63173EN–1/02

CAUTION
1 When ”0” is specified, the CNC cannot move the tool even
after buffering the command. In such a case, release the
buffering by issuing the reset signal ECLRg.
2 Cutting feedrate clamp function is disabled during high
speed skip function.
3 Specify the feedrate within the above valid data range.

D Moving distance (4byte) These signals are used to specify, in binary format, the incremental
moving distance, according to the input increment used for the axis.
[Unit of data] IS–A IS–B IS–C Unit
Metric input mm
0.01 0.001 0.0001
Degree input deg
Inch machine 0.001 0.0001 0.00001 inch

[Valid data range] –99999999 to 99999999

NOTE
The moving distance equals the sum of the moving distance
and the over traveling distance, if the skip signal is not input
during the execution of the high speed skip command (with
traveling distance from skip signal).

D Traveling distance over These signals are used to specify, in binary format, the traveling distance
the skip signal (4byte) over the skip signal.
[Unit of data] IS–A IS–B IS–C Unit
Metric input mm
0.01 0.001 0.0001
Degree input deg
Inch machine 0.001 0.0001 0.00001 inch

[Valid data range] 0 to 99999999

NOTE
Set ”0” or over to this value.

952
B–63173EN–1/02 15. PMC CONTROL FUNCTION

In case the axis can not One of the following actions are done when the movement can not be
be decelerated and decelerated and stopped within the specified traveling distance from skip
stopped within the signal.
specified traveling (1) In case the parameter SKR (No.6209#7)=0 (the axis comes back to the
distance from skip signal stop position after the axis passes by the stop position):
because the distance is
too short High–speed skip Temporal stop position
signal input

Start position Stop position

Reversal action
Specified traveling
distance from skip
signal Distance to
decelerate

(2) In case the parameter SKR(No.6209#7)=1 (the axis stops at the

position where the axis can stop):

High–speed skip
signal input
Start position Stop position

Specified traveling
distance from skip Distance to
signal decelerate

Movement between the The in–position check and the accelerating/decelerating completion
block with this command check between blocks are not done, when both this block and the next
and the next block block have the cutting feed command and the next block is input to the
buffer before starting deceleration.
But, when the parameter SKR (No.6209#7) is ”0”, the next block is read
after the skip signal is input. So the axis stops between blocks in a
moment, if the traveling distance from skip signal is too short or the skip
signal is not input

953
15. PMC CONTROL FUNCTION B–63173EN–1/02

(1) When the traveling distance from skip signal is long enough to
decelerate.

Speed Skip signal input

This command Next block (cutting)

Time

Note) The part of is specified traveling distance from skip signal.

(2) When the skip signal is not input. (Parameter SKR(No.6209#7) is 0.)

Speed

This command Next block (cutting)

Time

The valid area for skip In the block of this command, the valid area for skip signal is shown
signal below.
(a) In case the axis stops at the start point of the block with this command.

Speed
Specified travel-
ing distance
from skip signal
This command

T T Time

The valid area for skip signal

NOTE
1 T is the time constant of the acceleration/deceleration.
2 The servo delay is not considered in above figure.
3 The skip signal is not valid during decelerating, even if the
specified traveling distance from skip is short.

954
B–63173EN–1/02 15. PMC CONTROL FUNCTION

(b) When the axis does not stop between the former block and the block
of this command

Speed
Specified traveling
distance from
skip signal

Cutting block This command

Time
T T

The valid area for skip signal

NOTE
1 T is the time constant of the acceleration/deceleration.
2 The servo delay is not considered in above figure.
3 The skip signal is not valid during deceleration, even if the
specified traveling distance from skip signal is short.

CAUTION
When the skip signal inputs at the period of A in above
figure, the measurement position may be out of the area of
this command.

Signal

High–speed skip signal

DI30 – DI37
<X1003#0–#7>
[Classification] Input signal
[Function] These signals interrupt skip cutting. That is, the position where a skip
signal turns to ”1” during executing a block of this command is stored in
a custom macro variable, and the move command of the block is
interrupted after moving the specified traveling distance from skip signal.
Which of the eight skip signals, that is applicable to blocks of this
command, can be determined by the command data.
The eight skip signals can correspond to each command on a one–to–one
basis. One skip signal can also correspond to plural commands.
Conversely, plural skip signals can correspond to one command.

955
15. PMC CONTROL FUNCTION B–63173EN–1/02

[Operation] When a skip signal turns to ”1”, the control unit functions as described
below.
When a block has high–speed skip command (with traveling distance
from skip signal), and the high skip signal is effective to this block by the
specified data, the control unit reads and stores the current position of the
specified axis at that time. The control unit stops the axis after moving the
specified traveling distance from skip signal and then cancels the
remaining distance that the block was supposed to be moved.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X1003 DI37 DI36 DI35 DI34 DI33 DI32 DI31 DI30

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6200 SRE SLS

[Data type] Bit

SLS While the high–speed skip signals are input, the high–speed skip signals
are :
0 : Not available
1 : Available

NOTE
The following parameters must be set, if the above
parameter is set to ”1” and the high–speed skip signals are
available.
No.8731, 8732, 8733

SRE In case the status trigger method for high–speed skip signals is selected
(No.6209 #6 = 0) :
0 : The signal is considered to be input at the status ”1”.
1 : The signal is considered to be input at the status ”0”.

#7 #6 #5 #4 #3 #2 #1 #0
6209 SKRT SEDG

[Data type] Bit

SEDG The status trigger method for high–speed skip signals in high–speed skip
function
0 : Is available
1 : Is not available (The only edge trigger is available.)
The skip operation is not performed, if the skip signal is input before the
block of the high–speed skip (with traveling distance from skip signal) is
executed when the status trigger method is not available.

956
B–63173EN–1/02 15. PMC CONTROL FUNCTION

SKRT In case the traveling distance from skip signal in the high–speed skip is
short,
0 : The axis comes back to the stopped position after the axis passes by
the stopped position once.
1 : The axis stops at the position where the axis can stop.

#7 #6 #5 #4 #3 #2 #1 #0
8731 EPMC7 EPMC6 EPMC5 EPMC4 EPMC3 EPMC2 EPMC1 EPMC0

[Data type] Bit

EPMCn The signal DI3n (X1003 bit n) is
0 : Used for high–speed skip function or measuring function by using
high–speed skip signal
1 : Used for interrupt type PMC

NOTE
This parameter must be set to 0, when the above functions
are not used.

#7 #6 #5 #4 #3 #2 #1 #0
8732 UPEG7 UPEG6 UPEG5 UPEG4 UPEG3 UPEG2 UPEG1 UPEG0

[Data type] Bit

UPEGn The rising edge (0 → 1) of the signal DI3n (X1003 bit n) is :
0 : Not used for interrupt type PMC or high–speed skip signal.
1 : Used for interrupt type PMC or high–speed skip signal.

#7 #6 #5 #4 #3 #2 #1 #0
8733 DWED7 DWED6 DWED5 DWED4 DWED3 DWED2 DWED1 DWED0

[Data type] Bit

DWEGn The falling edge (1 → 0) of the signal DI3n (X1003 bit n) is
0 : Not used for interrupt type PMC or high–speed skip signal
1 : Used for interrupt type PMC or high–speed skip signal.

957
15. PMC CONTROL FUNCTION B–63173EN–1/02

6240 Compensation for high speed skip signal DI30

6241 Compensation for high speed skip signal DI31

6242 Compensation for high speed skip signal DI32

6243 Compensation for high speed skip signal DI33

6244 Compensation for high speed skip signal DI34

6245 Compensation for high speed skip signal DI35

6246 Compensation for high speed skip signal DI36

6247 Compensation for high speed skip signal DI37

[Data type] Word

[Unit of data] msec
[Range of valid data] 0 to 8000
Error caused by the delay of a sensor can be compensated by this
parameter. Setting data is ineffective when the value was out of range.

Caution

CAUTION
1 This command must not be given for the PMC axis control
group, in which two or more axes are simultaneously
controlled.
2 The axis passes by the specified end–position by the
traveling distance from skip signal, if the skip signal is not
input during the execution of this command.
3 In case of rotary axis, please set feed rate of the axis less
than n 2500deg/min (n: moving amount per one rotation).
4 Please input a skip signal at intervals of 16 msec or more.

958
B–63173EN–1/02 15. PMC CONTROL FUNCTION

15.1.3
PMC Axis Control
Acceleration/
Deceleration
Specification Feed

Overview In cutting feed, rapid traverse, or continuous feed by PMC axis control,
the acceleration and deceleration can be separately specified by a ladder.
1) Cutting feed and rapid traverse
To specify the acceleration and deceleration separately when the
movement distance is fixed, use cutting feed or rapid traverse.

Cutting feed or rapid traverse

t

Cutting feed and rapid traverse

When overlapping is made between contiguous blocks to prevent speed
reduction, take action A below. When an in–position check is performed,
take action B below.
A) When overlapping is made between contiguous blocks
Use cutting feed.
The acceleration and deceleration between cutting feed operations
can be arbitrarily specified.
v

Cutting feed Cutting feed

t

B) When the next movement is made after an in–position check

Use rapid traverse.
v

Cutting feed Rapid traverse

or rapid
traverse
t

* An in–position check is performed before and after (both the start time
and the end time) a rapid traverse block.

959
15. PMC CONTROL FUNCTION B–63173EN–1/02

2) Continuous feed
To make a deceleration stop after signal input when the movement
distance is not determined, use continuous feed.

Trigger signal

Continuous feed

Continuous feed and cutting feed

Overlapping is made between a continuous feed block and a cutting feed block and
between continuous feed blocks.

v Trigger signal

Continuous feed
Cutting feed
t
This can be used to perform the following operation.

A) When a deceleration stop at the specified position is made after the signal is
input for a turning rotation axis
Trigger signal

Continuous feed
Cutting feed

Stopping at the specified position

B) When the operation speed is changed each time the signal is input
Trigger signal

Trigger signal

Trigger signal Trigger signal

Continuous
feed 3)
Continuous
Continuous feed 1) feed 2) Continuous feed 4)

960
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Specification method The PMC axis control acceleration/deceleration specification feed

function can perform linear acceleration/deceleration with the
acceleration and deceleration specified separately by specifying the
following values with the PMC axis indirect specification command.
D Feed type (cutting feed/rapid traverse/continuous feed)
D Feedrate
D Acceleration and deceleration
D Amount of movement or end point coordinates (absolute coordinates/
machine coordinates/amount of movement)
(1) Cutting feed
Cutting feed or rapid traverse can be performed by following steps 1)
to 5).
1) Set the necessary data at the specified address for PMC axis
control.
2) Perform activation by EBUFg.
3) The feed is accelerated at the acceleration value specified as a linear
acceleration/deceleration.
4) When the specified speed is reached, the constant speed is kept.
5) A deceleration stop is made at the specified position. (The
acceleration/deceleration type is linear acceleration/deceleration).
(2) Continuous feed
Continuous feed can be performed by following steps 1) to 5).
1) Set the necessary data at the specified address for PMC axis
control.
2) Perform activation by EBUFg.
3) The feed is accelerated to the specified speed.
4) When the specified speed is reached, the constant speed is kept.
5) When the PMC axis control acceleration/deceleration trigger
signal (EADCJg) (see Chapter 3) is set from 0 to 1, a deceleration
stop is made. (A deceleration stop is also made when operation is
terminated by input of ECLRg or ESTPg.)
Example) An example in the following figure assumes the values below.
D Amount of movement: 200000 ((m)
D Acceleration: 300 (mm/sec2)
D Deceleration: 1000 (mm/sec2)
D Speed: 200 (mm/min)

Acceleration Deceleration
2000 (speed) 1500 200000 1000
(amount of movement)

961
15. PMC CONTROL FUNCTION B–63173EN–1/02

Command details Acceleration/deceleration control is specified by the PMC axis control

indirect command (EC0g to EC6g: 34 (22h)). Movement is made at a
constant acceleration from the speed at the start of specification to the
specified feedrate.
The correspondence between the axis control commands and the
command data items is shown below.

Command block

Axis control command code

Operation Command data
signals (EC0g to EC6g)

Indirect Address: EID0g to EID31g

34 (22h)
command PMC code: EIF0g to EIF15g

The format of a subcommand specified by an indirect command is

described below.
(x: Address specified by an indirect command)

Address Description of the command

+00 1) Subcommand function number (12)
+02 2) Subcommand data length (26)
+04 3) Feed type (0: rapid traverse, 1: cutting feed, 6: continuous feed)
+06 4) In–position check (0: invalid, 1: valid)
+08 5) Feedrate (mm/min)

+12 6) Acceleration (mm/sec2)

+16 7) Deceleration (mm/sec2)

+20 8) Operation type (0: ABS, 1: INC, 2: MTN)

+22 9) Axis control data (amount of movement, specification
of coordinates) (µm)

* When the unit is IS–B

The following details the data specified on the previous page.
1) Subcommand function number (2 bytes)
Function number of acceleration/deceleration type cutting
feed/continuous feed. Specify 12 (0Ch).

2) Subcommand data length (2 bytes)

Data length of a subcommand. Specify 26 (1Ah).
3) Specify a feed type (2 bytes).
00: Rapid traverse
01: Cutting feed
06: Continuous feed
When [0: Rapid traverse] or [1: Cutting feed] was specified, set the
amount of movement or the coordinates as [9) Axis control
data].

962
B–63173EN–1/02 15. PMC CONTROL FUNCTION

When [6: Continuous feed] was specified, set the movement direction
as [9) Axis control data]. Specify 0 for the + direction or –1
for the – direction. (Actually, decision is made by checking
either 0 or 1 is the value of least significant bit #31.)
4) In–position check (2 bytes)
In–position check is:
0: Disabled (not performed).
1: Enabled (performed).
This setting is valid only when rapid traverse is specified.
For a block for which an in–position check is enabled in rapid traverse,
proceeding to the next block is made after confirmation of entry into
the in–position width upon completion of a deceleration stop.
When an in–position check is disabled, movement to the next block
is immediately performed without performing an in–position check
after deceleration.

Rapid Rapid
traverse, traverse,
cutting feed, cutting feed,
Rapid or Rapid or
traverse continuous traverse continuous
feed feed

When an in–position check is enabled When an in–position check is disabled

5) Feedrate (4 bytes)
Specify the feedrate of an axis in binary.
[Unit of data] Data unit
Unit
IS–A IS–B IS–C
Metric
10 1 0.1 mm/min
Linear input
axis Inch
0.1 0.01 0.01 inch/min
input
Rotation axis 10 1 0.1 deg/min

[Valid data range] Data unit

Unit
IS–A IS–B IS–C
Metric mm/
10–240000 1–240000 0.1–100000.0
Linear input min
axis Inch inch/
0.1–9600.0 0.01–9600.00 0.001–4000.000
input min
deg/
Rotation axis 10–240000 1–240000 0.1–100000.0
min

963
15. PMC CONTROL FUNCTION B–63173EN–1/02

CAUTION
1 When 0 is specified, no axis operation is performed with
buffering made. In this case, clear the state with reset signal
ECLRg.
2 Cutting feed speed clamping is disabled.
3 Specification must fall within the data range in the table.

6) Acceleration (4 bytes)
Specify the acceleration.
An acceleration can be specified in units of 1 mm/sec2, but only the
values equal to or greater than 8 mm/sec2 or equal to or less than –8
mm/sec2 are valid.
When a value between –7 mm/sec2 and 7 mm/sec2 is specified, the
acceleration is assumed to be 0.
The allowable range is between –99999999 to 99999999 mm/sec2.
7) Deceleration (4 bytes)
Specify the deceleration.
A deceleration can be specified in units of 1 mm/sec2, but only the
values equal to or greater than 8 mm/sec2 or equal to or less than –8
mm/sec2 are valid.
When a value between –7 mm/sec2 and 7 mm/sec2 is specified, the
deceleration is assumed to be 0.
The allowable range is between –99999999 to 99999999 mm/sec2.

NOTE
When a value that results in 0 is set as the acceleration or
deceleration, acceleration or deceleration is not applied.

8) Operation type (2 bytes)

When the feed type specified in 3) is rapid traverse (00h) or cutting
feed (01h), specify one of the following.
0: ABS Specify absolute coordinates.
1: INC Specify the amount of movement.
2: MTN Specify machine coordinates.
9) Axis control data (total amount of movement/coordinates) (4 bytes)
When the feed type specified in 3) is rapid traverse or cutting feed,
specify the coordinates of the target position or the movement distance
to the target position.
When the feed type specified in 3) is continuous feed, specify the
movement direction.
0........ + direction
–1...... – direction
Actually, the + direction is assumed when the most significant bit #31
is 0; the – direction is assumed when #31 is 1.
[Unit of data] IS–A IS–B IS–C Unit
mm unit input mm
0.01 0.001 0.0001
deg unit input deg
inch unit input 0.001 0.0001 0.00001 inch

964
B–63173EN–1/02 15. PMC CONTROL FUNCTION

[Valid data range] IS–A IS–B IS–C Unit

mm unit input mm
"9999.9999 "99999.999 "9999.9999
deg unit input deg
inch unit input "999.99999 "9999.9999 "999.99999 inch

Operation at the end of a (1) Continuous feed

block and movement of Operation for transition to the next block is started by the PMC axis
the next block acceleration/deceleration trigger signal (EADCJg). When the trigger
signal is input, transition to the next block is made while acceleration
or deceleration is being performed.
The next speed command determines either deceleration is made with
the specified deceleration value or acceleration is made with the
specified acceleration value at the end of the previous block. To make
acceleration, use the acceleration value. Otherwise, use the
deceleration value.

Deceleration
Continuous feed
Current block
Next block

Trigger signal

(2) Cutting feed

Just as with continuous feed, to increase the speed at the next
command, use the deceleration. To decrease the speed, use the
deceleration. The total amount of movement is measured until
deceleration of the current block is completed.

Deceleration

Current block
Next block

965
15. PMC CONTROL FUNCTION B–63173EN–1/02

[ About movement of the next block when coordinates are specified for
a rotation axis
When the stop position is specified by its coordinates, an immediate
stop may occur during deceleration (as indicated by the dotted lines in
the following figure).
For a rotation axis, however, when the deceleration distance is
insufficient, it continues rotating until the deceleration distance is
satisfied, as shown in the bold lines.

Cutting feed Cutting feed

X X+360

Stop coordinate Stop coordinate after one rotation

[ When two contiguous blocks flip one another relative to the horizontal
axis, overlapping is not performed. Each movement operation is
performed independently.

Cutting feed
or
continuous feed

Cutting feed
or
continuous feed

(3) Rapid traverse

Overlapping between two blocks is not made.

Rapid traverse,
cutting feed,
or
Rapid traverse continuous feed

966
B–63173EN–1/02 15. PMC CONTROL FUNCTION

CAUTION
1 When other than the PMC axis acceleration/deceleration
specification feed block is specified next, overlapping is not
performed.
2 For the override signal, FEED OVERRIDE is enabled in any
command.
3 When making speed changes by an override or pausing an
axis by ESTP, set ADOV (bit 4 of parameter No. 8003) to 1.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8003 ADOV

[Data type] Bit

ADOV When speed is changed by an override or ESTP in PMC axis
acceleration/deceleration specification feed, acceleration/deceleration by
the command is:
0 : Disabled
1 : Enabled

#7 #6 #5 #4 #3 #2 #1 #0
8007 PAI

[Data type] Bit

PAI In PMC axis acceleration/deceleration specification feed, linear–shaped
acceleration/deceleration after interpolation (parameter No. 1622) is:
0 : Disabled
1 : Enabled

967
15. PMC CONTROL FUNCTION B–63173EN–1/02

NOTE
1 Select the linear–shaped acceleration/deceleration as the
acceleration/deceleration type with bit 0 (CTLx) of
parameter No. 1610 set to 1 and bit 1 (CTBx) of parameter
No. 1610 set to 0.
2 If acceleration/deceleration by a command is applied when
linear–shaped acceleration/deceleration after interpolation
is valid (bit 6 of parameter No. 8007 is 1), bell–shaped
acceleration/deceleration is assumed..
3 The feed override signal common to the CNC side is valid
as the override signal when bit 2 (OVE) of parameter No.
8001 is 0. When OVE is 1, the feed override signals (*FV0E
to *FV7E) specific to PMC axis control are valid. When bit
1 (INOV) of parameter No. 8009 is 1, the feed override
signal (*FV0Eg to *FV7Eg) for each group are valid.
4 To enable the feed forward function, set bit 4 of parameter
No. 8004 to 1 and bit 3 of parameter No. 8004 to 0.

Signal

PMC axis control

acceleration/deceleration
trigger signals
EADCJA to EADCJH
<G453#0 to #7>
[Classification] Input signal
[Function] Terminates continuous feed of the PMC axis acceleration/deceleration
specification feed. When the block is present, movement to the next block
is made. Otherwise, deceleration completion is made at the specified
deceleration.
[Operation] When this signal is 1, the control unit operates as follows:
No operation is made when continuous feed of the specification feed
function for each PMC axis acceleration/deceleration is not being
performed. When continuous feed of the specification feed function for
each PMC axis acceleration/deceleration is being performed, transition to
the next block is made if the block is present. If the block is not present,
deceleration completion is made at the specified deceleration.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G453 EADCJH EADCHG EADCJF EADCJE EADCJD EADCJC EADCJB EADCJA

968
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Example of use An example of using PMC axis acceleration/deceleration specification is

described below.
(Example 1) When a command having different acceleration and
deceleration is executed in a single block
(The unit is IS–B.)
Command format of a subcommand
+00 12 (0Ch) (Subcommand)
+02 26 (1Ah) (Data length)
+04 01 (Cutting feed) (Feed type)
+06 0
+08 5000 (mm/min) (Feedrate)
+12 100 (mm/s2) (Acceleration)
+16 50 (mm/s2) (Deceleration)
+20 01 (INC) (Operation type)
+22 200000 (µm) (Amount of movement)

In this case, the time constant is:

Speed: 5000 (mm/min) = 5000/60 = 83.3 (mm/sec)
Acceleration: 100 (mm/sec2)
Time constant: 83.3/100 = 0.833 (sec)

Acceleration Deceleration
5000 (speed) 100 200000 50
(amount of movement)

(Example 2) When there are two commands: one to specify

continuous feed and the other to specify cutting feed.
Transition to the next command is performed by issuing
a trigger signal.
(The unit is IS–B.)

+00 12 (0Ch) (Subcommand) 12 (0Ch) (Subcommand)

+02 26 (1Ah) (Data length) 26 (1Ah) (Data length)
+04 06 (Continuous feed) (Feed type) 06h 01 (Cutting feed) (Feed type)
+06 0 08h 0
+08 2000 (mm/min) (Speed) 0Ch 1500 (mm/min) (Speed)
+12 50 (mm/s2) (Acceleration) 10h 500 (mm/s2) (Acceleration)
+16 0 (mm/s2) (Deceleration) 14h 40 (mm/s2) (Deceleration)
+20 0 (INC) (Operation type) 16h 1 (INC) (Operation type)
+22 0 (+ direction) (Axis control data) 1Ah 500000 (µm) (Axis control data)

[ Even when two successive commands are present, set the acceleration
to other than 0.

969
15. PMC CONTROL FUNCTION B–63173EN–1/02

V
Deceleration
40

Acceleration Deceleration
2000 (Speed) Amount of movement 40
50
500000

Trigger signal

970
B–63173EN–1/02 15. PMC CONTROL FUNCTION

15.2
EXTERNAL DATA
INPUT

General The following signals are used to send data from the PMC to the CNC.
Signal name Signal code

Data signal for external data input (input) ED0 to ED15

Address signal for external data input (input) EA0 to EA6
Read signal for external data input (input) ESTB
Read completion signal for external data input EREND
(output)
Search completion signal for external data input ESEND
(output)

The basic external data input procedure is described below:

(1) The PMC sets address signals EA0 to EA6 that indicate the data type
and data signals ED0 to ED15.
(2) The PMC sets read signal ESTB to “1”.
(3) When the ESTB signal is set to “1”, the control unit reads the address.
(4)After reading the address, the control unit sets read completion signal
EREND to “1”.
(5) When the EREND signal is set to “1”, the PMC sets the ESTB signal
to 0.
(6) When the ESTB signal is set to “0”, the control unit sets the EREND
signal to 0.
This completes the data input procedure. New data can now be entered.
The timing diagram is shown below:

ED0 to 15

EA0 to 6

0 ms or
32 ms or more more
ESTB

EREND

Only for external program number search

ESEND
End of
search

971
15. PMC CONTROL FUNCTION B–63173EN–1/02

Kind of data accessed by external data input

E ED15 to ED0
SEEE EEEE
No. Item
TAAA AAAA
15141312 1110 9 8 7 6 5 4 3 2 1 0
B65 4 321 0

External program number Program number(BCD4 digits)

1 1 0 0 0 ××××
search 0 to 9 0 to 9 0 to 9 0 to 9

1) External Program A program number (1 to 9999) is specified from the outside and is selected
Number Search in the CNC memory.
For machines that can load several kinds of workpieces, this function can
automatically select for execution the program corresponding to a
specific workpiece.
Data for the external program number search is accepted regardless of the
mode, but the search execution can be made only in the reset state in
AUTO mode.

The ESEND signal switches from “0” to “1” at the end of the external
program number search. This signal does not turn to “0” unless the cycle
start or reset signal is input, or another search is made. Use ESEND to
make a cycle start signal after the search.

NOTE
1 The external program number search is valid when
parameter ESR (No. 6300#4)=1.
2 The reset state is when the automatic operation lamp is off.
If the start button is pushed in the cycle operation stop or
hold state, search execution starts from the actual position
indicated by the pointer.
3 When there is not a program stored in memory
corresponding to the set program number, P/S alarm No. 59
will be activated.
4 Program search is not made if the program number is set to
“0”. When the start button is pushed, execution starts from
the position indicated by the pointer, instead.

Signals

Data signals for external

data input ED0 to ED15
<G000, G001>
[Classification] Input signal
[Function] The signals indicate the entered data.
The use of the 16 code signals varies with the data type.

972
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Address signals for

external data input
EA0 to EA6 <G002>
[Classification] Input signal
[Function] The signals indicate the type of the entered data.

Read signal for external

data input ESTB
<G002#7>
[Classification] Input signal
[Function] The signal reports that the address and data are set in external data input.
When the signal is set to “1”, the control unit reads the address and data
for external data input.
[Operation] The “basic procedure” describes the procedure for, and operation of, the
control unit when the signal turns to “1”.

Read completion signal

for external data input
EREND <F060#0>
[Classification] Output signal
[Function] The signal reports that the control unit has finished reading the entered
data.
[Operation] The output condition and procedure are described in the “basic
procedure.”

Search completion
signal for external data
input ESEND <F060#1>
[Classification] Output signal
[Function] The signal reports that program number search, specified by external data
input, has been completed.
[Output condition] The signal is set to “1” when:
· The program number search specified by external data input is
completed.
The signal is set to “0” when:
· An automatic operation is started.
· A reset occurs.

973
15. PMC CONTROL FUNCTION B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 ED7 ED6 ED5 ED4 ED3 ED2 ED1 ED0

G001 ED15 ED14 ED13 ED12 ED11 ED10 ED9 ED8

G002 ESTB EA6 EA5 EA4 EA3 EA2 EA1 EA0

#7 #6 #5 #4 #3 #2 #1 #0
F060 ESEND EREND

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
3202 PSR

[Data type] Bit

PSR Search for the program number of a protected program
0 : Disabled
1 : Enabled

#7 #6 #5 #4 #3 #2 #1 #0
6300 ESR

[Data type] Bit

ESR External program number search
0 : Disabled
1 : Enabled

Alarm and Message

Number Message Description

059 PROGRAM NUMBER In an external program number search

NOT FOUND or external workpiece number search,
a specified program number was not
found. Otherwise, a program specified
for searching is being edited in back-
ground processing. Check the program
number and external signal. Or discon-
tinue the background eiting.

974
B–63173EN–1/02 15. PMC CONTROL FUNCTION

15.3
EXTERNAL
WORKPIECE
NUMBER SEARCH
General When several part programs are stored in program storage memory, a
program can be searched with the workpiece number search signals PN0
to PN7 from the machine side.

When the cycle operation is actuated in the memory operation mode under
reset status, the workpiece number (program number) specified by PN0
to PN7 is searched and executed from the beginning.

Signal

Workpiece Number
Search Signal PN0, PN1,
PN2, PN3, PN4, PN5,
PN6, PN7 <G009#0 to #7>

[Classification] Input signal

[Function] Select the number of a workpiece to be machined in the memory mode.
Eight code signals are provided. These signals are set as binary code to
designate a workpiece number as follows:
Workpiece number search signal Workpiece
PN7 PN6 PN5 PN4 PN3 PN2 PN1 PN0 number

0 0 0 0 0 0 0 0 00
0 0 0 0 0 0 0 1 01
0 0 0 0 0 0 1 0 02
0 0 0 0 0 0 1 1 03
0 0 0 0 0 1 0 0 04
0 0 0 0 0 1 0 1 05
0 0 0 0 0 1 1 0 06
0 0 0 0 0 1 1 1 07
0 0 0 0 1 0 0 0 08
0 0 0 0 1 0 0 1 09
0 0 0 0 1 0 1 0 10
0 0 0 0 1 0 1 1 11
0 0 0 0 1 1 0 0 12
0 0 0 0 1 1 0 1 13
0 0 0 0 1 1 1 0 14
0 0 0 0 1 1 1 1 15

975
15. PMC CONTROL FUNCTION B–63173EN–1/02

Workpiece number search signal Workpiece

PN7 PN6 PN5 PN4 PN3 PN2 PN1 PN0 number

0 0 0 1 0 0 0 0 16
0 0 0 1 0 0 0 1 17
0 0 0 1 0 0 1 0 18
0 0 0 1 0 0 1 1 19
0 0 0 1 0 1 0 0 20
0 0 0 1 0 1 0 1 21
0 0 0 1 0 1 1 0 22
0 0 0 1 0 1 1 1 23
0 0 0 1 1 0 0 0 24
0 0 0 1 1 0 0 1 25
0 0 0 1 1 0 1 0 26
0 0 0 1 1 0 1 1 27
0 0 0 1 1 1 0 0 28
0 0 0 1 1 1 0 1 29
0 0 0 1 1 1 1 0 30
0 0 0 1 1 1 1 1 31
: :
: :
1 1 1 1 1 1 1 0 254
1 1 1 1 1 1 1 1 255

Workpiece number 00 is used for special designation “no search”. Thus,

a workpiece number ranges from 01 to 255.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G009 PN7 PN6 PN5 PN4 PN3 PN2 PN1 PN0

Alarm and Message

Number Message Description

059 PROGRAM NUMBER In an external program number search

NOT FOUND or external workpiece number search,
a specified program number was not
found. Otherwise, a program specified
for searching is being edited in back-
ground processing. Check the program
number and external signal. Or discon-
tinue the background eiting.

976
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Note
NOTE
1 This function can be used only in memory operation. It
cannot be used during DNC operation and MDI operation.
2 Select the program number from O001 to O255.
3 Program numbers from O001 to O255 can be used.
However, programs corresponding to all the program
numbers do not have to be stored in memory.
4 When a program corresponding to the specified program
number is not stored in memory, an alarm (No. 059) is
activated when the start button is pressed.
5 Program search is performed only when the start button is
pressed in the reset state. When the CNC is in the
automatic operation stop state (single block stop, etc.) or
pause state (feedhold stop, etc.), program search is not
performed even if the start button is pressed and execution
is started from the point specified by the present execution
pointer.
6 When the start button is pressed with all PN0 to PN7 are “0”,
program search is not performed but execution is started
from the point specified by the present execution pointer.
To restart operation from the start of a program which
cannot be searched by this function, perform the usual
program number search operation (MDI panel operation),
turn all the PN0 to PN7 to “0” and press the start button

977
15. PMC CONTROL FUNCTION B–63173EN–1/02

15.4
SPINDLE OUTPUT
CONTROL BY THE
PMC (Power Mate i–D)

General The PMC can control the speed and polarity of each spindle motor,
connected by the optional spindle serial output/spindle analog output
function.

This section describes how to use the PMC to control spindle rotation and
provides example applications.

Switching control This function can be used to specify the following:

⋅ Spindle motor speed (number of rotations)
⋅ Output polarity for each spindle motor (direction of rotation)
This function allows the user to select whether the CNC or PMC is used
to control the speed and output polarity of the spindle motors.

Specifying the spindle The PMC can be used to specify the spindle motor speed upon executing
motor speed the following:
⋅ Switching the controller from the CNC to the PMC, by issuing an SIND
signal
⋅ Setting the spindle motor speed data, calculated by the PMC, in spindle
control signal R01I to R12I
When controlled by the PMC, the spindle motor speed is not affected by
any signal (for example, the spindle speed override signal) or parameter
setting (for example, the maximum speed clamp parameter) related to the
spindle speed command of the CNC spindle control function.

The spindle motor speed data is obtained from the following expression.
Its value can range from 0 to 4095:

Spindle motor speed

Spindle motor speed data = 4095
Maximum spindle motor speed
Remark) Usually, the spindle speed must be controlled. If a gear train is
used to connect the spindle to the spindle motor, first obtain the
maximum spindle speed at the maximum spindle motor speed.
Spindle speed
Spindle motor speed data = 4095
Maximum spindle speed
By using this expression, the spindle motor speed data can be
obtained easily.

978
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Specifying the output The PMC can specify the spindle motor output polarity when the
polarity for the spindle following are executed:
motor ⋅ Switching the controller from the CNC to the PMC, by issuing an SSIN
signal
⋅ Specifying the output polarity to the SGN signal

S–code and SF signals To control the spindle, the PMC may require to read the S value specified
by the CNC.

If the spindle serial output/spindle analog control function is added (if the
PMC can control the spindle), the S–code signals <F022 to F025> and SF
signal <F007, #2> can be output only when many conditions, determined
by the CNC spindle control, are satisfied. In some cases, the signals
cannot be used under standard conditions.

Specify the related bits of parameter No. 3705 according to the desired
application, then use the S–code and SF signals.

Twelve code signals Twelve code signals corresponding to S value R01O to R12O <F036, #0
corresponding to the S to F037, #3> are output to the first spindle motor. The output data is
value (output) calculated from the results of the CNC spindle control. (See Section 9.3.)

Even while a spindle is subject to PMC control, an S command that is

issued to the CNC is converted to spindle output data and output.

The SIND signal determines whether the speed output command, issued
to the spindle motor, is obtained from the twelve code signals
corresponding to the S value, or from the R01I to R12I signals calculated
and specified by the PMC.

The use of this signal may simplify PMC ladder processing used to enable
PMC spindle control.

Signal

PMC spindle control signals

SIND, SSIN, SGN <G033#7, #6, #5>
R01I to R12I <G032#0 to G033#3>

[Classification] Input signal

[Function] The above signals enable the control of a spindle motor by issuing
commands from the PMC. Both the speed and polarity of the spindle
motor (direction of rotation) can be controlled.
The speed command and poarity are usually specified by the CNC. The
use of these signals allows the user to select whether the speed and
polarity are controlled by the CNC or PMC.

979
15. PMC CONTROL FUNCTION B–63173EN–1/02

D Details of the signals D Signal used to select the spindle motor speed command SIND
→ The above signal is used to select whether the spindle motor speed is
controlled by the CNC or PMC.
1: The spindle motor is controlled according to speed commands
(R01I to R12I) issued by the PMC.
0: The spindle motor is controlled according to speed commands
issued by the CNC. The spindle speed specified with the S
command is output.
D Signals used to input the spindle motor speed command issued by the
PMC R01Ix to R12Ix
→ If the PMC is being used to control the spindle motor speed command,
specify, in binary format, the value obtained using the following
expression.
Spindle motor speed
Value to be specified = 4095
Maximum spindle motor speed

(Spindle motor speed)

Maximum
spindle motor
speed

0 min–1 Code signal

0 4095

D Signal used to select the polarity of the spindle motor speed command,
SSIN
→ The above signal selects whether the output polarity of the spindle
motor speed command is controlled by the CNC or PMC.
1 : The spindle motor is controlled according to the polarity command
(SGN) issued by the PMC.
0 : The CNC controls the polarity. The polarity is determined by the
TCW and CWM bits (bits 7 and 6 of parameter No. 3706) and the
M03 or M04 command.
D Signal used to specify the polarity of the spindle motor selected by the
PMC, SGN
→ If the PMC is used to control the output polarity of the spindle motor
speed command, specify the polarity with this signal.
1 : The output polarity of the spindle is negative.
0 : The output polarity of the spindle is positive.

980
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Twelve code signals

corresponding to the S
value R01O to R12O
<F036#0 to F037#3>
[Classification] Output signal
[Function] The S value, specified in the CNC part program, is converted to the speed
output to the spindle motor that is required to control the connected
spindle. The converted value is sent to the PMC with twelve code signals,
in proportion to the spindle motor speed output.
The speed data, the final result of the CNC spindle control, is output to
the spindle motor after the spindle gear ratio, spindle speed override,
speed clamp, conversion of the surface speed into the spindle speed by the
constant surface speed control command, and other data have been
considered.
(See Section 9.3 for an explanation of the relationship between the CNC
spindle control and the speed output to the spindle motor.)

Code signal

4095

(Speed output to the

spindle motor)
0
Maximum spindle
0 min–1 motor speed

981
15. PMC CONTROL FUNCTION B–63173EN–1/02

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3705 SFA NSF EVS ESF

[Data type] Bit

ESF When the spindle control function (S analog output or S serial output) is
used, and the constant surface speed control function is used or bit 4
(GTT) of parameter No. 3706 is set to 1:
0 : S codes and SF are output for all S commands.
1 : S codes and SF are not output for an S command in constant surface
speed control mode (G96 mode) or for an S command used to specify
maximum spindle speed clamping (G50S–––;).

NOTE
In the following cases, SF is not output:
(1) For an S command used to specify maximum spindle
speed clamping (G92S–––;) in constant surface speed
control mode
(2) When bit 5 (NSF) of parameter No. 3705 is set to 1

NSF: When an S code command is issued in constant surface–speed control,

0 : SF is output.
1 : SF is not output.
SFA: The SF signal is output:
0 : When gears are switched
1 : Irrespective of whether gears are switched

Note
NOTE
1 If the spindle fails to move after the PMC issues the spindle
motor speed command, check the following:
M03/M04 is not specified when the CNC is being used to
control the output polarity.
→ If the TCW bit, bit 7 of parameter No. 3706, is set to 1, the
M03/M04 command issued to the CNC changes the
output polarity for the spindle motor. If no M03/M04
command is specified after the CNC is turned on, the
specified speed output is not sent to the spindle motor
because the output polarity has not been determined.
2 The SF signal indicates that output of the S code to the PMC
has been completed. The signal does not indicate the end
of the command for specifying the spindle speed.

982
B–63173EN–1/02 15. PMC CONTROL FUNCTION

15.5
EXTERNAL KEY
INPUT

General MDI key codes can be sent from the PMC to CNC by means of interface
signals. This allows the CNC to be controlled in the same way as when
the operator performs MDI key operation.
Control is realized by exchanging the following interface signals between
the PMC and CNC:

Signal name Abbreviation

External key input mode selection signal (input) ENBKY
Key code signals (input) EKC0 to EKC7
Key code read signal (input) EKSET
Key code read completion signal (output) EKENB
Key input disable signal (output) INHKY
Program screen display mode signal (output) PRGDPL

The processing flow in the PMC is shown below.

(START)

1) Set the external key input control mode.

Set ENBKY = 1

no
< EKSET = EKENB > 2) Check whether a key code can be set.
yes
< INHKY = 0 > no

yes
3) When a key code can be set:
Set key code (1) Set the key code to be input.
(2) Invert the (EKSET) signal to instruct the CNC to
read the key code.

Invert EKSET

no 4) Repeat the operation for the key data to be input

< Has key input ended? >
yes
5) After reporting the last data, check that the CNC has
no read the key data.
< EKSET = EKENB >
yes

< INHKY = 0 > no

yes
6) Release external key input control mode.
Set ENBKY = 0

(END)

983
15. PMC CONTROL FUNCTION B–63173EN–1/02

NOTE
Read processing is controlled by exclusive–ORing (XOR)
the key code read signal (EKSET) with the read completion
signal (EKENB). When the EKSET and EKENB signals
differ in their logic, the CNC reads the input key code. Once
reading has been completed, the CNC inverts the EKENB
signal to match its logic with that of the EKSET signal.
In the PMC, on the other hand, a new key code cannot be
set while the EKSET and EKENB signals differ in their logic.

Signals

External key input mode

selection signal
ENBKY <G066#1>
[Classification] Input signal
[Function] While this signal is turned on “1”, external key input control is enabled.
In external key input control mode, any MDI key operations are ignored.

Key code read signal

EKSET <G066#7>

[Classification] Input signal

[Function] This signal instructs the CNC to read the input key code.

Key code signals

EKC0 to EKC7 <G098>

[Classification] Input signal

[Function] These signals set an input key code. (See the MDI key code table.)

Key input disable signal

INHKY<F053#0>

[Classification] Output signal

[Function] While this signal is “1”, no key code is accepted in external key input
control mode.

984
B–63173EN–1/02 15. PMC CONTROL FUNCTION

Program screen display

mode signal PRGDPL
<F053#1>

[Classification] Output signal

[Function] This signal is on “1” while the CNC is displaying a program screen.

Key code read

completion signal
EKENB <F053#7>
[Classification] Output signal
[Function] This signal reports that the CNC has read a key code.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G066 EKSET ENBKY

G098 EKC7 EKC6 EKC5 EKC4 EKC3 EKC2 EKC1 EKC0

#7 #6 #5 #4 #3 #2 #1 #0
F053 EKENB PRGDPL INHKY

MDI key code table

Codes in the table are given in hexadecimal. For example, A
corresponds to 41H in hexadecimal. RESET corresponds to 90H in
hexadecimal.

(Note 1) and (Note 2) are explained below:

985
15. PMC CONTROL FUNCTION B–63173EN–1/02

NOTE

1 0EDH is assigned to
GRAPH/CUSTOM .
2 Handling of the soft keys
[F0] to [F4], [FR], and [FL] in the key code table are the key
codes for the soft keys. They are associated with the MDI
keys as shown below.

[ ] [ ] [ ] [ ] [ ]

[FL] [F4] [F3] [F2] [F1] [F0] [FR]

986
B–63173EN–1/02 15. PMC CONTROL FUNCTION

MDI Key Code Table(00H–7FH)

0 1 2 3 4 5 6 7

0 Space 0 @ P

1 1 A Q

2 2 B R

3 # 3 C S

4 4 D T

5 5 E U

6 & 6 F V

7 7 G W

8 ( 8 H X

9 ) 9 I Y

A ; * J Z
(EOB)

B + K [

C , L

D – = M ]

E . N

F / ? O

987
15. PMC CONTROL FUNCTION B–63173EN–1/02

MDI Key Code Table(80H–0FFH)

8 9 A B C D E F

0 RESET [F0]
(Note2)

1 [F1]
(Note2)

2 [F2]
(Note2)

3 [F3]
(Note2)

4 INSERT [F4]
(Note2)

5 DELETE

6 CAN ALTER

8 Cursor INPUT POS

→

9 Cursor PROG
←
OFFSET
A Cursor HELP SET-
↓ TING
B Cursor SYSTEM
↑

C MES-
SAEG

D GRAPH
(CUSTOM)

E PAGE [FR]
↓ (Note2)

F PAGE [FL]
↑ (Note2)

988
B–63173EN–1/02 16 HANDY OPERATOR’S PANEL

16 HANDY OPERATOR'S PANEL

General A Handy Operator’s Panel can be connected as a display unit.

Information entered by pressing the keys on the Handy Operator’s Panel
is output to the PMC. The Handy Operator’s Panel has nine LEDs.

Handy Operator’s Panel The handy Operator’s Panel supports two control modes:
modes MDI and machine operation modes. The modes are toggled by pressing
the M–OPE/MDI key.
– MDI mode
In this mode, the Handy Operator’s Panel can be used as a display unit
similarly to the CRT/MDI. The function indicated in the lower row
on the key top of each key is valid in this mode. No key function can
be redefined.
– Machine operation mode
This mode allows the user to create a manipulation system freely. In
this mode, the user can define the function of each key using the C
executor or Ladder (use of Ladder to define key functions requires an
external key input function).

NOTE
Do not confuse this MDI mode with the MDI mode selected
by a mode selection signal (MD1, MD2, or MD4).

Settings Perform the following operations previously to make the Handy

Operator’s Panel usable. Once the settings are made, it is unnecessary to
re–set them, unless all memory clear is performed or another display unit
is set up.
Setting procedure:
1 Switch off the Power Mate power, and set the MTSW rotary switch to
1 (primary selection).
2 Switch on the Power Mate power. After confirming that ”1” is
blinking in the LED, press the PSW pushbutton switch. The number
indicated in the LED changes sequentially. When the LED indicates
”2,” press the PSW. After confirming that ”2” is blinking in the LED,
press the PSW again (secondary selection).
3 Switch off the Power Mate power, and set the MTSW rotary switch to
the ”0” position.

This completes the setting procedure.

989
16. HANDY OPERATOR’S PANEL B–63173EN–1/02

Restrictions When the handy operator’s panel is being used, some restrictions are
imposed on the Power Mate functions, as described below.
(1) Japanese and Korean cannot be displayed.
(2) The help function cannot be used.
(3) The following PMC–related functions cannot be used:
D Dynamic ladder diagram display/editing
D Ladder title editing
D Symbol data display and the forced input/output function in
PMCDGN signal status display
D PMC trace display
D Memory display
D Waveform display function
D System parameter display/setting
(4) The characters that can be used with the macro executor are limited.
With the macro executor, only the following characters can be used.
1. Standard characters
Alphabetic characters (uppercase and lowercase), numbers, kana
characters, blanks, plus sign, minus sign, decimal point, equal
sign, comma, ruled lines, etc.
The internal codes of the usable characters are 0020 to 00DF, and
2F61 to 2F6B.
2. Triple–size characters
Alphabetic characters, numbers, blanks, minus sign, decimal
point
The internal codes of the usable characters are 0020, 002D, 002E,
0030 to 0039, and 0041 to 005A.
(5) The characters that can be used with the C executor are limited. With
the C executor, only the following characters can be used.
1. JIS codes: 0020 to 004F, 0061 to 007A, 00A0 to 00DF
2. Single–byte character code table
Graphic character set#1 ––ESC(1 → 00C5 to 00CF
Standard character set ––ESC(4 → 0020 to 004F
0061 to 007A
00A0 to 00DF
Large character set ––ESC(6 → 002D, 002E
003D to 0039
0041 to 005A
3. FANUC character code table
0020 to 005F, 00A0 to 00DF, 0100 to 01E1, 01E4 to 01EE
(6) The handy operator’s panel cannot be used together with the
CRT/MDI unit; the separate CRT unit cannot be used together with
the separate MDI unit; the separate PDP unit cannot be used together
with the separate MDI unit; the separate LCD unit cannot be used
together with the separate MDI unit or touch panel manufactured by
FANUC. Switching using a switch unit is not possible.
(7) The name of a general switch on the software operator’s panel, a
pattern name in pattern data input, a variable name, and an item name
on the periodical maintenance screen can include the following
characters.

990
B–63173EN–1/02 16 HANDY OPERATOR’S PANEL

D Alphabetical characters (upper case), numbers, Japanese katakana

characters, a space, a plus signs, a minus sign, a decimal point, an
equal sign, and a comma.
(8) When a DPL/MDI unit is connected to the Power Mate, the handy
operator’s panel displays the position dispalys screen at all times; all
operations other than those using the emergency stop button,
beadman’s switches, and deadman’s switch enable switch are
disabled.

Signal

Handy operator’s panel

mode M–OPE <F169#5>
[Classification] Output signal
[Function] This signal indicates the mode of the Handy Operator’s Panel.
[Output condition] The signal becomes 1 if:
– The machine operation mode is selected.
The signal is 0 if:
– The Handy Operator’s Panel is in the MDI mode.

991
16. HANDY OPERATOR’S PANEL B–63173EN–1/02

Handy operator’s panel

key output signal SWn
<F168 to F175>
[Classification] Output signal
[Function] Each of these signals indicates what key is pressed on the Handy
Operator’s Panel.
[Output condition] Each signal is 0 if:
– The Handy Operator’s Panel is in the MDI mode, or
– The corresponding Handy Operator’s Panel key has not been pressed
when the Panel is in the machine operation mode.
The signal becomes 1 if:
– The corresponding Handy Operator’s Panel key is pressed when the
Panel is in the machine operation mode.
The correspondence between the keys and signals is as shown below:

M–OPE/MDI (Alphanumeric key sheet)

M–OPE/CNC (Symbolic key sheet)

NOTE
SWn becomes 0 if the connection cable is detached.

992
B–63173EN–1/02 16 HANDY OPERATOR’S PANEL

Handy operator’s panel

LED control signal
LED01 to LED09 <G204,
G205#0>
[Classification] Input signal
[Function] This signal controls whether to turn on or off the LEDs on the Handy
Operator’s Panel.
[Operation] If the signal becomes 0, the control unit:
– Turns off the corresponding LED on the Handy Operator’s Panel.
If the signal becomes 1, the control unit:
– Turns on the corresponding LED on the Handy Operator’s Panel.
The correspondence between the signals and LEDs is as shown below:

Alphanumeric LED key sheet Symbolic LED key sheet

NOTE
The two LEDs below indicate whether machine operation
mode is selected, and whether MDI mode is selected.
These LEDs cannot be turned on and off by a ladder
program.
M–OPE turned on: Machine operation mode is selected.
M–OPE turned off: Machine operation mode is not
selected.
MDI turned on: MDI mode is selected.
MDI turned off: MDI mode is not selected.

993
16. HANDY OPERATOR’S PANEL B–63173EN–1/02

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G0204 LED08 LED07 LED06 LED05 LED04 LED03 LED02 LED01

G0205 LED09

#7 #6 #5 #4 #3 #2 #1 #0
F0168 SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1

F0169 SW16 SW15 M-OPE SW13 SW12 SW11 SW10 SW9

F0170 SW24 SW23 SW22 SW21 SW20 SW19 SW18 SW17

F0171 SW32 SW31 SW30 SW29 SW28 SW27 SW26 SW25

F0172 SW40 SW39 SW38 SW37 SW36 SW35 SW34 SW33

F0173 SW48 SW47 SW46 SW45 SW44 SW43 SW42 SW41

F0174 SW56 SW55 SW54 SW53 SW52 SW51 SW50 SW49

F0175 SW61 SW60 SW59 SW58 SW57

994
B–63173EN–1/02 16 HANDY OPERATOR’S PANEL

Key type and

corresponding signal
D Alphanumeric Key Type
(A02B–0211–C020#R)

995
16. HANDY OPERATOR’S PANEL B–63173EN–1/02

D Symbolic Key Type

(A02B–0211–C020#S)

996
B–63173EN–1/02 16 HANDY OPERATOR’S PANEL

LED and correspondig

signal
D Alphanumeric Key Type
(A02B–0211–C020#R)
#7 #6 #5 #4 #3 #2 #1 #0
G204 (LED08) (LED07) (LED06) T–STEP T–JOG AUTO (LED02) ALARM

G205 (LED09)

1: The corresponding LED is turned on.

0: The corresponding LED is turned off.

D Symbolic Key Type

(A02B–0211–C020#S)
#7 #6 #5 #4 #3 #2 #1 #0
G204 (LED08) (LED07) (LED06) (LED05) (LED04) (LED03) (LED02) (LED01)

G205 (LED09)

1: The corresponding LED is turned on.

0: The corresponding LED is turned off.

997
16. HANDY OPERATOR’S PANEL B–63173EN–1/02

Reference item
CONNECTION MANUAL 7.11 CONNECTION TO THE HANDY OP-
(HARDWARE) ERATOR’S PANEL
(B–63174EN)

998
B–63173EN–1/02 17. ANALOG INPUT

17 ANALOG INPUT

999
17. ANALOG INPUT B–63173EN–1/02

17.1
ANALOG INPUT
FUNCTION

Outline By this function, the analog input(–10V to 10V) can be converted into
digital data so that PMC can perform various kind of control with it.

Power Mate

F206
JD47 A/D converter PMC F207

Input Output

Analog voltage Digital data

Volume
(–10V to 10V)

[Sample application]
D The PMC can get the angle of a volume control on an operator panel
by converting its analog data to digital data. The velocity of a servo
motor and spindle motor can be changed by using a volume control.
D In a winding machine, the tension of wire can be controlled by reading
and converting the analog value from a torque sensor.

1000
B–63173EN–1/02 17. ANALOG INPUT

Signal

Analog input signal

AD00 to AD12,
ADSGN
<F206,F207>
[Classification] Output signal
[Function] The analog input signal from an external device is converted into digital
data and output with these signals. Output signal consists of fourteen bits
from AD00 to AD12, and negative value is expressed in two’s
complement.
ADSGN is sign bit.
AD11 and AD12 is the same value as ADSGN .
0 : Zero or positive
1 : Negative
The output signal is updated at every 8 msec.
Example) Calculation method of voltage and resolution

ADSGN AD10 AD00

1 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0

Same value as ADSGN These data should be ignored

because they are unchanged.

E 2 4 4

Note) The value in two’s complement

The resolution is as follows. is as follows.
E244H = –7612
10V The value in voltage is as
22F4.9mV
213 follows.

10V
-7612 F-9.29V
213

[Maximum voltage] [Minimum voltage]

1FFC = 8188 The value in two’s complement
The value in voltage is as is as follows.
follows. E000H = –8192
The value in voltage is as
10V follows.
8188 F10.00V
213 10V
-8192 F-10.00V
213

[Operation] When analog voltage is given from an external device, the value that is
converted into digital data is output to the signal F206 to F207.

1001
17. ANALOG INPUT B–63173EN–1/02

Signal
#7 #6 #5 #4 #3 #2 #1 #0
F206 AD05 AD04 AD03 AD02 AD01 AD00 0 0

#7 #6 #5 #4 #3 #2 #1 #0
F207 ADSGN AD12 AD11 AD10 AD09 AD08 AD07 AD06

Same value as ADSGN

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8705 ADCV

[Data type] Bit

ADCV 0 : The analog input module is not used.
1 : The analog input module is used.

8730 Compensation value of voltage

[Data type] Word

10V
[Data unit] F1.22 10–3 V
213

[Valid data range] –8191 to 8191

When analog input is 0 volts, set the value of this parameter to compensate
the diagnostic No.833 to 0.

833 Voltage from the analog input module after compensation

[Data type] Word

[Data unit] 10mV
[Valid data range] –1000 to +1000

Alarm and message

No. Message Description

5120 A/D ALARM : NON A/D Although the parameter to specify the
MODULE analog input module is on, the analog
input module is not installed.
5121 A/D ALARM : A/D MOD- Fault in the A/D converter.Replace the
ULE module.

1002
B–63173EN–1/02 18. FANUC I/O LINK FUNCTION

18 FANUC I/O LINK FUNCTION

Overview I/O Link is a serial interface for transferring I/O signals (bit data) at high
speed between the CNC and units such as an I/O Unit–A and a Power
Mate. The Power Mate has one master channel and one slave channel of
I/O Link.
When a Power Mate, an I/O Link b, an I/O card, and an I/O unit are used
as I/O devices of the Power Mate, I/O assignment is required when a
ladder program is created.
Note) The formal name of the I/O Link b is the FANUC SERVO MOTOR
b series I/O Link Option.

Configuration

Master I/O Unit-A

ÂÂÂ
Slave

I/O Unit-A

Power Mate Group #0

The Power Mate–D/E/F/H/i–D/i–H

can all be used as slaves.

Power Mate Group #1

I/O Link b Group #2

I/O card Group #3

Group #15

(a) I/O Link consists of one master and multiple slaves.

(b) Up to 16 groups of slaves can be connected to one I/O Link.
The number of slaves that can be connected per group is as follows:
I/O Unit–A: ...Up to two units (2 bases)
Power Mate: ...1
I/O card: ...1
I/O Link b: ...1

1003
18. FANUC I/O LINK FUNCTION B–63173EN–1/02

(c) Any slaves can be connected to any group. However, it is impossible

to use different types of slave in one group.

I/O data transfer I/O Link has 1024 input signals and 1024 output signals when viewed
from the master. These 1024 input signals and 1024 output signals are
assigned to the slaves to transfer I/O data between the master and the
slaves periodically.

Master Slave #0
Output

1024 output Input

signals
Slave #1
Output
Input
1024 input
signals

Each slave occupies a defined number of input and output signals and can
use them unless the total numbers of input signals and output signals
occupied by all slaves of one I/O Link exceed the following:
Number of input signals: 1024, number of output signals: 1024
The number of occupied I/O signals may differ from the number of actual
I/O signals.
Slave type Number of actual I/O signals Number of occupied I/O signals Remarks

Number of input Number of Number of input Number of

signals output signals signals output signals

I/O Unit–A For details, refer

to ”FANUC I/O
Unit–MODEL A
Connection and
Maintenance
Manual”
(B–61813E).

Power Mate 32 32 32 32 I/O signals as

many as one of
64 64 64 64 these numbers
may be assigned.
128 128 128 128

256 256 256 256

I/O Link b 128 128 128 128

I/O card D 48 32 64 32

I/O card E 96 64 128 64

1004
B–63173EN–1/02 18. FANUC I/O LINK FUNCTION

Connection
ÂÂÂÂ
ÂÂÂÂ
Slave
Master I/O Unit-A I/O Unit-A
10m
CNC Group #0
Power Mate
10m

Power Mate Group #1

2m

Optical adapter

200m Optical fiber cable

Optical adapter

2m
Group #2

10m

Group #3

Group #15

(a) The maximum length of a cable connecting units or devices is 10 m.

The maximum length of a cable connecting I/O Units within the same
group is 2 m, however.
(b) If optical adapters are used, an optical fiber cable can be run over a
distance of up to 200 m. Optical adapters, however, cannot be used
between I/O Units within the same group.

Power Mate I/O card

I/O unit

When an I/O card or an I/O unit is used as an I/O device of the Power Mate,
the Power Mate functions as the master unit, and the I/O card or the I/O
unit functions as a slave unit.

1005
18. FANUC I/O LINK FUNCTION B–63173EN–1/02

Specifications
Item Specification Remarks

Connectable Master: Power Mate–D/H/i–D/i–H

devices and units Slave: I/O Unit–A, I/O Link b
Power Mate–D/E/F/H/
i–D/i–H

Number of units Master: 1 The number of

connected Slave: Up to 16 groups slaves con-
I/O Unit–A: 2 units/group nected is lim-
Others: 1 unit/group ited according
to the number
of I/O signals.

Number of I/O Master: I/O = 1024/1024 max. See ”I/O data

signals transferred Slave: I/O = 256/256 max. per transfer”.
group

Cable length Up to 10 m between devices or units

Up to 2 m between I/O Units within
the same group, however.
Use of optical adapters extends the
maximum cable length to 200 m.
Optical adapters, however, cannot be
used between I/O Units within the
same group.

Setting Information about slaves connected to I/O Link is set on the setting screen
when a ladder program for the master unit is created.
(a) Setting of module names
When a Power Mate is used as a slave
FS04A For DI/DO = 32/32
FS08A For DI/DO = 64/64
OC02I For DI = 128
OC02O For DO = 128
OC03I For DI = 256
OC03O For DO = 256
When the I/O card D (48/32) is used as a slave
DI side /6 Assumed to be equivalent to DI = 64
DO side /4 DO = 32
When the I/O card E (96/64) is used as a slave
DI side CN01I Assumed to be equivalent to DI = 128
DO side CN01O DO = 64
When the I/O Link β is used as a slave
DI side OC02I
DO side OC02O
For the built–in I/O card, no special setting is required. (The built–in I/O
card is not included in I/O Link.)
(b) Base and slot setting
The following settings are common to the Power Mate and I/O cards:
Base: 0
Slot: 1
The above is set on the master unit side.

1006
B–63173EN–1/02 18. FANUC I/O LINK FUNCTION

I/O Link master area Within the ranges from X000 to X127 and from Y000 to Y127, up to 1024
input signals and up to 1024 output signals can be used.

I/O Link slave area The following slave areas are used:
For 32/32 signals: X1020 to X1023, Y1020 to Y1023
For 64/64 signals: X1020 to X1027, Y1020 to Y1027
For 128/128 signals: X1020 to X1035, Y1020 to Y1035
For 256/256 signals: X1020 to X1051, Y1020 to Y1051

NOTE
The DI/DO addresses on the host side are determined
according to address assignment in the PMC.

Data I/O function via Part programs, parameters, macro variables, and PMC data can be input
FANUC I/O Link (input) and output between a device functioning as the master and the Power
IOLNK <G251#0> Mate via FANUC I/O Link.
The IOLNK signal <G251#0> selects RS–232–C or FANUC I/O Link to
input or output part programs, parameters, macro variables, and PMC
data.
IOLNK: 0 Uses RS–232–C.
1 Uses FANUC I/O Link.
1) The method of data I/O control is determined entirely according to the
function used on the master side of FANUC I/O Link. Therefore, if
the master device of I/O Link does not have the function, the data I/O
function cannot be used.
The Power Mate–D/E/F/H cannot be used as the master of this
function.
2) Data that can be input and output is the same as I/O data transferred
via RS–232–C.
3) For data output, ISO or EIA code is set by using setting parameter ISO.
Setting parameter ISO 1: ISO code output
0: EIA code output
4) When data is input, which code is used, ISO or EIA code, is
determined automatically.
5) The I/O data format is the same as the I/O data format used in
RS–232–C.
6) The I/O conditions are the same as the I/O conditions in RS–232–C.
The baud rate and stop bit settings are unnecessary, however.

1007
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

19 TWO–PATH CONTROL (Power Mate i–D)

1008
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

19.1 Two path control of the Power Mate i–D allows two independent one–axis
machines to be controlled by one Power Mate i–D unit. I/O signals
OVERVIEW exchanged with the PMC ladder program are provided for each path, so
the two paths, each having one axis, can operate independently of each
other and can perform entirely different types of machining at the same
time. Data including programs, macro variables, parameters, and offsets
is prepared for each path separately.
Because of the feature of two paths, the following operations are possible:
1 By using a serial spindle for each path, different programs are executed
for the individual paths to perform two types of machining at the same
time.

2 path control of Power Mate i–D

Machining by Spindle axis Spindle axis

Path 1 Path 2 Machining by
program 1
Program 1 Program 2 program 2
Servo axis AUTO mode AUTO mode Servo axis

2 While machining operation is being performed in one path, parameter

modification or program editing is performed in the other path.

Machining by Spindle axis Spindle axis Program

program 1 Path 1 Path 2 editing,
Program 1 Program 2 parameter
Servo axis AUTO mode EDIT mode Servo axis modification

3 While machining operation is being performed in one path, manual

operation is performed in the other path.

Spindle axis Spindle axis

Path 1 Path 2 Machining by
Manual operation
Program 1 Program 2 program 2
Servo axis JOG mode AUTO mode Servo axis

4 While machining is being performed at the station of one path, an

emergency stop is applied to the station of the other path to perform
maintenance work.

Spindle axis Spindle axis

Path 1 Machining by
Maintenance work Program 1 Path 2
Program 2 program 2
Servo axis Emergency Servo axis
stop AUTO mode

1009
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

When data is displayed and set, the screen display is changed between the
paths by using an input signal or by performing key operations on the
display unit.
When a CRT/MDI or FANUC touch panel is used, by parameter setting,
the path of which data is currently displayed on the screen can be
identified by the subscript of axis names on a position display screen or
by the path name.

Power Mate i-D

Display unit NC PMC Manual handle in path 1

Path 1 G0000 to
programs, G0511 Manual handle in path 2
macro
Path 1 variables, ąą←
parameters,
offsets, etc. F0000 to I/O machine operator’s panel
F0511
X0000
ąą → Ladder to X0128 FSSB
program Servo
G1000 to Servo motor
Path 2 X1000A amplifier
G1511 in path 1
programs, to 1003 1
macro
variables, ąą←
Path 2 parameters, Servo Servo motor
offsets, etc. F1000 to amplifier in path 2
F1511 2

ąą →

Spindle
Spindle motor
amplifier
in path 1
1

Spindle
Spindle motor
Outline of 2 path control system configuration amplifier
in path 2
2

1010
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

19.2 The Power Mate i–D gives the user a choice of either 1 path control or 2
path control.
SPECIFYING 2 PATH Select the path control method by following the procedure explained
CONTROL below. The path control method is factory–set to 1 path control.
Information about which control method is currently selected is stored in
the battery–backed–up SRAM. So, this information is kept unchanged
even when the power is turned off. The operation described below is
performed only when path control is selected.

D When a CRT/MDI is used

Control selection Operation

While holding down <2> and <S> at the same time,

1 path → 2 path
turn on power.

While holding down <1> and <S> at the same time,

2 path → 1 path
turn on power.

D When a FANUC touch While touching the upper right corner on the screen, turn on the power.
panel is used The IPL screen is displayed.
Control selection Operation

KEY1: 2→[SELECT]→[YES]
1 path → 2 path
KEY2; S→[SELECT]→[YES]→[EXIT]

KEY1: 2→[SELECT]→[YES]
2 path → 1 path
KEY2; S→[SELECT]→[YES]→[EXIT]

D When the DPL/MDI 1 Start BOOTINI.EXE on the personal computer.

operation package is 2 On the SYSTEM MONITOR screen, select ”10 SYSTEM
used MONITOR” → ”MONITOR EXIT OK?” → <Y>.
3 Select IPL screen → pull–down menu INIT → ”others”.
4 BOOT/INIT popup menu
Control selection Operation

KEY CODE1: 2
1 path → 2 path
KEY CODE2: S

KEY CODE1: 2
2 path → 1 path
KEY CODE2: S

1011
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

NOTE
D When the above operation is performed, CNC data such as
offsets and macro variables stored in the
battery–backed–up memory (SRAM) is all cleared. The
parameters are reset to factory–set values. So,
parameters, offsets, macro variables, and other CNC data
must be set again.
D The path selection operation is required just once when
path control switching is performed. This operation need
not be performed each time the power is turned on.
D If a path control switching operation from one path to one
path or from two paths to two paths is performed, e.g.,
turning on the power while holding down the <1> and <S>
keys in the one–path state, or turning on the power while
holding down the <2> and <S> keys in the two–path state,
the SRAM data is also all cleared.
D An operation to entirely erase memory resets the path
selection data to the state where one path is selected.
D This path selection operation does not clear optional
parameters.

1012
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

19.3 When a display unit such as a CRT/MDI is used, the screen display can
be switched between path 1 and path 2. For the path selected for display,
TWO–PATH DISPLAY data such as programs, parameters, and macro variables can be set and
input/output via the reader/puncher interface and other interfaces.

19.3.1 There are two methods for switching between the paths as follows:
Path Display Switching

19.3.1.1 The following signal can be used to switch the screen display between the
Switching by input paths:
signal
#7 #6 #5 #4 #3 #2 #1 #0
G063 PATHS

Path switch signal: PATHS <G63#0>

[Type] Input signal
[Fanction] This signal selects a target path for display and operation.
0 : Selects path 2.
1 : Selects path 1.

19.3.1.2 The screen display can be switched between the paths by pressing the <H>
Switching between the and <1> keys or the <H> and <2> keys at the same time.
paths by key input on Switching
Display unit Operation
the display unit between paths

Path 1 → Path 2 <H>+<1>

CRT/MDI
Path 2 → Path 1 <H>+<2>

Path 1 → Path 2 <SPCL>→<H>→<1>→<ENTER>

FANUC touch
panel Path 2 → Path 1 <SPCL>→<H>→<2>→<ENTER>

DPL/MDI and Path 1 → Path 2 <H>+<1>

DPL/MDI
operation
package Path 2 → Path 1 <H>+<2>

1013
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

19.3.2 The following output signal notifies the PMC ladder program of the path
Path Select Signal of which data is currently displayed:

#7 #6 #5 #4 #3 #2 #1 #0
F254 PATHO

Path select output signal: PATHO <F254#7>

[Type] Output signal
[Fanction] This signal notifies the PMC of the selected path.
The currently selected path is:
0 : Path 2.
1 : Path 1.

19.3.3 A subscript can be set for axis names by setting a character code in the
Subscript of Axis Names parameter shown below. When character code 0 is set, 1 for path 1 and
2 for path 2 are displayed as subscripts.

3131 Subscript of axis name

[Date type] Byte

[Valid data range] 0 to 255
Set the subscript (one character) of the axis names of each path by using
a character code.
This parameter is set for each path. For the character code, refer to the
character–to–code correspondence table in Appendix A in ”FANUC
Power Mate i–MODEL D/H Parameter Manual”.
This parameter is not used for the DPL/MDI and DPL/MDI operation
package.

1014
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

19.3.4 A name can be set for each path by setting character codes in the following
Path Name parameters:

3141 1st character of path name

.
.

3146 6th character of path name

[Date type] Byte

[Valid data range] 0 to 255
Set the name of each path by specifying character codes for the first
character to sixth character of the name. The path name is always
displayed in the lower right part of the CRT screen. The name of path 2
is highlighted.
For the character code, refer to the character–to–code correspondence
table in Appendix A in ”FANUC Power Mate i–MODEL D/H Parameter
Manual”.
This parameter is not used for the DPL/MDI and DPL/MDI operation
package.

19.3.5 When the DPL/MDI operation package is installed, the number of the
currently selected path is indicated as shown in the figure below. No
Path Number When the
parameter setting is required to display path numbers.
DPL/MDI Operation
Package is Used as the
Display Unit

(1) for path 1 and

(2) for path 2 are
indicated.

DPL/MDI operation package screen display when path 2 is selected

1015
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

19.4 The following lists the key operations at power–on that are specific to 2
path control.
KEY OPERATIONS AT
CRT/MDI
POWER–ON
Function Operation

Clear parameters and offset data for Turn on power while holding down
path 1 <1> and <RESET>.

Clear parameters and offset data for Turn on power while holding down
path 2 <2> and <RESET>.

Turn on power while holding down

Clear programs for path 1
<1> and <DELETE>.

Turn on power while holding down

Clear programs for path 2
<2> and <DELETE>.

Turn on power while holding down

Clear all data for both paths <RESET> and <DELETE>, or <7>
and <9>.

FANUC touch panel

Turn on power while touching the upper right corner of the screen. The
IPL screen is displayed.
Function Operation

Clear parameters and offset KEY1: 1→[SELECT]→[YES]

data for path 1 KEY2: RST→[SELECT]→[YES]→[EXIT]

Clear parameters and offset KEY1: 2→[SELECT]→[YES]

data for path 2 KEY2: RST→[SELECT]→[YES]→[EXIT]

KEY1: 1→[SELECT]→[YES]
Clear programs for path 1
KEY2: DEL→[SELECT]→[YES]→[EXIT]

KEY1: 2→[SELECT]→[YES]
Clear programs for path 2
KEY2: DEL→[SELECT]→[YES]→[EXIT]

DPL/MDI operation package

1 Start BOOTINI.EXE on the personal computer.
2 On the SYSTEM MONITOR screen, select ”10 SYSTEM
MONITOR” → ”MONITOR EXIT OK?” → <Y>.
3 Select the IPL screen → pull–down menu INIT → ”others”.
4 BOOT/INIT popup menu
Function Operation

KEY CODE1: 1
Clear parameters and offset data for path 1
KEY CODE2: DGNS PARM

KEY CODE1: 2
Clear parameters and offset data for path 2
KEY CODE2: DGNS PARM

KEY CODE1: 2
Clear programs for path 1
KEY CODE2: DELT

1016
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

Function Operation

KEY CODE1: 2
Clear programs for path 2
KEY CODE2: DELT

KEY CODE1: 7
Clear all data for both paths
KEY CODE2: 9

BOOT/INIT popup menu

For details of the DPL/MDI operation package, refer to Appendix,
”Maintenance of Power Mate i by Using a Note PC”, in ”FANUC Power
Mate i–MODEL D/H Maintenance Manual”.

NOTE
When all data for both paths has been cleared, the system
is started with 1 path control.

1017
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

19.5 This section explains the specification items different from the
specifications for 1 path control.
DETAIL
SPECIFICATIONS

19.5.1 One servo axis can be connected for each path.

Servo Axis

19.5.1.1 In 2 path control, manual setting 1 and manual setting 2 of the FSSB
FSSB setting setting methods (see Subsection 1.4.3, ”FSSB Setting”) can be used.
Automatic setting cannot be used.
D Manual setting 1
1 In parameter No. 1023, set 1 for path 1, and set 2 for path 2.
2 For both paths, set 0 in all of bits 0 and 1 of parameter No 1902,
and parameters Nos. 1910 through 1919.
3 Turn the power off then back on.
D Manual setting 2
The pulse module and FSSB I/O module settings are made on the
path–1 side. These settings cannot be made on the path–2 side.
1 In parameter No. 1023, set 1 for path 1, and set 2 for path 2.
2 Set 1 in bit 0 of parameter No. 1902 for both paths.
3 Set parameter Nos. 1905, 1910 through 1919, 1936, and 1937 for
path 1. (See Subsection 1.4.3, ”FSSB Setting”.)
4 Set 40 in all of parameter Nos. 1910 through 1919 for path 2.
5 Turn the power off then back on.

19.5.2
Spindle

19.5.2.1 One serial spindle can be connected for each path.

Serial spindle When two serial spindles are connected, the spindle connected to path 1
is regarded as the first spindle, and the spindle connected to path 2 is
regarded as the second spindle. When only one serial spindle is used, it
is used in the path 1. It is not allowed to use a serial spindle in path 2 only.

Connecting serial spindles

Serial
Power Mate JA11 Serial Spindle1#1 Spindle for
path 1

Spindle for
Serial Spindle1#2 path 2

System configuration with serial spindles

1018
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

19.5.2.2 One analog spindle can be connected for each path.

Analog spindle When two analog spindles are connected, the spindle connected to path
1 is regarded as the first spindle, and the spindle connected to path 2 is
regarded as the second spindle.
A position coder for an analog spindle can be used only in path 1. It cannot
be used in path 2. Therefore, operations such as feed per revolution and
rigid tapping cannot be performed in path 2.

VCMD1
Power Mate
JA11 Analog Spindle1#1 Spindle for
VCMD2 path 1

Spindle for
Analog Spindle1#2
path 2

System configuration with analog spindles

19.5.3 One manual handle can be used for each path.

The first manual pulse generator is connected to path 1, and the second
Manual Handle
manual pulse generator is connected to path 2. The option for controlling
two manual pulse generators is not required.
The first manual pulse generator can be used for path 2 by parameter
setting. Parameters and signals are set for each path.

Power Mate JA47 Manual handle

Manual handle 1
for path 1

Manual handle
Manual handle 2
for path 2

System configuration when manual handles are used via the main board

1019
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

Power Mate I/O Link

JD1A1 JD1B
operator’s panel

I/O Link JA3

Manual handle
Manual handle 1 for path 1

Manual handle
Manual handle 2
for path 2

System configuration when manual handles are used via IO Link

The first manual handle can be used for path 2 by setting the following
parameter:

#7 #6 #5 #4 #3 #2 #1 #0
7101 HSL

HSL Feed operations by the manual pulse generators are performed in 2 path
control as follows:
0 : The first manual pulse generator is used for the axis of path 1, and the
second manual pulse generator is used for the axis of path 2.
1 : The axis is selected by the manual handle feed axis select signal.

1020
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

19.6 The following shows the signal interface between the Power Mate and a
machine when 2 path control is used:
DI/DO SIGNALS

CNC MT
PMC
(Power Mate i-D) (machine)
G000 or X000 or
later later
Path 1 F000 or X1000 or
later later

G1000 or
later Y000 or
later
Path 2 F1000 or
later Y1000 or
later

19.6.1 Which I/O signals are to be used as direct signals can be selected by bit
Direct DI Signals 3 of parameter No. 3008.
(MT to CNC)

D When external I/O

signals are used #7 #6 #5 #4 #3 #2 #1 #0
X000 SKIP#1 *RILK#1 *DEC#1 *ESP#1 SKIP4#1 SKIP3#1 SKIP2#1

X001 SKIP#2 *RILK#2 *DEC#2 *ESP#2 SKIP4#2 SKIP3#2 SKIP2#2

D When internal I/O signals

are used #7 #6 #5 #4 #3 #2 #1 #0
X1000 SKIP#1 *RILK#1 *DEC#1 *ESP#1 SKIP4#1 SKIP3#1 SKIP2#1

X1001 SKIP#2 *RILK#2 *DEC#2 *ESP#2 SKIP4#2 SKIP3#2 SKIP2#2

D When external I/O

signals are used (when #7 #6 #5 #4 #3 #2 #1 #0
the feed rate change X000 SKIP#1 EXF3#1 *DEC#1 *ESP#1 SKIP4#1 EXF2#1 EXF1#1
function is used)
X001 SKIP#2 EXF3#2 *DEC#2 *ESP#2 SKIP4#2 EXF2#2 EXF1#2

X011 EXF5#2 EXF3#2 EXF5#1 EXF4#1

D When internal I/O signals

are used (when the feed #7 #6 #5 #4 #3 #2 #1 #0
rate change function is X1000 SKIP#1 EXF3#1 *DEC#1 *ESP#1 SKIP4#1 EXF2#1 EXF1#1X
used)
1001 SKIP#2 EXF3#2 *DEC#2 *ESP#2 SKIP4#2 EXF2#2 EXF1#2

1021
19. TWO–PATH CONTROL (Power Mate i–D) B–63173EN–1/02

19.6.2 The G/F addresses for path 2 are obtained by adding 1000 to each address
Interface Signals for path 1. (The addresses for path 1 are G0000 to G0511 and F0000 to
F0511, and the addresses for path 2 are G1000 to G1511 and F1000 to
between the CNC and F1511.)
PMC (PMC → CNC, The G63#0 (PATH) signal (path switch signal) and the F254#7 (PATHO)
CNC → PMC) signal (path select output signal) are present for path 1 only. (See
Subsection 2.2.1.)

19.6.3 An emergency stop can be applied to each path by setting the following
Emergency Stop parameters:

#7 #6 #5 #4 #3 #2 #1 #0
1803 EEP

[Data type] Bit

EEP In 2 path control, an emergency stop is:
0 : Not applied to each path independently.
1 : Applied to each path independently.

#7 #6 #5 #4 #3 #2 #1 #0
8100 NWR

[Data type] Bit

NWR In 2 path control, activation is:
0 : Not performed independently.
1 : Performed independently.

NOTE
1 To apply an emergency stop to the individual paths, set both
of the above parameter bits (bit 3 of parameter No. 1803 and
bit 7 of parameter No. 8100) to 1.
2 When an emergency stop is to be applied to the individual
paths, a servo amplifier is required for each path. When a
two–axis amplifier is used for both paths, it is impossible to
apply an emergency stop to the individual paths.

1022
B–63173EN–1/02 19. TWO–PATH CONTROL (Power Mate i–D)

19.7 D Programs, parameters, offsets, and macro variables are present for
each path except some data items.
OTHERS
D Ladder programs and PMC parameters are used commonly to both
paths. The PMC screen is displayed and manipulated in path 1 only.
D The maintenance information screen is displayed in path 1 only.
D The analog input function can be used for just one signal in path 1.
D On the coordinate display screen in the shared display mode on the
CRT, coordinates in both paths are displayed.

19.8 D In the selection of the program number digits (bit 6 of parameter No.
3230), when a parameter of either of the paths is changed, the
NOTES programs for both paths are erased. In addition, it is impossible to
select different numbers of digits for the individual paths. The same
number of digits applies to the two paths. For example, when the
parameter for path 2 is changed from 4–digit O numbers to 8–digit O
numbers, not only program numbers for path 2 but also program
numbers for path 1 are set to 8–digit O numbers.
D Optional parameters are set for path 1 only. For path 2, the same
parameter settings as path 1 are assumed.

19.9 During 2 path control, the following functions cannot be used:

LIMITATIONS D Handy operator’s panel
D PMC axis control
D Circular interpolation
D DNC operation
D Handle interruption
D Waiting function
D Tandem control
D Torque control
D Polar coordinate interpolation
D Straightness compensation B
D Analog input function
D Macro executor program size addition 256KB
D DNC1/Ethernet

1023
20. SCREEN STATE SIGNALS (OUTPUT)
DPL0. DPL1, DPL2 <F254#0–#2> B–63173EN–1/02

20 SCREEN STATE SIGNALS (OUTPUT) DPL0. DPL1,

DPL2<F254#0–#2>

DPL/MDI and DPL/MDI Package screen state is output to the PMC in

a code signal consisting 3 bits.
DPL2 DPL1 DPL0 Screen State

0 0 0 Position display

0 0 1 Program

0 1 0 Offset/Macro variable/Setting

0 1 1 Parameter/Diagnose/Pitch error

1 0 0 Alarm/Message

1024
B–63173EN–1/02 21. PMC KEY DATA REFERENCE FUNCTION (OUTPUT)

21 PMC KEY DATA REFERENCE FUNCTION (OUTPUT)

The DPL/MDI and DPL/MDI Package key input status is output to the
PMC
(Note) When three keys or more are pushed at the same time, the key
data cannot be correctly read.

Signal name key Signal name key Signal name key Signal name key

K0…… KPRD… KPOS… KN……

<F210#0> 0 <F211#3> . <F213#0> POS <F217#1> N

K1…… KNO… &@ KPRG… KG……

<F210#1> 1 <F211#4> <F213#1> PRGRM <F217#2> G
No.

K2…… KSLH… KVAR… MENU KR…… R

<F210#2> 2 <F211#5> / <F213#2> <F217#3>
VAR K

K3…… KEOB… KPRM… DGNOS KX…… X

3 EOB
AXIS
<F210#3> <F211#6> <F213#3> PARAM <F217#4>

K4…… KCAN… KALM… OPR KF……

4 CAN F
<F210#4> <F211#7> <F213#5> ALARM <F218#3>

K5…… KALT… KDWN… KM……

<F210#5> 5 <F212#0> ALTER <F214#0> ↓ <F218#4> M

K6…… KINS… KUP… KS……

<F210#6>
6 <F212#1>
INSRT
<F214#1>
↑ <F218#5>
S

K7…… KDLT… KP…… P KT……

<F210#7> 7 <F212#2> DELET <F214#4> <F218#6> T
I

K8…… KINP… KQ…… Q KSHRP

<F211#0> 8 <F212#3> INPUT <F214#5> <F218#7> #
J

K9…… KWRT… KH……

<F211#1> 9 <F212#4> WRITE <F214#6> H

KMNS… KRED… KO……

<F211#2> -/+ <F212#6> READ <F217#0> O

[Function] 1: The key is pressed.

0: The key is not pressed.

1025
22. POLE POSITION DETECTION FUNCTION B–63173EN–1/02

22 POLE POSITION DETECTION FUNCTION

Overview When the pole position of a servo motor and the phase of its position
detector is not adjusted, the torque of the servo motor cannot be controlled
normally irrespective of a kind of motor, such as a rotation motor or a
linear motor. This function measures a lag of phase and can adjust it to
output the normal torque.

NOTE
S This function cannot be applied to the axis that external
force always influences, such as a gravity axis.
S This function cannot be applied under the condition that the
axis cannot move by some reason, such as mechanically
locked axis.

Details When a relation between the pole position and a position detector is
unknown irrespective of rotation motor or linear motor, this function
detects the relation to drive a servo motor normally. When the pole
position detection request signal (RPREQx) is turned to ”1”, CNC starts
to detect the pole position and the pole position detection signal
(RPDETx) turns to ”1”. After several seconds, the pole position detection
will finish and the pole position detection completion signal (RPFINx)
will turn to ”1”. If the motor can not move for mechanical reason and the
pole position can not be detected, the servo alarm 454 (ILLEGAL
ROTOR POS DETECT) occurs.
S The pole position detection is effective for the axis whose parameter
No.2213#7 is ”1”. The pole position detection request signal for the
axis whose parameter No.2213#7 is ”0” is neglected.
S CNC does not control the motor and performs follow–up during
detecting pole position.
S Do not execute the pole position detection during servo–off state, and
do not execute servo–off during the pole position detection.
S Once the pole position detection starts, it continues even if the pole
position detection request signal (RPREQx) turns to ”0”.
S The pole position detection stops by reset. If you want to restart the
pole position detection, turn the pole position detection request
(RPREQx) signal to ”0” once, and turn it to ”1” again after that.
S After the pole position detection has finished once, the pole position
detection can not be executed once more unless the CNC is powered
off. When the absolute encoder is used and you want to detect the pole
position again, execute it after you set the parameter No.2139 (AMR
offset) to ”0” and CNC is powered off.

1026
B–63173EN–1/02 22. POLE POSITION DETECTION FUNCTION

S The servo alarm 454 (ILLEGAL ROTOR POS DETECT) can not be
released by reset. Please power the CNC off and on to release the servo
alarm 454 (ILLEGAL ROTOR POS DETECT).
S When the absolute encoder is used, set the parameter No.2229#0
(ABSEN) to ”1”. In this case, the result of pole position detection is
memorized to the parameter No.2139 (AMR offset) after the pole
position detection is completed. After this, it is unnecessary to execute
the pole position detection every power on.
S When the incremental encoder is used too with No.2229#0
(ABSEN)=1, the result of pole positon detection is memorized to
No.2139 (AMR offset) after the pole position detection is completed
and one rotation signal in encoder is caught. This suppresses change
of the torque constant by the variation in pole position detection.

NOTE
S When the incremental encoder is used, the result of pole
positon detection is memorized just after one rotation signal
in encoder is caught. Accordingly, even if the pole position
detection is executed, the result of pole position detection
is not memorized when the power is turned off before one
rotation signal in encoder is caught.
S When the incremental encoder is used, the result of pole
position detection memorized in the parameter No.2139
(AMR offset) is effective in servo control after one rotation
signal in encoder is caught. Accordingly, the torque
constant may be changed by the variation in pole position
detection until one rotation signal in encorder is caught.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2213 OCM

[Data type] Bit axis

OCM 0 : Pole position detection is ineffective.
1 : Pole position detection is effective.

#7 #6 #5 #4 #3 #2 #1 #0
2229 ABSEN

[Data type] Bit axis

ABSEN 0 : AMR offset (No.2139) isn’t available.
1 : AMR offset is available.

1027
22. POLE POSITION DETECTION FUNCTION B–63173EN–1/02

NOTE
S This parameter is available with the servo software 90B0/04
series or later.
S In case of the application of absolute encoder, please set
this parameter to ”1”. The result of pole position detection
is memorized to the parameter No.2139 (AMR offset) and
it is unnecessary to execute pole position detection every
power on. In case this parameter is set to ”0”, it is necessary
to execute pole position detection every power on.
S In case of the application of incremental encoder, it is
necessary to execute pole position detection every power
on. In case this parameter is set to ”1”, the result of pole
position detection is memorized to the parameter No.2139
(AMR offset). It is possible to suppress the change of the
torque constant by the variation of pole position detection
because the memorized result of pole positon deteciton is
used when the pole positon detection is executed in the next
power on.
But the result of pole position detection is memorized just
after one rotation signal is caught. Accordingly, in case the
power is turned off before one rotation signal is caught, the
result of pole position detection is not memorized.
And, the result of pole position detection memorized in the
parameter No.2139 (AMR offset) is effective in servo control
after one rotation signal in encoder is caught. Accordingly,
the torque constant may be changed by the variation in pole
position detection before one rotation signal is caught.

2139 AMR offset

[Data type] Word axis

[Data unit] Degree
[Valid data range] 0 to 360
[Standard setting] 0
In case of No.2229#0=1, the result of pole position detection is
memorized to this parameter, which is the electrical angle.

CAUTION
After the pole position was detected, never change this
value. However if it is necessary to adjust and to change this
value, power must be off after modification.

1028
B–63173EN–1/02 22. POLE POSITION DETECTION FUNCTION

2182 Current value for pole position detection

[Data type] Word axis

[Data unit] 7282 means the maximum current of servo amplifier.
[Valid data range] 0 to 7282
[Standard setting] 0
Set the amount of current at the pole position detection. When it is 0, the
rated current parameter (No.2086) is adopted for the current value. When
alarm 454 (ILLEGAL ROTOR POS DETECT) occurs during detection
for large static friction, this parameter is set to more than rated current
(No.2086).

2268 Magnification to movable detection angle

[Data type] Word axis

[Data unit] %
[Valid data range] 0 to 1000
[Standard setting] 0 (If 0 is set, this parameter is internally handled as 100%.)
During pole position detection, the rotor moves and senses the position
limited ”movable detection angle” of which initial value is 5 degrees. This
parameter sets the magnification by % as against initial value. When
alarm 454 (ILLEGAL ROTOR POS DETECT) occurs during detection
even if current value for pole position detection (No.2182) is changed,
this parameter is set to more than 100%. For example, if you need to
enlarge this 5 degrees to such as 10 degrees, set 200 to N2268.

Signal

Pole position detection

request signal
RPREQ1–RPREQ8
<G135>
[Classification] Input signal
[Function] Request to execute the pole position detection. A number appended to a
signal represents the controlled axis number.
[Operation] CNC starts the pole position detection by turning to ”1”. Once the pole
position detection starts, it continues even if this signal turns to ”0”.

1029
22. POLE POSITION DETECTION FUNCTION B–63173EN–1/02

Pole position detection

signal
RPDET1–RPDET8
<F158>
[Classification] Output signal
[Function] These signals indicate that CNC is detecting the pole position of each
axis. A number appended to a signal represents the controlled axis
number.
[Output condition] These signals turn to ”1” when:
S CNC is detecting the pole position
These signals turn to ”0” when:
S The pole position detection is completed.
S The pole position detection stops illegally.
S The pole position detection stops by reset.

Pole position detection

completion signal
RPFIN1–RPFIN8 <F159>
[Classification] Output signal
[Function] These signals indicate that the pole position detection of each axis is
completed. A number appended to a signal represents the controlled axis
number.
[Output condition] These signals turn to ”1” when:
S The pole position detection is started by turning the pole position
detection request signal to ”1”, and the pole position detection is
completed.

RPREQ

RPDET

RPFIN

NOTE
S In case of the application of absolute encoder, the
parameter No.2229#0 is set to ”1” and the pole position
detection is executed once, after the pole position detection
is completed, this signal can keep the condition of ”1” even
if the power is turned off and on. If the parameter No.2139
is set to ”0” and the power is turned off and on, this signal
becomes ”0”.
S In case of the application of incremental encoder, the pole
postion detection completion signal don’t become ”0”
unless the power is turned off.

1030
B–63173EN–1/02 22. POLE POSITION DETECTION FUNCTION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G135 RPREQ8 RPREQ7 RPREQ6 RPREQ5 RPREQ4 RPREQ3 RPREQ2 RPREQ1

#7 #6 #5 #4 #3 #2 #1 #0
F158 RPDET8 RPDET7 RPDET6 RPDET5 RPDET4 RPDET3 RPDET2 RPDET1

F159 RPFIN8 RPFIN7 RPFIN6 RPFIN5 RPFIN4 RPFIN3 RPFIN2 RPFIN1

Alarm and message

Number Message Description

454 nAXIS: ILLEGAL ROTOR The pole position detection stops

POS DETECT illegally.The pole position can not be
detected because motor can not move.

1031
23. ACTUAL POSITION READING FUNCTION
WITH ABSOLUTE–POSITION DETECTOR B–63173EN–1/02

23 ACTUAL POSITION READING FUNCTION WITH

ABSOLUTE–POSITION DETECTOR

Overview An actual position is read directly from the absolute–position detector, so

that machine coordinates are read with higher precision using any of the
PMC window function and FOCAS1 functions.
Conventionally, the specified position of each axis is read, and
acceleration/deceleration accumulations or servo delays (positional
deviations) must therefore be considered to determine an actual position.
This type of position reading is troublesome, and is allowed only in a
steady state because the accumulation or delay data items cannot be read
at a time.
This function reads an actual position used by the servo motor directly
from the absolute–position detector, enabling machine coordinates to be
read with higher precision in consideration of servo delays and the like.
When this function is enabled, conventional machine coordinates read
using any of the PMC window and FOCAS1 functions are changed to
machine coordinates read from the absolute–position detector.
This function is enabled for the PMC functions, PMC window function,
and FOCAS1 window functions listed below.
PMC window
S Reading the machine position (machine coordinates) of a
controlled axis (function code: 28)
PMC function
S PSGNL (positional signal output)
S PSGN2 (positional signal output 2)
FOCAS1 window
S cnc_machine
S cnc_rdposition
To use this function, set bit 5 of parameter No. 1806 to 1 (to enable the
use of the actual position reading function with the absolute–position
detector), and set bit 4 of servo parameter No. 2224 to 1 for an axis for
which to use this function.

1032
 23. ACTUAL POSITION READING FUNCTION
B–63173EN–1/02 WITH ABSOLUTE–POSITION DETECTOR

NOTE
1 When this function is used, be sure to use the
absolute–position detector, and set APC (bit 5 of parameter
No. 1815) to 1. The reference position must be established
in advance. If these conditions are not satisfied and this
function is used, coordinates are conventional machine
coordinates, instead of values output from the
absolute–position detector.
2 When this function is used with a ladder program, there may
be a delay time shown below at the maximum. Create an
application in consideration of the following delay time:
Maximum delay time = 1.25 ms + (ladder program scan
cycle)
3 This function requires an axis control card C (servo
software: 90B0 series).
4 When a high–response option is enabled, this function can
be applied to up to four axes.
If bit 4 of parameter No. 2224 is set to 1 for five or more axes,
actual position reading is applied to the last four axes and
conventional machine coordinates are used for the
previous axis or axes.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1806 APCD

[Input type] Parameter input

[Data type] Bit
APCD When machine coordinates are read using the PMC window or FOCAS1
window or when PMC positional signals are output, coordinates to be
used are:
0 : Conventional values.
1 : Values obtained by the actual position reading function with the
absolute–position detector.

NOTE
To enable the new setting of this parameter, the power must
be turned off and back on.

1033
23. ACTUAL POSITION READING FUNCTION
WITH ABSOLUTE–POSITION DETECTOR B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
2224 SPDO

[Input type] Parameter input

[Data type] Bit axis
SPDO The high–speed absolute–position data output function of the servo
software is:
0 : Disabled.
1 : Enabled.

NOTE
1 To enable the new setting of this parameter, the power must
be turned off and back on.
2 Set the bit to 1 only for an axis for which to use the actual
position reading function with the absolute–position
detector.
3 When a high–response function option is enabled, this
function can be applied to up to four axes.
If the bit is set to 1 for five or more axes, this function is
applied to the last four axes.

NOTE
This function is enabled for the PMC functions, PMC
window function, and FOCAS1 window functions listed
below.
PMC window
S Reading the machine position (machine coordinates)
of a controlled axis (function code: 28)
PMC function
S PSGNL (positional signal output)
S PSGN2 (positional signal output 2)
FOCAS1 window
S cnc_machine
S cnc_rdposition
Values are provided as before for the coordinate display and
output (such as screen display data and system variable
values) used in functions other than above.

1034
 23. ACTUAL POSITION READING FUNCTION
B–63173EN–1/02 WITH ABSOLUTE–POSITION DETECTOR

CAUTION
S If the absolute–position detector is not used, conventional
coordinates are output even when the settings (bit 5 of
parameter No. 1806 and bit 4 of parameter No. 2224) are
made to use the function.
S When bit 5 of parameter No. 1806 is set to 1, set bit 4 of
parameter No. 2224 to 1 for an axis for which to use this
function. If bit 4 of parameter No. 2224 is 0, machine
coordinates to be read are conventional values.
S When the rotary axis is set (bit 0 of parameter No. 1006 is
1), be sure to set parameter No. 1260 (travel distance per
rotation of the rotary axis). If the setting is 0, operation
cannot be assured.
S The rotary axis of type B is not supported. Be sure to set bit
1 of parameter No. 1006 to 0.

1035
24. SETTING MANUAL PULSE GENERATORS ON
HANDY MACHINE OPERATOR’S PANELS B–63173EN–1/02

24 SETTING MANUAL PULSE GENERATORS ON HANDY

MACHINE OPERATOR’S PANELS

Overview To use the manual pulse generators mounted on handy machine operator’s
panels, it is necessary to allocate PMC modules and set CNC parameters,
as in the case of the manual pulse generators connected via the I/O Link.
Up to three manual pulse generators can be used, and the manual handle
feed axis selection signals (HS1A to HS1D, HS2A to HS2D, and HS3A
to HS3D) are used to select which manual pulse generator moves which
axis.
There are two methods of associating addresses with modules for the
manual pulse generators: method A, which is suitable for three or fewer
manual pulse generators, and method B, which enables any manual
settings and is thus applicable even to four or more manual pulse
generators.
Method A
This method automatically determines associations with manual pulse
generators based on allocation of the connected modules and PMC.
For the modules capable of manual pulse generator connection that are
connected to the I/O Link, the manual pulse generators are
automatically allocated to the modules in ascending order of their
group numbers.
This method is the easiest to use for making settings when there are
three or fewer modules capable of manual pulse generator connection.
Method B
This method enables the allocation of any manual pulse generator to
any X signal address.
Each manual pulse generator can be allocated to a module with any
group number by setting the relevant parameters. Therefore, use
method B when there are four or more modules capable of manual
pulse generator connection.

1036
 24. SETTING MANUAL PULSE GENERATORS ON
B–63173EN–1/02 HANDY MACHINE OPERATOR’S PANELS

Explanation When there are four or more modules capable of manual pulse
generator connection
Method A causes a problem in a case as shown below because no more
than three manual pulse generators can be connected.

Power With method A, the manual pulse

Mate i generator is not recognized.

Connector Connector Connector Handy

panel I/O panel I/O panel I/O machine
(CM13I) (CM13I) (CM13I) operator’s
panel
(#2)

Group #0 Group #1 Group #2 Group #3

When method A is used for the above example, three manual pulse
generators are allocated to groups #0 to #2, even if the generators are not
actually connected. The manual pulse generator on the handy machine
operator’s panel in group #3 cannot be used.
When the manual pulse generators are connected to the I/O Link, modules
capable of manual pulse generator connection (such as connector panel
I/O modules, operator’s panel I/O modules, and machine operator’s
panels) are used. The number of manual pulse generators that can be
connected to each module is determined by the module name and
module–specific ID used during allocation.
For example, up to three manual pulse generators can be connected to
each connector panel I/O module. In the above example, the allocation
name is CM13I (allocation name for one manual pulse generator), and one
manual pulse generator can be connected. Also, one manual pulse
generator can be connected to the handy machine operator’s panel. (For
details of allocation, refer to Chapter 3, ”How to Allocate Addresses,” in
”FANUC PMC Ladder Language Programming Manual” (B–61863E).)
In the above example with three connector panel I/O modules and one
handy machine operator’s panel, a total of four manual pulse generators
can be connected. When method A is used, however, only the three
manual pulse generators with lower group numbers can be used.

1037
24. SETTING MANUAL PULSE GENERATORS ON
HANDY MACHINE OPERATOR’S PANELS B–63173EN–1/02

How to make settings when there are four or more modules capable
of manual pulse generator connection
In contrast, when method B is used, each manual pulse generator can be
connected to any X signal. Setting parameters No. 7120 to No. 7122
enables the use of the manual pulse generators connected to any groups.

Power
Mate i

Connector Connector Connector Handy

panel I/O panel I/O panel I/O machine
(CM13I) (CM13I) (CM13I) operator’s
panel (#2)

Group #0 Group #0 Group #2 Group #3

Address to Address to Address to
which the which the which the
1st manual 2nd manual 3rd manual
pulse pulse pulse
generator is generator is generator is
allocated by allocated by allocated by
parameter parameter parameter
No. 7120 No. 7121 No. 7122

For example, when the first to third manual pulse generators are allocated
to addresses using parameters No. 7120 to No. 7122 as shown above, the
handy machine operator’s panel corresponding to the fourth manual pulse
generator can be used.
When any of parameters No. 7120 to No. 7122 is changed, a power–down
request of alarm No. 0 is issued. This alarm can be avoided using HDXDS
(bit 4 of parameter No. 7105).
Note that because there is a danger if an incorrect setting change is made,
it is recommendable to allow alarm No. 000 to be issued.

1038
 24. SETTING MANUAL PULSE GENERATORS ON
B–63173EN–1/02 HANDY MACHINE OPERATOR’S PANELS

How to make settings when there are four or more modules capable
of manual pulse generator connection
In a long line of machines, such as a car assembly line, four or more
interface units for handy machine operator’s panels may be provided, and
the connection of one handy machine operator’s panel may be switched
to any of the interface units.
In this case, set HDXDS (bit 4 of parameter No. 7105) to 1 so that alarm
No. 0 is not issued even when any of parameters No. 7120 to No. 7122
is rewritten.

Power
Mate i

Handy Handy Handy Handy

machine machine machine machine
operator’s operator’s operator’s operator’s
panel panel panel panel
Interface Interface Interface Interface
unit unit unit unit
Group #0 Group #1 Group #2 Group #3

Handy
Switched by parameter
machine
No. 7120.
operator’s
panel
1st manual
pulse
generator

In the above example, one handy machine operator’s panel is connected

to any of four interface units.
The procedure below can be used to rewrite parameter No. 7120 with a
ladder program and switch the connection of the handy machine
operator’s panel.
Procedure
1. Set HXS (bit 1 of parameter No. 7105) to 1 to select method B.

2. Set HDXDS (bit 4 of parameter No. 7105) to 1 so that alarm No. 0

(power–down request) is not issued even when parameters No. 7120
to No. 7122 are rewritten.
3. Set ”Manual Handle Feed Axis Selection Signal” to OFF.
4. Detach the handy machine operator’s panel.
5. Confirm the detachment by ”Power ON–OFF Information PWR01”
(refer to the manual for the handy machine operator’s panel for details)
and then set, in parameters No. 7120 to No. 7122, the address of
”Manual Pulse Generator MPG” for an interface unit to be newly
connected.
6. Attach the handy machine operator’s panel.

1039
24. SETTING MANUAL PULSE GENERATORS ON
HANDY MACHINE OPERATOR’S PANELS B–63173EN–1/02

7. Confirm the attachment by ”Power ON–OFF Information PWR01”

and then set ”Manual Handle Feed Axis Selection Signal” to ON.
The connection of the handy machine operator’s panel has been switched,
and operation can be performed.

NOTE
Of parameters No. 7120 to No. 7122, only the parameters
for the handy machine operator’s panels that should be
detached and reattached must be rewritten with correct
address values.
If the X address parameter of a group for which an manual
pulse generator connected to the I/O Link has been set is
inadvertently rewritten, or if an incorrect value is set for the
X address to which the handy machine operator’s panel is
to be connected, abrupt axis movement occurs by a
difference between the old and new X address values.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7105 HDS HXS

[Data type] Bit

HXS The allocation method for the manual handles in the I/O Link is a:
0 : Fixed–order method (method A).
Up to three manual pulse generators can be used in ascending order of
the group numbers in an I/O Link connection.
1 : Parametric ordinal setting method (method B).
Up to three manual pulse generators can be used when they have any
group numbers for addresses set in parameters No. 7120 to No.7122,
regardless of the order in which the generators are connected.
HDS When the parameters (No. 7120 to No.7122) are set to allocate manual
pulse generators in the I/O Link to X signal addresses in any groups, alarm
No. 0 (power–down request) is:
0 : Issued.
1 : Not issued.

NOTE
This parameter’s HDS is valid only when method B is
selected by HXS (bit 1 of the parameter).

1040
 24. SETTING MANUAL PULSE GENERATORS ON
B–63173EN–1/02 HANDY MACHINE OPERATOR’S PANELS

7120 X address to which the first manual pulse generator is to be allocated

7121 X address to which the second manual pulse generator is to be allocated

7122 X address to which the third manual pulse generator is to be allocated

[Data type] Byte

[Valid data range] 0 to 128

NOTE
1 A PMC X address to which a manual pulse generator is to
be allocated is obtained by adding the start address of an
I/O Link connection group and an offset address from the
start of the group. The offset address depends on a unit
connected to the I/O Link. Refer to the relevant hardware
connection manual.
2 If an address to which a manual pulse generator cannot be
allocated is set, it is impossible to make axis motion with the
manual pulse generator.

1041
25. PULSE SIGNAL OUTPUT FUNCTION
(Power Mate i–H) B–63173EN–1/02

25 PULSE SIGNAL OUTPUT FUNCTION (Power Mate i-H)

1042
 25. PULSE SIGNAL OUTPUT FUNCTION
B–63173EN–1/02 (Power Mate i–H)

25.1 The pulse signal output function of the FANUC Power Mate i–MODEL
H (hereafter referred to as Power Mate i) is used to output pulse signals
OVERVIEW switched on and off at intervals of 2 to 99999998 ms, to one specified bit
of a built–in I/O (Y1000 to Y1002). The Power Mate i processes ladder
programs and axis movement commands at regular intervals, and pulses
are output in synchronization with the intervals. The output pulse signals
can be used to provide synchronous control over an external unit and the
Power Mate i.
Simple wiring enables interruption type ladder programs to be started at
pulse intervals, so that the ladder programs can be executed at intervals
of a minimum of 2 ms.

1043
 25. PULSE SIGNAL OUTPUT FUNCTION
B–63173EN–1/02 (Power Mate i–H)

25.2.2 When the value of parameter No. 3036 is changed, there is no need to turn
Changing Pulse Signal the power off and back on to enable the new setting; once the current
interval of the old setting has completed, signals are output at intervals of
Output Intervals the new setting.
[Example] Fig. 25.2.2 below shows how signals are output when the
interval setting of 200 ms is changed to 2 ms.

The parameter value is changed at this After the 200–ms interval has completed, 2–ms
point in time. intervals start.

ON

OFF
Time
Switching period 200 ms Switching Switching
period period
2 ms 2 ms

25.2.3 When hard–wiring is in place to use pulse signals output to a built–in I/O
Example as signals to be input to the interruption type PMC function, it is possible
to implement a ladder program with a scan time at intervals of a minimum
of 2 ms.
Example) To implement a ladder program with a scan time at 2–ms
intervals by enabling the Y1001.0 output to be input to
X1003.0 and used with the interruption type PMC function
1) Set parameter No. 3034 to 1001 and parameter No. 3035 to 0 so that
the output address and bit of the pulse signal output function are
specified as Y1001.0.
2) Set parameter No. 3036 to 2 so that the output switching period of
the pulse signal output function is specified as 2 ms.
3) Make settings so that the interruption type PMC function is used
and interruptions are effected at both rising and falling edges.
When X1003.0 is used, set bit 0 of parameter No. 8731 to 1, bit 0
of parameter No. 8732 to 1, and bit 0 of parameter No. 8733 to 1.
4) To supply the 24–V power to DO points, run wiring between DOC
(CB156A06) and +24E (CB156A01).
This wiring enables up to eight DO points to be driven.
5) Run wiring between Y1001.0 (CB155A15) and X1003.0
(CB156A07).

NOTE
For an explanation of wiring for other addresses, refer to
”Connection Manual (Hardware).”

1045
26. CNC SCREEN DISPLAY FUNCTION B–63173EN–1/02

26 CNC SCREEN DISPLAY FUNCTION

1048
B–63173EN–1/02 26. CNC SCREEN DISPLAY FUNCTION

26.1 For the FANUC Power Mate i–MODEL D/H (hereafter referred to as
Power Mate i), the following describes the limitations on the one–screen
OVERVIEW display of the CNC screen display function, as well as the operation of and
limitations on the dual–screen display.
For a detailed explanation of the CNC screen display function, refer to
”FANUC Open CNC (CNC Screen Display Function) Operator’s
Manual” (B–63164EN).

26.2 CNC screens are displayed only on the personal computer.

ONE–SCREEN
DISPLAY

26.2.1 1 Only 9–inch images for the CRT/MDI or LCD/MDI unit are
displayed.
Limitations
2 The screen size is fixed at 640 480 dots, regardless of the resolution
of the personal computer monitor.
3 Boot screens cannot be displayed.
4 When the LCD unit with a touch panel is used, virtual keys cannot be
displayed. The color display is provided on the personal computer
even when the LCD unit with a 9.5–inch monochrome touch panel is
used.

NOTE
S On the one–screen display, screens created with the macro
executor and those created with the C language executor
(including FANUC PICTURE screens) cannot be displayed.
To display these screens, use a Fast Ethernet board, and
set bit 7 of parameter No.3206 to 1 to select the dual–screen
display.

1049
26. CNC SCREEN DISPLAY FUNCTION B–63173EN–1/02

26.3 The CNC screen display function can be used to display CNC screens on
both personal computer and CNC. Key input is enabled on either personal
DUAL–SCREEN computer or CNC.
DISPLAY If the personal computer hangs up for some reason, a DI signal can be used
to end the dual–screen display of the CNC screen display function.

26.3.1 When NS2 (bit 7 of parameter No. 3206) is set to 1, the CNC screen
Operation display function is used to display CNC screens on both personal
computer and CNC.

26.3.2 For key input, either personal computer keyboard or CNC MDI keys can
Selecting Key Control be selected.
Key control is selected using the DI signal CNCKY (G0295#7).
Setting CNCKY (G0295#7) to 1 enables the CNC MDI keys; setting the
signal to 0 enables the keys on the personal computer.
When the CNC has the LCD unit with a touch panel and S2K (bit 5 of
parameter No. 3206) is set to 1, key control can be switched by pressing
the upper left corner of the screen.
The MDI keys are enabled when the upper left corner of the screen on the
LCD unit with a touch panel is pressed; the personal computer keys are
enabled when the upper left corner of the CNC screen display on the
personal computer is clicked.
The DO signal CNCKYO (F0295#7) can be used to check whether key
control is selected for the personal computer or CNC.

26.3.3 If the personal computer hangs up for some reason while the CNC screen
End Request with DI display function is being performed for the dual–screen display, a DI
signal can be used to make an end request from the CNC.
Signal Setting C2SEND (G0295#6) to 1 makes a request to end the dual–screen
display of the CNC screen display function. The results of the end request
are output to the DO signals C2SENE and C2SENO (F0295#5 and
F0295#6).

26.3.4 1 A Fast Ethernet board is required.

Limitations 2 The PMC–SB6 is required.
3 The Ethernet function and CNC screen display function options are
required.
4 End requests are enabled for the dual–screen display of the CNC
screen display function.
5 Only 9–inch images for the CRT/MDI or LCD/MDI unit are
displayed.
6 The screen size is fixed at 640 480 dots, regardless of the resolution
of the personal computer monitor.
7 Boot screens cannot be displayed.
8 With a display for which key operation is disabled, no key operation
can be performed.

1050
B–63173EN–1/02 26. CNC SCREEN DISPLAY FUNCTION

9 FANUC PICTURE screens (touch panel screens) cannot be used for

normal operation due to their slow display speed on the CNC screen
display. These screens should be used for maintenance.
10 On the personal computer display, some different colors are used for
CRT/MDI and LCD/MDI screens, as well as CRT display–linked
touch panel screens other than screens created with FANUC
PICTURE. The color display is provided on the personal computer
even when the LCD unit with a 9.5–inch monochrome touch panel is
used.
11 The CNC screen display for FANUC PICTURE screens is disabled
unless the LCD unit with a touch panel is connected to the Power Mate
i.
12 Key operation cannot be performed on the personal computer when the
DPL/MDI unit and DPL/MDI operation package are used.
13 An underscore cursor on a screen created with the macro executor is
not displayed.

26.3.5
#7 #6 #5 #4 #3 #2 #1 #0
Parameters
3103 NCSNC

[Data type] Bit

NCSNC When a C language executor screen is displayed, the CNC screen display
function:
0 : Can be started or ended.
1 : Cannot be started or ended.

NOTE
S When the setting is 1 and a C language executor screen is
displayed, the message ”CNC rejected activation of CNC
screen display function” appears in response to an attempt
to start the function, or the message ”Switch display from
C–EXE screen to another” appears in response to an
attempt to end the function, in a popup window on the
personal computer.
S When the setting is 0 but the function cannot be started or
ended, the programs for screens created with the C
language executor must be recompiled using the
FANUC–supplied library supporting the CNC screen display
function.

1051
26. CNC SCREEN DISPLAY FUNCTION B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
3206 NS2 S2K

[Data type] Bit

NS2 The dual–screen display of the CNC screen display function is:
0 : Not used.
1 : Used.

NOTE
S When the setting is 0, the one–screen display is provided.
S To display screens for the macro executor or C language
executor, set the bit to 1.

S2K On the dual–screen display of the CNC screen display function, key
control is switched by:
0 : Using a DI signal (G0295#7).
1 : Pressing the upper left corner of the screen.
(The LCD unit with a touch panel is required.)

NOTE
S When the setting is 0, G0295 is valid only for the PMC–SB6.
The signal cannot be used with the PMC–SB5.

26.3.6
Signals

Key control selection

signal
CNCKY <G0295#7>
[Classification] Input signal
[Function] The signal selects whether the personal computer keys or CNC MDI keys
are enabled for the dual–screen display of the CNC screen display
function.
[Operation] When the signal is 1, key control is performed on the CNC.
When the signal is 0, key control is performed on the personal computer.
With a display for which key operation is disabled, no key operation can
be performed.

1052
B–63173EN–1/02 26. CNC SCREEN DISPLAY FUNCTION

End request signal

C2SEND <G0295#6>
[Classification] Input signal
[Function] The signal makes a request to end the dual–screen display of the CNC
screen display function.
[Operation] When the signal is 1, an end request is made.
When the signal is 0, no end request is made.

Key control response

signal
CNCKYO <F0295#7>
[Classification] Output signal
[Function] The signal indicates whether key control is performed on the personal
computer or CNC for the dual–screen display of the CNC screen display
function.
[Output condition] The signal is 1 when:
S Key control is performed on the CNC.
The signal is 0 when:
S Key control is performed on the personal computer.

End request response

signal
C2SENO <F0295#6>
[Classification] Output signal
[Function] The signal indicates that a request to end the dual–screen display of the
CNC screen display function has been successfully processed.
[Output condition] The signal is 1 when:
S An end request has been successfully processed.
The signal is 0 in either of the following cases:
S An end request has not yet been processed.
S An end request has not been successfully processed.

1053
26. CNC SCREEN DISPLAY FUNCTION B–63173EN–1/02

End request error signal

C2SENE <F0295#5>
[Classification] Output signal
[Function] The signal indicates that a request to end the dual–screen display of the
CNC screen display function has not been successfully processed.
[Output condition] The signal is 1 when:
S An end request has not been successfully processed.
The signal is 0 in either of the following cases:
S An end request has not yet been processed.
S An end request has been successfully processed.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G295 CNCKY C2SEND

F295 CNCKYO C2SENO C2SENE

1054
 27. THIRD–PARTY TOUCH PANEL
B–63173EN–1/02 CONNECTION FUNCTION

27 THIRD–PARTY TOUCH PANEL CONNECTION

FUNCTION

1055
27. THIRD–PARTY TOUCH PANEL
CONNECTION FUNCTION B–63173EN–1/02

27.1 This function enables a connection to be made between the FANUC

Power Mate i–MODEL D/H (hereafter referred to as Power Mate i) and
OVERVIEW a third–party touch panel.
A program on the touch panel can be used to read from the Power Mate
i signals: input relay (X), output relay (Y), internal relay (R), keep relay
(K), data table (D), timer (T), and counter (C).
It is also possible to write to the Power Mate i signals: output relay (Y),
internal relay (R), keep relay (K), data table (D), timer (T), and counter
(C).
A program on the touch panel can be used to create screens on the touch
panel based on read signals. For example, once a data table setting screen
has been created, the switches on the touch panel screen can be used to
set data on the Power Mate i data table.

Touch panel Power Mate i

* Press on– J162

JD40
screen
switches. * Data is set on
the data table.

Connection example (RS–422)

NOTE
The third–party touch panel connection function cannot be
used simultaneously with a handy operator’s panel or
DPL/MDI unit.

1056
 27. THIRD–PARTY TOUCH PANEL
B–63173EN–1/02 CONNECTION FUNCTION

27.2
DETAILS

27.2.1 For an explanation of connection, refer to ”Connection with Third–Party

Connection Touch Panel” in ”FANUC Power Mate i–MODEL D/H Connection
Manual” (B–63173EN).
(A connection can be established using an RS–422 interface.)

27.2.2 The power must be turned on to the Power Mate i before to the touch
Power–on Priority panel. Depending on the touch panel types, it may be possible to set a time
from when the power is turned on until the touch panel is started. Set the
time so that the Power Mate i is started before the touch panel.
Starting the Power Mate i involves the time until the power–on reset
completes.

27.2.3 The table below shows the available PMC addresses.

Available Addresses

Symbol Signal type Address

PMC–SB5 PMC–SB6

Bit write Word read/write Bit write Word read/write

X Signal input from X0 to X127 X0 to X127

machine to PMC X1020 to X1051 X1020 to X1051
(MT R PMC) (Read only) (Read only)

Y Signal output from Y0 to Y127 Same as left Y0 to Y127 Same as left

PMC to machine Y1000, Y1001 Y1000, Y1001
(PMC R MT) Y1020 to Y1051 Y1020 to Y1051

R Internal relay R0 to R1499 Same as left R0 to R2999 Same as left

C Counter C0 to C79

K Keep relay K0 to K19 Same as left K0 to K39 Same as left

K900 to K909

T Variable timer T0 to T79

D Data table D0 to D2999 Same as left D0 to D7999 Same as left

CAUTION
Do not write to the X address because such operation may
pose a danger.

1057
27. THIRD–PARTY TOUCH PANEL
CONNECTION FUNCTION B–63173EN–1/02

27.2.4 1. The handy operator’s panel and touch panel cannot be used
Notes on Making simultaneously.
Note that because of the rotary switch and LED settings on the Power
Connections Mate i, the touch panel cannot be used when the handy operator’s panel
is selected.
2. The DPL/MDI unit and third–party touch panel cannot be used
simultaneously.
Note that, while the Power Mate i is powered on, the DPL/MDI unit
can be used by replacing the touch panel with the DPL/MDI unit;
however, the third–party touch panel cannot be used only by replacing
the DPL/MDI unit with the touch panel. (The power to the Power
Mate i must be turned off and back on.)

27.3
#7 #6 #5 #4 #3 #2 #1 #0
PARAMETER 3119 TPA

[Data type] Bit

TPA The third–party touch panel connection function is:
0 : Enabled.
1 : Disabled.

NOTE
The values below are automatically set for the Power Mate
i interface data.
Set the same values for the third–party touch panel.
S Baud rate: 19200 bps
S Stop bit: one bit
S Parity check: even parity

1058
APPENDIX
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

A INTERFACE BETWEEN CNC AND PMC

1061
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

A.1
LIST OF ADDRESSES

A.1.1 The address relationships between the Power Mate i–D/H and PMC
Power Matei–MODEL interface signals are shown below.
D/H List of Addresses
CNC PMC MT
X000 or later/
G000 or later
X1000 or later

F000 or later Y000 or later/

Y1000 or later

The details of the Power Mate i–D/H and PMC interface signal addresses
are listed below. In the list, #D represents signals dedicated to the Power
Mate i–D, while #H represents those dedicated to the Power Mate i–H.
The address of the PMC corresponding to IEC1131–3 is presented
together (Example 1).

Example 1:
#7 #6 #2 #1 #0
G005 AFL SFIN#D MFIN

Example 2 explains how to specify an address for referencing data on

a byte, word, or doubleword access basis.
Example 2:
To reference an M code as a byte (M00 to M07), word (M00 to M15),
or doubleword (M00 to M31), specify F010.
#7 #6 #2 #1 #0
F010 M07 M06 M02 M01 M00

F011 M15 M14 M10 M09 M08

F012 M23 M22 M18 M17 M16

F013 M31 M30 M26 M25 M24

1062
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

MT → PMC

D Power Mate i–D 1–path

control Address Bit No.
When external I/O #7 #6 #5 #4 #3 #2 #1 #0
is used X0000 SKIP *RILK *DEC1 *ESP ESKIP SKIP4 SKIP3 SKIP2

X0001 *DEC2

When built–in I/O

is used
X1000 SKIP *RILK *DEC1 *ESP ESKIP SKIP4 SKIP3 SKIP2

X1001 *DEC2

(When feedrate change

function is used)
X0000 SKIP EXF3 *DEC1 *ESP ESKIP SKIP4 EXF2 EXF1
When external I/O
is used X0001 *DEC2

X0011 EXF5 EXF4

When built–in I/O

is used
X1000 SKIP EXF3 *DEC1 *ESP ESKIP SKIP4 EXF2 EXF1

X1001 *DEC2

D Power Mate i–D 2–path

control Address Bit No.
When external I/O #7 #6 #5 #4 #3 #2 #1 #0

is used X0000 SKIP#1 *RILK#1 *DEC#1 *ESP#1 SKIP4#1 SKIP3#1 SKIP2#1

X0001 SKIP#2 *RILK#2 *DEC#2 *ESP#2 SKIP4#2 SKIP3#2 SKIP2#2

When built–in I/O

is used
X1000 SKIP#1 *RILK#1 *DEC#1 *ESP#1 SKIP4#1 SKIP3#1 SKIP2#1

X1001 SKIP#2 *RILK#2 *DEC#2 *ESP#2 SKIP4#2 SKIP3#2 SKIP2#2

(When feedrate change

function is used)
X0000 SKIP#1 EXF3#1 *DEC#1 *ESP#1 SKIP4#1 EXF2#1 EXF1#1
When external I/O
is used X0001 SKIP#2 EXF3#2 *DEC#2 *ESP#2 SKIP4#2 EXF2#2 EXF1#2

X0011 EXF5 #2 EXF4 #2 EXF5 #1 EXF4 #1

1063
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

When built–in I/O

is used X1000 SKIP#1 EXF3#1 *DEC#1 *ESP#1 SKIP4#1 EXF2#1 EXF1#1

X1001 SKIP#2 EXF3#2 *DEC#2 *ESP#2 SKIP4#2 EXF2#2 EXF1#2

D Power Mate i–H

Address Bit No.
When external I/O #7 #6 #5 #4 #3 #2 #1 #0
is used X0000 SKIP *RILK *ESP ESKIP SKIP4 SKIP3 SKIP2

X0002 *DEC8 *DEC7 *DEC6 *DEC5 *DEC4 *DEC3 *DEC2 *DEC1

When built–in I/O

is used X1000 SKIP *RILK *ESP ESKIP SKIP4 SKIP3 SKIP2

X1002 *DEC8 *DEC7 *DEC6 *DEC5 *DEC4 *DEC3 *DEC2 *DEC1

X1003 DI37 DI36 DI35 DI34 DI33 DI32 DI31 DI30

(When feedrate change

function is used) X0000 SKIP EXF3 *ESP ESKIP SKIP4 EXF2 EXF1
When external I/O
is used
X0002 *DEC8 *DEC7 *DEC6 *DEC5 *DEC4 *DEC3 *DEC2 *DEC1

X0011 EXF5 EXF4

When built–in I/O

is used X1000 SKIP EXF3 *DEC1 *ESP ESKIP SKIP4 EXF2 EXF1

X1002 *DEC8 *DEC7 *DEC6 *DEC5 *DEC4 *DEC3 *DEC2 *DEC1

X1003 DI37 DI36 DI35 DI34 DI33 DI32 DI31 DI30

NOTE
Use BIO (bit 3 of parameter No. 3008) to set whether to use
signals of X0000 to X0003 or signals of X1000 to X1003.

1064
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

PMC → CNC
Address Bit No.
#7 #6 #5 #4 #3 #2 #1 #0
G000 ED7 ED6 ED5 ED4 ED3 ED2 ED1 ED0

G001 ED15 ED14 ED13 ED12 ED11 ED10 ED9 ED8

G002 ESTB EA6 EA5 EA4 EA3 EA2 EA1 EA0

G003

G004 MFIN5#H MFIN4#H MFIN3 MFIN2 FIN

G005 AFL TFIN SFIN#D MFIN

G006 SKIPP OVC *ABSM

G007 RLSOT *FLWU ST

G008 ERS RRW *SP *ESP *IT

G009 PN7 PN6 PN5 PN4 PN3 PN2 PN1 PN0

G010 *JV7 *JV6 *JV6 *JV4 *JV3 *JV2 *JV1 *JV0

G011 *JV15 *JV14 *JV13 *JV12 *JV11 *JV10 *JV9 *JV8

G012 *FV7 *FV6 *FV5 *FV4 *FV3 *FV2 *FV1 *FV0

G013 PCMV7#H PCMV6#H PCMV5#H PCMV4#H PCMV3#H PCMV2#H PCMV1#H PCMV0#H

G014 ROV2 ROV1

G015

G016

G017

G018 HS2D#H HS2C#H HS2B HS2A HS1D#H HS1C#H HS1B HS1A

G019 RT MP2 MP1 HS3D#H HS3C#H HS3B#H HS3A#H

G020

G021

G022

G023

G024

G025

G026

G027

G028 GR2#D GR1#D

G029 *SSTP#D SOR#D SAR#D

1065
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G030 SOV7#D SOV6#D SOV5#D SOV4#D SOV3#D SOV2#D SOV1#D SOV0#D

G031

G032 R08I#D R07I#D R06I#D R05I#D R04I#D R03I#D R02I#D R01I#D

G033 SIND#D SSIN#D SGN#D R12I#D R11I#D R10I#D R09I#D

G034

G035

G036

G037

G038

G039

G040

G041 HS2ID#H HS2IC#H HS2IB HS2IA HS1ID#H HS1IC#H HS1IB HS1IA

G042 HS3ID#H HS3IC#H HS3IB#H HS3IA#H

G043 ZRN DNC MD4 MD2 MD1

G044 MLK BDT1

G045 BDT9 BDT8 BDT7 BDT6 BDT5 BDT4 BDT3 BDT2

G046 DRN KEY4 KEY3 KEY2 KEY1 SBK

G047

G048

G049

G050

G051

G052

G053 UINT TMRON

G054 UI007 UI006 UI005 UI004 UI003 UI002 UI001 UI000

G055 UI015 UI014 UI013 UI012 UI011 UI010 UI009 UI008

G056 UI023 UI022 UI021 UI020 UI019 UI018 UI017 UI016

G057 UI031 UI030 UI029 UI028 UI027 UI026 UI025 UI024

G058 EXWT EXSTP EXRD

G059

1066
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G060

G061 RGTAP#D

G062

G063 PATHS#D

G064

G065

G066 EKSET EPCON ENBKY IGNVRY

G067

G068

G069

G070 MRDYA#D ORCMA#D SFRA#D SRVA#D CTH1A#D CTH2A#D TLMHA#D TLMLA#D

G071 RCHA#D RSLA#D INTGA#D SOCNA#D MCFNA#D SPSLA#D *ESPA#D ARSTA#D

G072 RCHHGA#D MFNHGA#D INCMDA#D OVRIDA#D DEFMDA#D NRROA#D ROTAA#D INDXA#D

G073 MPOFA#D SLVA#D MORCMA#D

G074

G075

G076

G077

G078 SHA07#D SHA06#D SHA05#D SHA04#D SHA03#D SHA02#D SHA01#D SHA00#D

G079 SHA11#D SHA10#D SHA09#D SHA08#D

G080

G081

G082

G083

G084

G085

G086

G087

G088

G089

1067
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G090

G091 SRLNI3 SRLNI2 SRLNI1 SRLNI0

G092 BGEN BGIALM BGION IOLS IOLACK

G093

G094

G095

G096 HROV *HROV6 *HROV5 *HROV4 *HROV3 *HROV2 *HROV1 *HROV0

G097

G098 EKC7 EKC6 EKC5 EKC4 EKC3 EKC2 EKC1 EKC0

G099

G100 +J8#H +J7#H +J6#H +J5#H +J4#H +J3#H +J2 +J1

G101

G102 –J8#H –J7#H –J6#H –J5#H –J4#H –J3#H –J2 –J1

G103

G104

G105

G106 MI8#H MI7#H MI6#H MI5#H MI4#H MI3#H MI2 MI1

G107

G108 MLK8#H MLK7#H MLK6#H MLK5#H MLK4#H MLK3#H MLK2 MLK1

G109

G110 +LM8#H +LM7#H +LM6#H +LM5#H +LM4#H +LM3#H +LM2 +LM1

G111

G112 –LM8#H –LM7#H –LM6#H –LM5#H –LM4#H –LM3#H –LM2 –LM1

G113

G114 *+L8#H *+L7#H *+L6#H *+L5#H *+L4#H *+L3#H *+L2 *+L1

G115

G116 *–L8#H *–L7#H *–L6#H *–L5#H *–L4#H *–L3#H *–L2 *–L1

G117

G118

G119

1068
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G120

G121

G122

G123

G124 DTCH8#H DTCH7#H DTCH6#H DTCH5#H DTCH4#H DTCH3#H DTCH2 DTCH1

G125

G126 SVF8#H SVF7#H SVF6#H SVF5#H SVF4#H SVF3#H SVF2 SVF1

G127

G128

G129

G130 *IT8#H *IT7#H *IT6#H *IT5#H *IT4#H *IT3#H *IT2 *IT1

G131

G132 +MIT8#H +MIT7#H +MIT6#H +MIT5#H +MIT4#H +MIT3#H +MIT2 +MIT1

G133

G134 –MIT8#H –MIT7#H –MIT6#H –MIT5#H –MIT4#H –MIT3#H –MIT2 –MIT1

G135 RPREQ8 RPREQ7 RPREQ6 RPREQ5 RPREQ4 RPREQ3 RPREQ2 RPREQ1

G136 EAX8#H EAX7#H EAX6#H EAX5#H EAX4#H EAX3#H EAX2 EAX1

G137

G138 SYNC8#H SYNC7#H SYNC6#H SYNC5#H SYNC4#H SYNC3#H SYNC2 SYNC1

G139

G140 SYNCJ8#H SYNCJ7#H SYNCJ6#H SYNCJ5#H SYNCJ4#H SYNCJ3#H SYNCJ2 SYNCJ1

G141

G142 EBUFA ECLRA ESTPA ESOFA ESBKA EMBUFA ELCKZA EFINA

G143 EMSBKA EC6A EC5A EC4A EC3A EC2A EC1A EC0A

G144 EIF7A EIF6A EIF5A EIF4A EIF3A EIF2A EIF1A EIF0A

G145 EIF15A EIF14A EIF13A EIF12A EIF11A EIF10A EIF9A EIF8A

G146 EID7A EID6A EID5A EID4A EID3A EID2A EID1A EID0A

G147 EID15A EID14A EID13A EID12A EID11A EID10A EID9A EID8A

G148 EID23A EID22A EID21A EID20A EID19A EID18A EID17A EID16A

G149 EID31A EID30A EID29A EID28A EID27A EID26A EID25A EID24A

1069
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G150 DRNE RTE OVCE ROV2E ROV1E

G151 *FV7E *FV6E *FV5E *FV4E *FV3E *FV2E *FV1E *FV0E

G152

G153

G154 EBUFB ECLRB ESTPB ESOFB ESBKB EMBUFB ELCKZB EFINB

G155 EMSBKB EC6B EC5B EC4B EC3B EC2B EC1B EC0B

G156 EIF7B EIF6B EIF5B EIF4B EIF3B EIF2B EIF1B EIF0B

G157 EIF15B EIF14B EIF13B EIF12B EIF11B EIF10B EIF9B EIF8B

G158 EID7B EID6B EID5B EID4B EID3B EID2B EID1B EID0B

G159 EID15B EID14B EID13B EID12B EID11B EID10B EID9B EID8B

G160 EID23B EID22B EID21B EID20B EID19B EID18B EID17B EID16B

G161 EID31B EID30B EID29B EID28B EID27B EID26B EID25B EID24B

G162

G163

G164

G165

G166 EBUFC#H ECLRC#H ESTPC#H ESOFC#H ESBKC#H EMBUFC#H ELCKZC#H EFINC#H

G167 EMSBKC#H EC6C#H EC5C#H EC4C#H EC3C#H EC2C#H EC1C#H EC0C#H

G168 EIF7C#H EIF6C#H EIF5C#H EIF4C#H EIF3C#H EIF2C#H EIF1C#H EIF0C#H

G169 EIF15C#H EIF14C#H EIF13C#H EIF12C#H EIF11C#H EIF10C#H EIF9C#H EIF8C#H

G170 EID7C#H EID6C#H EID5C#H EID4C#H EID3C#H EID2C#H EID1C#H EID0C#H

G171 EID15C#H EID14C#H EID13C#H EID12C#H EID11C#H EID10C#H EID9C#H EID8C#H

G172 EID23C#H EID22C#H EID21C#H EID20C#H EID19C#H EID18C#H EID17C#H EID16C#H

G173 EID31C#H EID30C#H EID29C#H EID28C#H EID27C#H EID26C#H EID25C#H EID24C#H

G174

G175

G176

G177

G178 EBUFD#H ECLRD#H ESTPD#H ESOFD#H ESBKD#H EMBUFD#H ELCKZD#H EFIND#H

G179 EMSBKD#H EC6D#H EC5D#H EC4D#H EC3D#H EC2D#H EC1D#H EC0D#H

1070
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G180 EIF7D#H EIF6D#H EIF5D#H EIF4D#H EIF3D#H EIF2D#H EIF1D#H EIF0D#H

G181 EIF15D#H EIF14D#H EIF13D#H EIF12D#H EIF11D#H EIF10D#H EIF9D#H EIF8D#H

G182 EID7D#H EID6D#H EID5D#H EID4D#H EID3D#H EID2D#H EID1D#H EID0D#H

G183 EID15D#H EID14D#H EID13D#H EID12D#H EID11D#H EID10D#H EID9D#H EID8D#H

G184 EID23D#H EID22D#H EID21D#H EID20D#H EID19D#H EID18D#H EID17D#H EID16D#H

G185 EID31D#H EID30D#H EID29D#H EID28D#H EID27D#H EID26D#H EID25D#H EID24D#H

G186

G187

G188

G189

G190

G191

G192 IGVRY8#H IGVRY7#H IGVRY6#H IGVRY5#H IGVRY4#H IGVRY3#H IGVRY2 IGVRY1

G193

G194

G195

G196

G197

G198

G199

G200

G201

G202

G203

G204 LED08 LED07 LED06 LED05 LED04 LED03 LED02 LED01

G205 MOPEC LED09

G206 RTN18#H RTN17#H RTN16#H RTN15#H RTN14#H RTN13#H RTN12 RTN11

G207 RTN28#H RTN27#H RTN26#H RTN25#H RTN24#H RTN23#H RTN22 RTN21

G208 RTN38#H RTN37#H RTN36#H RTN35#H RTN34#H RTN33#H RTN32 RTN31

G209

1071
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G210 ZR8#H ZR7#H ZR6#H ZR5#H ZR4#H ZR3#H ZR2 ZR1

G211 ZPEXT8#H ZPEXT7#H ZPEXT6#H ZPEXT5#H ZPEXT4#H ZPEXT3#H ZPEXT2 ZPEXT1

G212 ACT RTNT#D GST#D SYCMD#H

G213

G214 WFN4 WFN3 WFN2 WFN1

G215 KEXEC#H KDEL#H KUP#H KG04#H KG01#H KG00#H KPAX#H KF#H

G216 TRQ8E#H TRQ7E#H TRQ6E#H TRQ5E#H TRQ4E#H TRQ3E#H TRQ2E TRQ1E

G217 TRQ17 TRQ16 TRQ15 TRQ14 TRQ13 TRQ12 TRQ11 TRQ10

G218 TRQ27 TRQ26 TRQ25 TRQ24 TRQ23 TRQ22 TRQ21 TRQ20

G219 TRQ37#H TRQ36#H TRQ35#H TRQ34#H TRQ33#H TRQ32#H TRQ31#H TRQ30#H

G220 TRQ47#H TRQ46#H TRQ45#H TRQ44#H TRQ43#H TRQ42#H TRQ41#H TRQ40#H

G221 TRQ57#H TRQ56#H TRQ55#H TRQ54#H TRQ53#H TRQ52#H TRQ51#H TRQ50#H

G222 TRQ67#H TRQ66#H TRQ65#H TRQ64#H TRQ63#H TRQ62#H TRQ61#H TRQ60#H

G223 TRQ77#H TRQ76#H TRQ75#H TRQ74#H TRQ73#H TRQ72#H TRQ71#H TRQ70#H

G224 TRQ87#H TRQ86#H TRQ85#H TRQ84#H TRQ83#H TRQ82#H TRQ81#H TRQ80#H

G225 PALM PAL6 PAL5 PAL4 PAL3 PAL2 PAL1 PAL0

G226 HCPL#H HMD#H

G227 HOVC8#H HOVC7#H HOVC6#H HOVC5#H HOVC4#H HOVC3#H HOVC2#H HOVC1#H

G228 HPST07#H HPST06#H HPST05#H HPST04#H HPST03#H HPST02#H HPST01#H HPST00#H

G229 HPST15#H HPST14#H HPST13#H HPST12#H HPST11#H HPST10#H HPST09#H HPST08#H

G230 HPST23#H HPST22#H HPST21#H HPST20#H HPST19#H HPST18#H HPST17#H HPST16#H

G231 HPST31#H HPST30#H HPST29#H HPST28#H HPST27#H HPST26#H HPST25#H HPST24#H

G232 HSBK8#H HSBK7#H HSBK6#H HSBK5#H HSBK4#H HSBK3#H HSBK2#H HSBK1#H

G233 HERS8#H HERS7#H HERS6#H HERS5#H HERS4#H HERS3#H HERS2#H HERS1#H

G234

G235

G236

G237

G238 ELCAM4#H ELCAM3#H ELCAM2#H ELCAM1#H

G239 ECMCST#H ECMCHG#H ECMEND#H ECMST#H

1072
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G240

G241

G242

G243

G244 MEAS7#H MEAS6#H MEAS5#H MEAS4#H MEAS3#H MEAS2#H MEAS1#H MEAS0#H

G245 PCMRI#H PCMM1#H PCMPI#H

G246

G247 RSTP7 RSTP6 RSTP5 RSTP4 RSTP3 RSTP2 RSTP1 RSTP0

G248 EXIO2 EXIO1

G249 FLN07 FLN06 FLN05 FLN04 FLN03 FLN02 FLN01 FLN00

G250 FLN15 FLN14 FLN13 FLN12 FLN11 FLN10 FLN09 FLN08

G251 EDGN EPARM EVAR EPRG EPMC IOLNK

G252 EDG07 EDG06 EDG05 EDG04 EDG03 EDG02 EDG01 EDG00

G253 EDG15 EDG14 EDG13 EDG12 EDG11 EDG10 EDG09 EDG08

G254 EDN07 EDN06 EDN05 EDN04 EDN03 EDN02 EDN01 EDN00

G255 EDN15 EDN14 EDN13 EDN12 EDN11 EDN10 EDN09 EDN08

G256

G257

G258

G259

G260

G261

G262

G263

G264

G265

G266 SKIPP8#H SKIPP7#H SKIPP6#H SKIPP5#H SKIPP4#H SKIPP3#H SKIPP2#H SKIPP1#H

G267 SKIPP16#H SKIPP15#H SKIPP14#H SKIPP13#H SKIPP12#H SKIPP11#H SKIPP10#H SKIPP9#H

G268

G269

1073
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G270

G271

G272

G273

G274

G275

G276 UI107 UI106 UI105 UI104 UI103 UI102 UI101 UI100

G277 UI115 UI114 UI113 UI112 UI111 UI110 UI109 UI108

G278 UI123 UI122 UI121 UI120 UI119 UI118 UI117 UI116

G279 UI131 UI130 UI129 UI128 UI127 UI126 UI125 UI124

G280 UI207 UI206 UI205 UI204 UI203 UI202 UI201 UI200

G281 UI215 UI214 UI213 UI212 UI211 UI210 UI209 UI208

G282 UI223 UI222 UI221 UI220 UI219 UI218 UI217 UI216

G283 UI231 UI230 UI229 UI228 UI227 UI226 UI225 UI224

G284 UI307 UI306 UI305 UI304 UI303 UI302 UI301 UI300

G285 UI315 UI314 UI313 UI312 UI311 UI310 UI309 UI308

G286 UI323 UI322 UI321 UI320 UI319 UI318 UI317 UI316

G287 UI331 UI330 UI329 UI328 UI327 UI326 UI325 UI324

G288

G289

G290

G291

G292

G293

G294

G295

G296

G297

G298

G299

1074
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G300

G301

G302

G303

G304

G305

G306

G307

G308

G309

G310

G311

G312

G313

G314

G315

G316

G317

G318

G319

G320

G321

G322

G323

G324

G325

G326

G327

G328

G329

1075
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G330

G331

G332

G333

G334

G335

G336

G337

G338

G339

G340

G341

G342

G343

G344

G345

G346

G347

G348

G349

G350

G351

G352

G353

G354

G355

G356

G357

G358

G359

1076
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G360

G361

G362

G363

G364

G365

G366

G367

G368

G369

G370

G371

G372

G373

G374

G375

G376

G377

G378

G379

G380

G381

G382

G383

G384

G385

G386

G387

G388

G389

1077
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G390

G391

G392

G393

G394

G395

G396

G397

G398

G399

G400

G401

G402

G403

G404

G405

G406

G407

G408

G409

G410

G411

G412

G413

G414

G415

G416

G417

G418

G419

1078
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G420

G421

G422

G423

G424

G425

G426

G427

G428

G429

G430

G431

G432

G433

G434

G435

G436

G437

G438

G439

G440

G441

G442

G443

G444

G445

G446

G447

G448

G449

1079
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G450 +STEP8#H +STEP7#H +STEP6#H +STEP5#H +STEP4#H +STEP3#H +STEP2#H +STEP1#H

G451 –STEP8#H –STEP7#H –STEP6#H –STEP5#H –STEP4#H –STEP3#H –STEP2#H –STEP1#H

G452 SYCLH8#H SYCLH7#H SYCLH6#H SYCLH5#H SYCLH4#H SYCLH3#H SYCLH2#H SYCLH1#H

G453

G454

G455 ENBEX8 ENBEX7 ENBEX6 ENBEX5 ENBEX4 ENBEX3 ENBEX2 ENBEX1

G456 HSBKM8#H HSBKM7#H HSBKM6#H HSBKM5#H HSBKM4#H HSBKM3#H HSBKM2#H HSBKM1#H

G457 HERSM8#H HERSM7#H HERSM6#H HERSM5#H HERSM4#H HERSM3#H HERSM2#H HERSM1#H

G458 HFIN8#H HFIN7#H HFIN6#H HFIN5#H HFIN4#H HFIN3#H HFIN2#H HFIN1#H

G459

G460

G461

G462 +EDITH +EDITG +EDITF +EDITE +EDITD +EDITC +EDITB +EDITA

G463 –EDITH –EDITG –EDITF –EDITE –EDITD –EDITC –EDITB –EDITA

G464 EBUFE#H ECLRE#H ESTPE#H ESOFE#H ESBKE#H EMBUFE#H ELCKZE#H EFINE#H

G465 EMSBKE#H EC6E#H EC5E#H EC4E#H EC3E#H EC2E#H EC1E#H EC0E#H

G466 EIF7E#H EIF6E#H EIF5E#H EIF4E#H EIF3E#H EIF2E#H EIF1E#H EIF0E#H

G467 EIF15E#H EIF14E#H EIF13E#H EIF12E#H EIF11E#H EIF10E#H EIF9E#H EIF8E#H

G468 EID7E#H EID6E#H EID5E#H EID4E#H EID3E#H EID2E#H EID1E#H EID0E#H

G469 EID15E#H EID14E#H EID13E#H EID12E#H EID11E#H EID10E#H EID9E#H EID8E#H

G470 EID23E#H EID22E#H EID21E#H EID20E#H EID19E#H EID18E#H EID17E#H EID16E#H

G471 EID31E#H EID30E#H EID29E#H EID28E#H EID27E#H EID26E#H EID25E#H EID24E#H

G472

G473

G474

G475

G476 EBUFF#H ECLRF#H ESTPF#H ESOFF#H ESBKF#H EMBUFF#HELCKZF#H EFINF#H

G477 EMSBKF#H EC6F#H EC5F#H EC4F#H EC3F#H EC2F#H EC1F#H EC0F#H

G478 EIF7F#H EIF6F#H EIF5F#H EIF4F#H EIF3F#H EIF2F#H EIF1F#H EIF0F#H

G479 EIF15F#HEIF14F#HEIF13F#HEIF12F#HEIF11F#H EIF10F#H EIF9F#H EIF8F#H

1080
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
G480 EID7F#H EID6F#H EID5F#H EID4F#H EID3F#H EID2F#H EID1F#H EID0F#H

G481 EID15F#H EID14F#H EID13F#H EID12F#H EID11F#H EID10F#H EID9F#H EID8F#H

G482 EID23F#H EID22F#H EID21F#H EID20F#H EID19F#H EID18F#H EID17F#H EID16F#H

G483 EID31F#H EID30F#H EID29F#H EID28F#H EID27F#H EID26F#H EID25F#H EID24F#H

G484

G485

G486

G487

G488 EBUFG#H ECLRG#H ESTPG#H ESOFG#H ESBKG#H EMBUFG#HELCKZG#H EFING#H

G489 EMSBKG#H EC6G#H EC5G#H EC4G#H EC3G#H EC2G#H EC1G#H EC0G#H

G490 EIF7G#H EIF6G#H EIF5G#H EIF4G#H EIF3G#H EIF2G#H EIF1G#H EIF0G#H

G491 EIF15G#H EIF14G#H EIF13G#H EIF12G#H EIF11G#H EIF10G#H EIF9G#H EIF8G#H

G492 EID7G#H EID6G#H EID5G#H EID4G#H EID3G#H EID2G#H EID1G#H EID0G#H

G493 EID15G#H EID14G#H EID13G#H EID12G#H EID11G#H EID10G#H EID9G#H EID8G#H

G494 EID23G#H EID22G#H EID21G#H EID20G#H EID19G#H EID18G#H EID17G#H EID16G#H

G495 EID31G#H EID30G#H EID29G#H EID28G#H EID27G#H EID26G#H EID25G#H EID24G#H

G496

G497

G498

G499

G500 EBUFH#H ECLRH#H ESTPH#H ESOFH#H ESBKH#H EMBUFH#HELCKZH#H EFINH#H

G501 EMSBKH#H EC6H#H EC5H#H EC4H#H EC3H#H EC2H#H EC1H#H EC0H#H

G502 EIF7H#H EIF6H#H EIF5H#H EIF4H#H EIF3H#H EIF2H#H EIF1H#H EIF0H#H

G503 EIF15H#H EIF14H#H EIF13H#H EIF12H#H EIF11H#H EIF10H#H EIF9H#H EIF8H#H

G504 EID7H#H EID6H#H EID5H#H EID4H#H EID3H#H EID2H#H EID1H#H EID0H#H

G505 EID15H#H EID14H#H EID13H#H EID12H#H EID11H#H EID10H#H EID9H#H EID8H#H

G506 EID23H#H EID22H#H EID21H#H EID20H#H EID19H#H EID18H#H EID17H#H EID16H#H

G507 EID31H#H EID30H#H EID29H#H EID28H#H EID27H#H EID26H#H EID25H#H EID24H#H

G508

G509

1081
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
G510

G511

1082
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

CNC → PMC
Address Bit No.
#7 #6 #5 #4 #3 #2 #1 #0
F000 OP SA STL SPL RWD

F001 MA TAP#D ENB#D DEN BAL RST AL

F002 CUT CSS#D

F003 MTCHIN MEDT MAUT MRMT MMDI MJ MSTP

F004 MZRN

F005

F006

F007 TF SF#D MF

F008 MF5#H MF4#H MF3 MF2

F009 DM00 DM01 DM02 DM30

F010 M07 M06 M05 M04 M03 M02 M01 M00

F011 M15 M14 M13 M12 M11 M10 M09 M08

F012 M23 M22 M21 M20 M19 M18 M17 M16

F013 M31 M30 M29 M28 M27 M26 M25 M24

F014 M207 M206 M205 M204 M203 M202 M201 M200

F015 M215 M214 M213 M212 M211 M210 M209 M208

F016 M307 M306 M305 M304 M303 M302 M301 M300

F017 M315 M314 M313 M312 M311 M310 M309 M308

F018 M407#H M406#H M405#H M404#H M403#H M402#H M401#H M400#H

F019 M415#H M414#H M413#H M412#H M411#H M410#H M409#H M408#H

F020 M507#H M506#H M505#H M504#H M503#H M502#H M501#H M500#H

F021 M515#H M514#H M513#H M512#H M511#H M510#H M509#H M508#H

F022 S07#D S06#D S05#D S04#D S03#D S02#D S01#D S00#D

F023 S15#D S14#D S13#D S12#D S11#D S10#D S09#D S08#D

F024 S23#D S22#D S21#D S20#D S19#D S18#D S17#D S16#D

F025 S31#D S30#D S29#D S28#D S27#D S26#D S25#D S24#D

F026 T07 T06 T05 T04 T03 T02 T01 T00

F027 T15 T14 T13 T12 T11 T10 T09 T08

F028 T23 T22 T21 T20 T19 T18 T17 T16

F029 T31 T30 T29 T28 T27 T26 T25 T24

1083
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F030

F031

F032

F033

F034 GR3O#D GR2O#D GR1O#D

F035

F036 R08O#D R07O#D R06O#D R05O#D R04O#D R03O#D R02O#D R01O#D

F037 R12O#D R11O#D R10O#D R09O#D

F038

F039

F040

F041

F042

F043

F044

F045 ORARA#D TLMA#D LDT2A#D LDT1A#D SARA#D SDTA#D SSTA#D ALMA#D

F046 MORA2A#D MORA1A#D PORA2A#D SLVSA#D RCFNA#D RCHPA#D CFINA#D CHPA#D

F047 INCSTA#D PC1DEA#D

F048

F049

F050

F051

F052

F053 EKENB BGEACT RPALM RPBSY RPGDPL INHKY

F054 UO007 UO006 UO005 UO004 UO003 UO002 UO001 UO000

F055 UO015 UO014 UO013 UO012 UO011 UO010 UO009 UO008

F056 UO107 UO106 UO105 UO104 UO103 UO102 UO101 UO100

F057 UO115 UO114 UO113 UO112 UO111 UO110 UO109 UO108

F058 UO123 UO122 UO121 UO120 UO119 UO118 UO117 UO116

F059 UO131 UO130 UO129 UO128 UO127 UO126 UO125 UO124

1084
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F060 ESEND EREND

F061

F062 PRTSF

F063

F064

F065 RGSPM#D RGSPP#D

F066 G08MD

F067

F068

F069

F070 PSW08 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01

F071 PSW10 PSW09

F072 OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0

F073 ZRNO MD4O MD2O MD1O

F074

F075 *SPO KEYO DRNO MLKO SBKO BDTO

F076 ROV2O ROV1O RTAP#D MP2O MP1O

F077 RTO HS1DO#H HS1CO#H HS1BO HS1AO

F078 *FV7O *FV6O *FV5O *FV4O *FV3O *FV2O *FV1O *FV0O

F079 *JV7O *JV6O *JV5O *JV4O *JV3O *JV2O *JV1O *JV0O

F080 *JV15O *JV14O *JV13O *JV12O *JV11O *JV10O *JV9O *JV8O

F081 –J4O#H +J4O#H –J3O#H +J3O#H –J2O +J2O –J1O –J1O

F082 ITPS

F083

F084

F085

F086

F087

F088

F089

1085
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F090 ABTSP1#D ABTQSV

F091

F092

F093

F094 ZP8#H ZP7#H ZP6#H ZP5#H ZP4#H ZP3#H ZP2 ZP1

F095

F096 ZP28#H ZP27#H ZP26#H ZP25#H ZP24#H ZP23#H ZP22 ZP21

F097

F098 ZP38#H ZP37#H ZP36#H ZP35#H ZP34#H ZP33#H ZP32 ZP31

F099

F100

F101

F102 MV8#H MV7#H MV6#H MV5#H MV4#H MV3#H MV2 MV1

F103

F104 INP8#H INP7#H INP6#H INP5#H INP4#H INP3#H INP2 INP1

F105

F106 MVD8#H MVD7#H MVD6#H MVD5#H MVD4#H MVD3#H MVD2 MVD1

F107

F108 MMI8#H MMI7#H MMI6#H MMI5#H MMI4#H MMI3#H MMI2 MMI1

F109

F110 MDTCH8#H MDTCH7#H MDTCH6#H MDTCH5#H MDTCH4#H MDTCH3#H MDTCH2 MDTCH1

F111

F112

F113

F114 TRQL8#H TRQL7#H TRQL6#H TRQL5#H TRQL4#H TRQL3#H TRQL2#H TRQL1#H

F115

F116

F117

F118

F119

1086
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F120 ZRF8#H ZRF7#H ZRF6#H ZRF5#H ZRF4#H ZRF3#H ZRF2 ZRF1

F121

F122

F123

F124

F125

F126

F127

F128

F129 *EAXSL EOV0

F130 EBSYA EOTNA EOTPA EGENA EDENA EIALA ECKZA EINPA

F131 EABUFA EMFA

F132 EM28A EM24A EM22A EM21A EM18A EM14A EM12A EM11A

F133 EBSYB EOTNB EOTPB EGENB EDENB EIALB ECKZB EINPB

F134 EABUFB EMFB

F135 EM28B EM24B EM22B EM21B EM18B EM14B EM12B EM11B

F136 EBSYC#H EOTNC#H EOTPC#H EGENC#H EDENC#H EIALC#H ECKZC#H EINPC#H

F137 EABUFC#H EMFC#H

F138 EM28C#H EM24C#H EM22C#H EM21C#H EM18C#H EM14C#H EM12C#H EM11C#H

F139 EBSYD#H EOTND#H EOTPD#H EGEND#H EDEND#H EIALD#H ECKZD#H EINPD#H

F140 EABUFD#H EMFD#H

F141 EM28D#H EM24D#H EM22D#H EM21D#H EM18D#H EM14D#H EM12D#H EM11D#H

F142 EM48A EM44A EM42A EM41A EM38A EM34A EM32A EM31A

F143

F144

F145 EM48B EM44B EM42B EM41B EM38B EM34B EM32B EM31B

F146

F147

F148 EM48C#H EM44C#H EM42C#H EM41C#H EM38C#H EM34C#H EM32C#H EM31C#H

F149

1087
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F150

F151 EM48D#H EM44D#H EM42D#H EM41D#H EM38D#H EM34D#H EM32D#H EM31D#H

F152

F153

F154

F155

F156

F157

F158 RPDET8 RPDET7 RPDET6 RPDET5 RPDET4 RPDET3 RPDET2 RPDET1

F159 RPFIN8 RPFIN7 RPFIN6 RPFIN5 RPFIN4 RPFIN3 RPFIN2 RPFIN1

F160

F161

F162

F163

F164

F165

F166

F167

F168 SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1

F169 SW16 SW15 M–OPE SW13 SW12 SW11 SW10 SW09

F170 SW24 SW23 SW22 SW21 SW20 SW19 SW18 SW17

F171 SW32 SW31 SW30 SW29 SW28 SW27 SW26 SW25

F172 SW40 SW39 SW38 SW37 SW36 SW35 SW34 SW33

F173 SW48 SW47 SW46 SW45 SW44 SW43 SW42 SW41

F174 SW56 SW55 SW54 SW53 SW52 SW51 SW50 SW49

F175 HOPEMG HOPENB HOPSTP SW61 SW60 SW59 SW58 SW57

F176

F177 EDGNM EPARMM EVARM EPRGM EWTIO ESTPIO ERDIO IOLNKM

F178 SRLNO3 SRLNO2 SRLNO1 SRLNO0

F179

1088
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F180 CLRCH8#HCLRCH7#HCLRCH6#HCLRCH5#HCLRCH4#HCLRCH3#H CLRCH2 CLRCH1

F181

F182 EACNT8#H EACNT7#H EACNT6#H EACNT5#H EACNT4#H EACNT3#H EACNT2 EACNT1

F183

F184 ABTD8 ABTD7 ABTD6 ABTD5 ABTD4 ABTD3 ABTD2 ABTD1

F185

F186

F187

F188

F189

F190 TRQM8#H TRQM7#H TRQM6#H TRQM5#H TRQM4#H TRQM3#H TRQM2 TRQM1

F191

F192

F193

F194

F195

F196

F197

F198

F199

F200

F201

F202

F203

F204

F205

F206 AD05 AD04 AD03 AD02 AD01 AD00 0 0

F207 ADSGN AD12 AD11 AD10 AD09 AD08 AD07 AD06

F208 SYCMO#H HOPATH

F209 WAT4 WAT3 WAT2 WAT1

1089
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F210 K7 K6 K5 K4 K3 K2 K1 K0

F211 KCAN KEOB KSLH KNO KPRD KMNS K9 K8

F212 KRED KWRT KINP KDLT KINS KALT

F213 KALM KPRM KVAR KPRG KPOS

F214 KH KQ KP KUP KDWN

F215 KK KJ KI KE KD KC KB KA

F216 KEXIT KAMP KZ KY KW KV KU KL

F217 KX KR KG KN KO

F218 KSHRP KT KS KM KF KDEV

F219

F220 SUP8#H SUP7#H SUP6#H SUP5#H SUP4#H SUP3#H SUP2 SUP1

F221 IPL8#H IPL7#H IPL6#H IPL5#H IPL4#H IPL3#H IPL2 IPL1

F222 SVER8#HSVER7#HSVER6#HSVER5#HSVER4#HSVER3#H SVER2 SVER1

F223 ECMCP4#H ECMCP3#H ECMCP2#H ECMCP1#H

F224 ECMMOD#H ECMEXE#H

F225

F226

F227

F228 HCPLO#H HMDO#H

F229 HEX8#H HEX7#H HEX6#H HEX5#H HEX4#H HEX3#H HEX2#H HEX1#H

F230 HALM8#H HALM7#H HALM6#H HALM5#H HALM4#H HALM3#H HALM2#H HALM1#H

F231 HRDY8#H HRDY7#H HRDY6#H HRDY5#H HRDY4#H HRDY3#H HRDY2#H HRDY1#H

F232

F233

F234

F235

F236 APBL1 APBV1 APBZ1 APPS1 APPE1 APFE1 APOV1 APCM1

F237 APBL2 APBV2 APBZ2 APPS2 APPE2 APFE2 APOV2 APCM2

F238 APBL3#H APBV3#H APBZ3#H APPS3#H APPE3#H APFE3#H APOV3#H APCM3#H

F239 APBL4#H APBV4#H APBZ4#H APPS4#H APPE4#H APFE4#H APOV4#H APCM4#H

1090
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F240 APBL5#H APBV5#H APBZ5#H APPS5#H APPE5#H APFE5#H APOV5#H APCM5#H

F241 APBL6#H APBV6#H APBZ6#H APPS6#H APPE6#H APFE6#H APOV6#H APCM6#H

F242 APBL7#H APBV7#H APBZ7#H APPS7#H APPE7#H APFE7#H APOV7#H APCM7#H

F243 APBL8#H APBV8#H APBZ8#H APPS8#H APPE8#H APFE8#H APOV8#H APCM8#H

F244

F245

F246

F247

F248 FANAL2 FANAL1 DVALM2 DVALM1 DVALM0

F249

F250 ALSV ALOH ALOT ALPS ALPS3 ALPS2 ALPS1

F251 ALPS4 ALSPD#D ALAPC

F252

F253 KENB#H

F254 PATHO

F255

F256

F257

F258

F259

F260

F261

F262

F263

F264

F265

F266

F267

F268

F269

1091
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F270

F271

F272

F273

F274

F275

F276 UO023 UO022 UO021 UO020 UO019 UO018 UO017 UO016

F277 UO031 UO030 UO029 UO028 UO027 UO026 UO025 UO024

F278

F279

F280 UO207 UO206 UO205 UO204 UO203 UO202 UO201 UO200

F281 UO215 UO214 UO213 UO212 UO211 UO210 UO209 UO208

F282 UO223 UO222 UO221 UO220 UO219 UO218 UO217 UO216

F283 UO231 UO230 UO229 UO228 UO227 UO226 UO225 UO224

F284 UO307 UO306 UO305 UO304 UO303 UO302 UO301 UO300

F285 UO315 UO314 UO313 UO312 UO311 UO310 UO309 UO308

F286 UO323 UO322 UO321 UO320 UO319 UO318 UO317 UO316

F287 UO331 UO330 UO329 UO328 UO327 UO326 UO325 UO324

F288

F289

F290

F291

F292

F293

F294

F295

F296

F297

F298 TDSML8 TDSML7 TDSML6 TDSML5 TDSML4 TDSML3 TDSML2 TDSML1

F299 TDFTR8 TDFTR7 TDFTR6 TDFTR5 TDFTR4 TDFTR3 TDFTR2 TDFTR1

F300

1092
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F301

F302

F303

F304

F305

F306

F307

F308

F309

F310

F311

F312

F313

F314

F315

F316

F317

F318

F319

F320

F321

F322

F323

F324

F325

F326

F327

F328

F329

F330

F331

1093
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F332

F333

F334

F335

F336

F337

F338

F339

F340

F341

F342

F343

F344

F345

F346

F347

F348

F349

F350

F351

F352

F353

F354

F355

F356

F357

F358

F359

F360

F361

F362

1094
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F363

F364

F365

F366

F367

F368

F369

F370

F371

F372

F373

F374

F375

F376

F377

F378

F379

F380

F381

F382

F383

F384

F385

F386

F387

F388

F389

F390

F391

F392

F393

1095
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F394

F395

F396

F397

F398

F399

F400

F401

F402

F403

F404

F405

F406

F407

F408

F409

F410

F411

F412

F413

F414

F415

F416

F417

F418

F419

F420

F421

F422

F423

F424

1096
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F425

F426

F427

F428

F429

F430

F431

F432

F433

F434

F435

F436

F437

F438

F439

F440

F441

F442

F443

F444

F445

F446

F447

F448

F449

F450

F451

F452

F453

F454

F455

1097
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0
F456

F457

F458

F459

F460

F461

F462

F463

F464

F465

F466

F467

F468

F469

F470

F471

F472

F473

F474

F475

F476

F477

F478

F479

F480 HEXM8#H HEXM7#H HEXM6#H HEXM5#H HEXM4#H HEXM3#H HEXM2#H HEXM1#H

F481 HALMM8#H HALMM7#H HALMM6#H HALMM5#H HALMM4#H HALMM3#H HALMM2#H HALMM1#H

F482 HRDYM8#H HRDYM7#H HRDYM6#H HRDYM5#H HRDYM4#H HRDYM3#H HRDYM2#H HRDYM1#H

F483

F484 HMF8#H HMF7#H HMF6#H HMF5#H HMF4#H HMF3#H HMF2#H HMF1#H

F485

F486

1098
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

#7 #6 #5 #4 #3 #2 #1 #0
F487

F488 EM48E#H EM44E#H EM42E#H EM41E#H EM38E#H EM34E#H EM32E#H EM31E#H

F489

F490

F491 EM48F#H EM44F#H EM42F#H EM41F#H EM38F#H EM34F#H EM32F#H EM31F#H

F492

F493

F494 EM48G#H EM44G#H EM42G#H EM41G#H EM38G#H EM34G#H EM32G#H EM31G#H

F495

F496

F497 EM48H#H EM44H#H EM42H#H EM41H#H EM38H#H EM34H#H EM32H#H EM31H#H

F498

F499

F500 EBSYE#H EOTNE#H EOTPE#H EGENE#H EDENE#H EIALE#H ECKZE#H EINPE#H

F501 EABUFE#H EMFE#H

F502 EM28E#H EM24E#H EM22E#H EM21E#H EM18E#H EM14E#H EM12E#H EM11E#H

F503 EBSYF#H EOTNF#H EOTPF#H EGENF#H EDENF#H EIALF#H ECKZF#H EINPF#H

F504 EABUFF#H EMFF#H

F505 EM28F#H EM24F#H EM22F#H EM21F#H EM18F#H EM14F#H EM12F#H EM11F#H

F506 EBSYG#H EOTNG#H EOTPG#H EGENG#H EDENG#H EIALG#H ECKZG#H EINPG#H

F507 EABUFG#H EMFG#H

F508 EM28G#H EM24G#H EM22G#H EM21G#H EM18G#H EM14G#H EM12G#H EM11G#H

F509 EBSYH#H EOTNH#H EOTPH#H EGENH#H EDENH#H EIALH#H ECKZH#H EINPH#H

F510 EABUFH#H EMFH#H

F511 EM28H#H EM24H#H EM22H#H EM21H#H EM18H#H EM14H#H EM12H#H EM11H#H

1099
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

A.2
SIGNAL SUMMARY

A.2.1
Signal Summary f : Available
– : Unavailable
(In Order of Functions)
Function Signal name Symbol Address PM i–D PM i–H Item

External read start signal EXRD G058#1 f f

External punch start signal EXWT G058#3 f f

External read/punch stop

EXSTP G058#2 f f
signal

Background editing signal BGEACT F053#4 f f

Read/punch busy signal RPBSY F053#2 f f

Read/punch alarm signal RPALM F053#3 f f

External I/O device External punch start data

EDG00 to EDG15 G252 to G253 f f
control function number signals

Diagnosis data selection 13.2

EDGN G251#7 f f
signal

External punch total data

EDN00 to EDN15 G254 to G255 f f
number signals

Parameter selection signal EPARM G251#6 f f

Program selection signal EPRG G251#4 f f

Macro variable selection

EVAR G251#5 f f
signal

Channel selection signals EXIO2, EXIO1 G248#0,1 f f

External I/O device
control function B File number specification
FL00 to FL15 G249, G250 f f
signals

F206#2 to
Analog input Analog input signals AD00 to ADSGN f f 21.1
F207#7

Alarm signal AL F001#0 f f

Alarm signal 2.4
Battery alarm signal BAL F001#2 f f

1100
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

P/S alarm signal ALPS F250#3 f f

P/S alarm 100 signal ALPS1 F250#0 f f

P/S alarm 000 signal ALPS2 F250#1 f f

P/S alarm 101 signal ALPS3 F250#2 f f

P/S alarm (No. 5001 or later)

ALPS4 F251#2 f f
Alarm classification signal
2.11
signal
Over travel alarm signal ALOT F250#4 f f

Over heat alarm signal ALOH F250#5 f f

Servo alarm signal ALSV F250#6 f f

APC alarm signal ALAPC F251#0 f f

Spindle alarm signal ALSPD F251#1 f –

Servo axis unexpected

disturbance torque detection ABTQSV F090#0 f f
signal

Spindle unexpected
disturbance torque detection ABTSP1 F090#1 f –
Unexpected
signal
disturbance torque 2.10
detection Unexpected disturbance
torque detection axis output ABTD1 to ABTD8 F184 f f
signals

Quick stop type axis stop

RSTP0 to RSTP8 G247 f f
signals

Auxiliary function code

M00 to M31 F010 to F013 f f
signals

2nd M function code signals M200 to M215 F014 to F015 f f

3rd M function code signals M300 to M315 F016 to F017 f f

4th M function code signals M400 to M415 F018 to F019 – f

Multiple M 5th M function code signals M500 to M515 F020 to F021 – f

commands in a 8.3
single block Auxiliary function strobe
MF F007#0 f f
signals

2nd M function strobe signal MF2 F008#4 f f

3rd M function strobe signal MF3 F008#5 f f

4th M function strobe signal MF4 F008#6 – f

5th M function strobe signal MF5 F008#7 – f

1101
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

End signal FIN G004#3 f f

2nd M function end signals MFIN2 G004#4 f f

Multiple M
commands in a 3rd M function end signals MFIN3 G004#5 f f 8.3
single block
4th M function end signals MFIN4 G004#6 – f

5th M function end signals MFIN5 G004#7 – f

*IT G008#0 f f

Interlock signal for all axes X000#6 f f

*RILK
X1000#6 f f
Interlock signal 2.5
Interlock signal for each axis *IT1 to *IT8 G130 f f

+MIT1 to +MIT8 G132 f f

Interlock signal for each axis
and direction –MIT1 to –MIT8 G134 f f

In–position check In–position signals INP1 to INP8 F104 f f 7.2.6.1

APC communication error F236#0 to

APCM1 to APCM8 f f
signal F243#0

F236#1 to
APC over time error signal APOV1 to APOV8 f f
F243#1

F236#2 to
APC framing error signal APFE1 to APFE8 f f
F243#2

F236#3 to
APC parity error signal APPE1 to APPE8 f f
F243#3
APC alarm
2.12
classification signal F236#4 to
APC pulse miss error signal APPS1 to APPS8 f f
F243#4

APC battery voltage 0 error F236#5 to

APBZ1 to APBZ8 f f
signal F243#5

APC battery low alarm 1 F236#6 to

APBV1 to APBV8 f f
signal F243#6

APC battery low alarm 2 F236#7 to

APBL1 to APBL8 f f
signal F243#7

CON-
NEC-
TION
MANU-
FSSB I/O module FSSB I/O module start signal ITPS F082#0 f f
AL
(HARD-
WARE)
6.12

*+L1 to *+L8 G114 f f

Overtravel signal Overtravel signals 2.3.1
*–L1 to *–L8 G116 f f

Override cancel Override cancel signal OVC G006#4 f f 7.1.5.3

1102
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

Feedrate override Feedrate override signals *FV0 to *FV7 G012 f f 7.1.5.2

Optional block skip Optional block skip signals BDT1 to BDT9 G044#0, G045 f f 5.5

External key input mode

ENBKY G066#1 f f
selection signal

Key code signals EKC0 to EKC7 G098 f f

Key code read signal EKSET G066#7 f f

External key input Key code read completion 15.5
EKENB F053#7 f f
signal

Key input disable signal INHKY F053#0 f f

Program screen display

PRGDPL F053#1 f f
mode signal

Data signals for external data

ED0 to ED15 G000,G001 f f
input

Address signals for external

EA0 to EA6 G002#0 to #6 f f
data input

Read signal for external data

External data input ESTB G002#7 f f 15.2
input

Read completion signal for

EREND F060#0 f f
external data input

Search completion signal for

ESEND F060#1 f f
external data input

External pulse input interface

EPCON G066#6 f f
select signal

Manual handle axis select

External pulse input HS1A to HS1D G018#0 to #3 f f 1.13
signal

Manual handle feed

MP1, MP2 G019#4, #5 f f
movement value select signal

External workpiece Workpiece number search

PN0 to PN7 G009#0 to 7 f f 15.3
number search signals

1103
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

UI000 to UI015 G054, G055 f f

UI016 to UI031 G056, G057 f f

Input signals for custom
UI100 to UI131 G276 to G279 f f
macro
UI200 to UI231 G280 to G283 f f

UI300 to UI331 G284 to G287 f f

Custom macro 11.3.1
UO000 to UO015 F054, F055 f f

UO016 to UO031 F276, F277 f f

Output signals for custom
UO100 to UO131 F056 to F059 f f
macro
UO200 to UO231 F280 to F283 f f

UO300 to UO331 F284 to F287 f f

Target part count reached

PRTSF F062#7 f f
signal
Run hour and part
12.1.9
count display General–purpose integrating
TMRON G053#0 f f
meter start signal

Simple synchronous axis

SYNC1 to SYNC8 G138 f f
selection signals
Simple synchronous
1.6
control Simple synchronous manual SYNCJ1 to
G140 f f
feed axis selection signals SYNCJ8

Path selection signal PATHS G063#0 f –

Power Mate i–D
Path display confirmation 2.7
2–path control
PATHO F254#7 f –
signal

Auxiliary function completion

MFIN G005#0 f f
signal

Spindle function completion

SFIN G005#2 f –
signal

High–speed M/S/T Tool function completion

TFIN G005#3 f f 8.4
interface signal

2nd M function completion

MFIN2 G004#4 f f
signal

3rd M function completion

MFIN3 G004#5 f f
signal

1104
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

Motion program alarm signals

HALM1 to HALM8 F230 f f
(each axis)

Motion program alarm signals HALMM1 to

F481 – f
(each M–code group) HALMM8

Compile start signal HCPL G226#7 – f

Compile executing signal HCPLO F228#7 – f

Motion program reset signals

HERS1 to HERS8 G233 – f
(each axis)

Motion program reset signals HERSM1 to

G457 – f
High–response (each M–code group) HERSM8
1.8
function
Motion program using signals
HEX1 to HEX8 F229 – f
(each axis)

Motion program using signals

HEXM1 to HEXM8 F480 – f
(each M–code group)

Motion program auxiliary

HFIN1 to HFIN8 G458 – f
function completion signals

High–response mode switch

HMD G226#0 – f
signal

High–response mode
HMDO F228#0 – f
in–progress signal

Motion program auxiliary

HMF1 to HMF8 G484 – f
function strobe signals

Motion program override

HOVC1 to HOVC8 G227 – f
cancel signals

HPST00 to
Motion program start signals G228 to G231 – f
HPST31

Motion program ready signals

HRDY1 to HRDY8 F231 – f
(each axis)
High–response
Motion program ready signals HRDYM1 to 1.8
function F482 – f
(each M–code group) HRDYM8

Motion program single block

HSBK1 to HSBK8 G232 – f
signals (each axis)

Motion program single block HSBKM1 to

G456 – f
signals (each M–code group) HSBKM8

SKIPP1 to
Skip signals G266 to G267 – f
SKIPP16

Torque limit reach signals TRQL1 to TRQL8 F114 – f

High–speed skip signals DI30 to DI37 X1003 f f 14.1,

High–speed skip 14.2,
Measuring signals MEAS0 to MEAS7 G244 f f 14.3

Canned cycle Tapping signal TAP F001#5 f – 11.4

1105
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

Servo position
Servo position deviation
deviation monitor SVER1 to SVER8 F222 f f 2.13
monitor signal
signal

Servo off
Servo off signals SVF1 to SVF8 G126 f f 1.2.8
(mechanical handle)

Cycle start signal ST G007#2 f f

Feed hold signal *SP G008#5 f f

Cycle start/feed hold Automatic operation signal OP F000#7 f f 5.1

Cycle start lamp signal STL F000#5 f f

Feed hold lamp signal SPL F000#4 f f

Pole position detection RPREQ1 to

G135 f f
request signals RPREQ8

Pole position Pole position detection RPDET1 to

F158 f f 21
detection function signals RPDET8

Pole position detection RPFIN1 to

F159 f f
completion signals RPFIN8

Outputting the Axis moving signals MV1 to MV8 F102 f f

movement state of 1.2.5
an axis Axis moving direction signals MVD1 to MVD8 F106 f f

Acceleration/deceleration
SUP1 to SUP8 F220 f f
signals
Axis status signals 7.2.7
Distributing signals IPL1 to IPL8 F221 f f

Constant surface Constant surface speed

CSS F002#2 f – 9.4
speed control signal

Spindle orientation external

G078#0 to
Spindle orientation stop position command SHA00 to SHA11 f – 9.6
G079#3
signals (for 1st spindle)

1106
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

Torque limit command LOW

TLMLA G070#0 f –
signals (serial spindle)

Torque limit command HIGH

TLMHA G070#1 f –
signals (serial spindle)

Clutch/gear signals (serial

CTH1A,CTH2A G070#3,#2 f –
spindle)

CCW command signals

SRVA G070#4 f –
(serial spindle)

CW command signals (serial

SFRA G070#5 f –
spindle)

Orientation command signals

ORCMA G070#6 f –
(serial spindle)

Machine ready signals (serial

MRDYA G070#7 f –
spindle)

Alarm reset signals (serial

ARSTA G071#0 f –
spindle)
Spindle serial output/
9.2
spindle analog output Emergency stop signals
*ESPA G071#1 f –
(serial spindle)

Spindle selection signals

SPSLA G071#2 f –
(serial spindle)

Power line switch completion

MCFNA G071#3 f –
signals (serial spindle)

Soft start/stop cancel signals

SOCNA G071#4 f –
(serial spindle)

Speed integral signals (serial

INTGA G071#5 f –
spindle)

Output switch request signals

RSLA G071#6 f –
(serial spindle)

Power line status check

RCHA G071#7 f –
signals (serial spindle)

Orientation stop position

change command signals INDXA G072#0 f –
(serial spindle)

1107
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

Rotational direction command

signals for orientation stop
ROTAA G072#1 f –
position change (serial
spindle)

Shortcut command signals for

orientation stop position NRROA G072#2 f –
change (serial spindle)

Differential speed mode

command signals (serial DEFMDA G072#3 f –
spindle)

Analog override signals

OVRIDA G072#4 f –
(serial spindle)

Incremental command
externally set orientation INCMDA G072#5 f –
signals (serial spindle)

Spindle switch MAIN MCC

contact status signals (serial MFNHGA G072#6 f –
spindle)

Spindle switch HIGH MCC

contact status signals (serial RCHHGA G072#7 f –
spindle)

Magnetic sensor orientation

Spindle serial command signals (serial MORCMA G073#0 f –
output/spindle analog spindle) 9.2
output
Subordinate operation mode
command signals (serial SLVA G073#1 f –
spindle)

Motor power cutoff command

MPOFA G073#2 f –
signals (serial spindle)

Alarm signals (serial spindle) ALMA F045#0 f –

Speed zero signals (serial

SSTA F045#1 f –
spindle)

Speed detection signals

SDTA F045#2 f –
(serial spindle)

Speed arrival signals (serial

SARA F045#3 f –
spindle)

Load detection signals 1

LDT1A F045#4 f –
(serial spindle)

Load detection signals 2

LDT2A F045#5 f –
(serial spindle)

Torque limit signals (serial

TLMA F045#6 f –
spindle)

Orientation completion
ORARA F045#7 f –
signals (serial spindle)

1108
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

Power line switch signals

CHPA F046#0 f –
(serial spindle)

Spindle switch completion

CFINA F046#1 f –
signals (serial spindle)

Output switch signals (serial

RCHPA F046#2 f –
spindle)

Output switch completion

RCFNA F046#3 f –
signals (serial spindle)

Subordinate operation status

SLVSA F046#4 f –
signals (serial spindle)

Spindle serial Position coder orientation

output/spindle analog proximity signal (serial PORA2A F046#5 f – 9.2
output spindle)

Magnetic sensor orientation

completion signals (serial MORA1A F046#6 f –
spindle)

Magnetic sensor orientation

proximity signals (serial MORA2A F046#7 f –
spindle)

Position coder one–rotation

signal detection status PC1DEA F047#0 f –
signals (serial spindle)

Incremental orientation mode

INCSTA F047#1 f –
signals (serial spindle)

Spindle stop signal *SSTP G029#6 f –

Spindle orientation signal SOR G029#5 f –

Gear shift signal GST G212#5 f –

Spindle speed override

SOV0 to SOV7 G030 f –
signals

Spindle speed Spindle speed arrival signal SAR G029#4 f –

9.3
control
Spindle enable signal ENB F001#4 f –

Gear selection signals GR1O, GR2O,

F034#0 to #2 f –
(output) GR3O

Gear selection signals (input) GR1,GR2 G028#1,#2 f –

F036#0 to
S12–bit code signals R01O to R12O f –
F037#3

1109
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

HS1A to HS1D G018#0 to #3 f f

Manual handle feed axis
HS2A to HS2D G018#4 to #7 f f
selection signals
Manual handle feed HS3A to HS3D G019#0 to #3 f f 3.2

Manual handle feed amount

selection signals (incremental MP1,MP2 G019#4,#5 f f
feed signals)

HS1IA to HS1ID G041#0 to #3 f f

Manual handle Manual handle interrupt axis
HS2IA to HS2ID G041#4 to #7 f f 3.3
interrupt selection signals
HS3IA to HS2ID G042#0 to #3 f f

Manual reference position

ZRN G043#7 f f
return selection signal

Manual reference position

MZRN F004#5 f –
return selection check signal

X000#5 f –
*DEC1
X1000#5 f –

X001#5 f –
Manual reference Reference position return
*DEC2 4.1
position return deceleration signal X1001#5 f –

X002 – f
*DEC1 to *DEC8
X1002 – f

Reference position return end

ZP1 to ZP8 F094 f f
signal

Reference position
ZRF1 to ZRF8 F120 f f
establishment signal

Temporary interrupt Temporary interrupt detection

ACT G212#7 f f 2.15
detection signal signal

+J1 to +J8 G100 f f

Feed axis and direction
selection signals –J1 to –J8 G102 f f

Jog feed/step feed Manual feedrate override 3.1

*JV0 to *JV15 G010,G011 f f
signals

Manual rapid traverse

RT G019#7 f f
selection signal

CNC ready signal MA F001#7 f f

CNC ready signal 2.2
Servo ready signal SA F000#6 f f

Status output signal Cutting feed signal CUT F002#6 f f 2.8

Single block Single block signal SBK G046#1 f f 5.3.3

1110
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

X000#7 f f
SKIP
Skip function Skip signals X1000#7 f f 14.2.1

SKIPP G006#6 f f

+LM1 to +LM8 G110 f f

Stroke check external setting
signals –LM1 to –LM8 G112 f f
Stored stroke check 2.3.2

Stroke check release signal RLSOT G007#7 f f

Controlled axis detach

DTCH1 to DTCH8 G124 f f
signals
Controlled axis
1.2.4
detach Controlled axis detach status MDTCH1 to
F110 f f
signals MDTCH8

Look–ahead Look–ahead feed–forward

G08MD F066#0 f f 7.1.7
feed–forward control control mode signal

EXF1 X000#0
EXF2 X000#1
Rate change Rate change signals EXF3 X000#6 f f 1.11
EXF4 X011#4
EXF5 X011#5

Software operator’s panel

MD1O F073#0 f f
signal (MD1)

Software operator’s panel

MD2O F073#1 f f
signal (MD2)

Software operator’s panel

MD4O F073#2 f f
signal (MD4)

Software operator’s panel

ZRNO F073#4 f f
signal (ZRN)

Software operator’s panel F081#0,#2,#4,

+J1O to +J4O f f
signals (+J1 to +J4) #6

Software operator’s panel F081#1,#3,#5,

–J1O to –J4O f f
signals (–J1 to –J4) #7
Software operator’s
12.1.10
panel Software operator’s panel
RTO F077#6 f f
signal (RT)

Software operator’s panel

HS1AO F077#0 f f
signal (HS1A)

Software operator’s panel

HS1BO F077#1 f f
signal (HS1B)

Software operator’s panel

HS1CO F077#2 – f
signal (HS1C)

Software operator’s panel

HS1DO F077#3 – f
signal (HS1D)

Software operator’s panel

MP1O F076#0 f f
signal (MP1)

1111
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

Software operator’s panel

MP2O F076#1 f f
signal (MP2)

Software operator’s panel

*JV0O to *JV15O F079, F080 f f
signals (*JV0 to *JV15)

Software operator’s panel

*FV0O to *FV7O F078 f f
signals (*FV0 to *FV7)

Software operator’s panel

ROV1O F076#4 f f
signal (ROV1)

Software operator’s panel

ROV2O F076#5 f f
signal (ROV2)

Software operator’s panel

BDTO F075#2 f f
signal (BDT)
Software operator’s
Software operator’s panel 12.1.10
panel
SBKO F075#3 f f
signal (SBK)

Software operator’s panel

MLKO F075#4 f f
signal (MLK)

Software operator’s panel

DRNO F075#5 f f
signal (DRN)

Software operator’s panel

KEYO F075#6 f f
signal (KEY1 to KEY4)

Software operator’s panel

*SPO F075#7 f f
signal (*SP)

Software operator’s panel

general–purpose switch OUT0 to OUT7 F072 f f
signals

2nd reference position return

Second reference ZP21 to ZP28 F096 f f
completion signals
position return/3rd
4.4
reference position 3rd reference position return
return ZP31 to ZP38 F098 f f
completion signals

Multi axes ENBEX1 to

External device input signals G455 f f 1.11
synchronous function ENBEX8

X000#7 f f
SKIP
X1000#7 f f

Multi–stage skip Skip signals SKIPP G006#6 f f 14.2.2

X000#0 to #2 f f
SKIP2 to SKIP4
X1000#0 to #2 f f

Tapping retraction start signal RTNT G212#6 f –

Retraction for tapping Tapping retraction completion 5.9
RTPT F209#5 f –
signal

1112
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

Reference position Torque limit reach signals for

CLRCH1 to
setting with reference position setting with F180 f f 4.7
CLRCH8
mechanical stopper mechanical stopper

DNC operation selection

DNCI G043#5 f –
DNC operation signal
(Power Mate i–D 5.7
1–path) DNC operation selection
MRMT F003#4 f –
confirmation signal

CAM follower selection ELCAM1 to

G238#0 to #3 – f
signals ELCAM4

Phase calibration start signal ECMCST G239#7 – f

Phase calibration completion ECMCP1 to

F223#0 to #3 – f
signals ECMCP4

Electronic CAM running start

ECMST G239#0 – f
signal

Electronic CAM running

ECMEXE F224#0 – f
executing signal
Electronic CAM
Electronic CAM function 1.9
function
ECMEND G239#1 – f
completion signal

CAM shaft changing signal ECMCHG G239#2 – f

Electronic CAM mode

ECMMOD F224#7 – f
in–progress signal

Selection signal for

registration mode of the cam DNCI G043#5 – f
shape data

Confirm signal for registration

MRMT F003#4 – f
mode of the cam shape data

Block deletion signal KDEL G215#6 – f

Concurrent input completion

KENB F253#7 – f
signal

Input/deletion start signal KEXC G215#7 – f

F code concurrent input

KF G215#0 – f
signal

Axis address/P code input

Function of teach–in KPAX G215#1 – f
signal 12.2.6
for 4 axes
G00 code concurrent input
KG00 G215#2 – f
signal

G01 code concurrent input

KG01 G215#3 – f
signal

G04 code concurrent input

KG04 G215#4 – f
signal

Cursor up signal KUP G215#5 – f

1113
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

Manual reference position

ZRN G043#7 f f
return selection signal

Manual reference position

MZRN F004#5 f f
return selection check signal

Feed axis direction select

+J1 to +J8 G100 f f
signal

Setting the reference Feed axis direction select

–J1 to –J8 G102 f f 4.2
position without dogs signal

Reference position without

ZR1 to ZR8 G210 f f
dogs setting signal

Reference position return end

ZP1 to ZP8 F094 f f
signals

Reference position
ZRF1 to ZRF8 F120 f f
establishment signal

Dry run Dry run signal DRN G046#7 f f 5.3.2

Torque limit enable signals TRQ1E to TRQ8E G216 f f

Torque limit function 1.12
Torque limit signals TRQ10 to TRQ87 G217 to G224 f f

CON-
NEC-
TION
Built–in I/O overcurrent alarm DVALM0 to F248#0 to MANU-
Built–in I/O f f
signals (Y1000 to Y1002) DVALM2 F248#2 AL
(HARD-
WARE)
6.4

Rapid traverse override

ROV1,ROV2 G014#0,#1 f f
signals

Rapid traverse 1% step rapid traverse

HROV G096#7 f f 7.1.5.1
override override selection signals

1% step rapid traverse *HROV0 to

G096#0 to #6 f f
override signals *HROV6

Handy operator’s panel mode M–OPE F169#5 f f

Handy operator’s panel key

SW1 to SW61 F168 to F175 f f
output signal

Handy operator’s panel LED

LED01 to LED09 G204, G205#0 f f
control signal
Handy operator’s
Handy operator’s panel 19
panel
HOPATH F208#0 f f
connecting signal

Handy operator’s panel

HOPEMG F175#7 f f
emergency stop status signal

Handy operator’s panel

HOPENB F175#6 f f
deadman switch status signal

1114
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

Handy operator’s panel

Handy operator’s
emergency stop button status HOPSTP F175#5 f f 19
panel
signal

Control axis selection signals

EAX1 to EAX8 G136 f f
(PMC axis control)

EC0A to EC6A G143#0 to #6 f f

EC0B to EC6B G155#0 to #6 f f

EC0C to EC6C G167#0 to #6 – f

EC0D to EC6D G179#0 to #6 – f

Axis control command signals
(PMC axis control) EC0E to EC6E G465#0 to #6 – f

EC0F to EC6F G477#0 to #6 – f

EC0G to EC6G G489#0 to #6 – f

EC0H to EC6H G501#0 to #6 – f

EIF0A to EIF15A G144,G145 f f

EIF0B to EIF15B G156,G157 f f

EIF0C to EIF15C G168,G169 – f

PMC axis control 15.1
EIF0D to EIF15D G180,G181 – f
Axis control feedrate signals
(PMC axis control) EIF0E to EIF15E G466,G467 – f

EIF0F to EIF15F G478,G479 – f

EIF0G to EIF15G G490,G491 – f

EIF0H to EIF15H G502,G503 – f

EID0A to EID31A G146 to G149 f f

EID0B to EID31B G158 to G161 f f

EID0C to EID31C G170 to G173 – f

EID0D to EID31D G182 to G185 – f

Axis control data signals
(PMC axis control) EID0E to EID31E G468 to G471 – f

EID0F to EID31F G480 to G483 – f

EID0G to EID31G G492 to G495 – f

EID0H to EID31H G504 to G507 – f

1115
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

EBUFA G142#7 f f

EBUFB G154#7 f f

EBUFC G166#7 – f

EBUFD G178#7 – f
Axis control command read
signals (PMC axis control) EBUFE G464#7 – f

EBUFF G476#7 – f

EBUFG G488#7 – f

EBUFH G500#7 – f

EBSYA F130#7 f f

EBSYB F133#7 f f

EBSYC F136#7 – f

Axis control command read EBSYD F139#7 – f

completion signals (PMC axis
control) EBSYE F500#7 – f

EBSYF F503#7 – f

EBSYG F506#7 – f

EBSYH F509#7 – f
PMC axis control 15.1
ECLRA G142#6 f f

ECLRB G154#6 f f

ECLRC G166#6 – f

ECLRD G178#6 – f
Reset signals (PMC axis
control) ECLRE G464#6 – f

ECLRF G476#6 – f

ECLRG G488#6 – f

ECLRH G500#6 – f

ESTPA G142#5 f f

ESTPB G154#5 f f

ESTPC G166#5 – f

ESTPD G178#5 – f
Axis control temporary stop
signals (PMC axis control) ESTPE G464#5 – f

ESTPF G476#5 – f

ESTPG G488#5 – f

ESTPH G500#5 – f

1116
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

ESBKA G142#3 f f

ESBKB G154#3 f f

ESBKC G166#3 – f

ESBKD G178#3 – f
Block stop signals (PMC axis
control) ESBKE G464#3 – f

ESBKF G476#3 – f

ESBKG G488#3 – f

ESBKH G500#3 – f

EMSBKA G143#7 f f

EMSBKB G155#7 f f

EMSBKC G167#7 – f

EMSBKD G179#7 – f
Block stop disable signals
(PMC axis control) EMSBKE G465#7 – f

EMSBKF G477#7 – f

EMSBKG G489#7 – f

EMSBKH G501#7 – f
PMC axis control 15.1
EM11A to EM48A F132,F142 f f

EM11B to EM48B F135,F145 f f

EM11C to EM48C F138,F148 – f

EM11D to EM48D F141,F151 – f

Auxiliary function code
signals (PMC axis control) EM11E to EM48E F502,F488 – f

EM11F to EM48F F505,F491 – f

EM11G to EM48G F508,F494 – f

EM11H to EM48H F511,F497 – f

EMFA F131#0 f f

EMFB F134#0 f f

EMFC F137#0 – f

EMFD F140#0 – f
Auxiliary function strobe
signals (PMC axis control) EMFE F501#0 – f

EMFF F504#0 – f

EMFG F507#0 – f

EMFH F510#0 – f

1117
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

EFINA G142#0 f f

EFINB G154#0 f f

EFINC G166#0 – f

EFIND G178#0 – f
Auxiliary function completion
signals (PMC axis control) EFINE G464#0 – f

EFINF G476#0 – f

EFING G488#0 – f

EFINH G500#0 – f

ESOFA G142#4 f f

ESOFB G154#4 f f

ESOFC G166#4 – f

ESOFD G178#4 – f
Servo off signals (PMC axis
control) ESOFE G464#4 – f
PMC axis control 15.1
ESOFF G476#4 – f

ESOFG G488#4 – f

ESOFH G500#4 – f

EMBUFA G142#2 f f

EMBUFB G154#2 f f

EMBUFC G166#2 – f

EMBUFD G178#2 – f
Buffering disable signals
(PMC axis control) EMBUFE G464#2 – f

EMBUFF G476#2 – f

EMBUFG G488#2 – f

EMBUFH G500#2 – f

Control axis selection status

*EAXSL F129#7 f f
signals (PMC axis control)

1118
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

EINPA F130#0 f f

EINPB F133#0 f f

EINPC F136#0 – f

EINPD F139#0 – f
In–position signals (PMC axis
control) EINPE F500#0 – f

EINPF F503#0 – f

EINPG F506#0 – f

EINPH F509#0 – f

ECKZA F130#1 f f

ECKZB F133#1 f f

ECKZC F136#1 – f

ECKZD F139#1 – f
Following zero checking
signals (PMC axis control) ECKZE F500#1 – f

ECKZF F503#1 – f

ECKZG F506#1 – f

ECKZH F509#1 – f
PMC axis control 15.1
EIALA F130#2 f f

EIALB F133#2 f f

EIALC F136#2 – f

EIALD F139#2 – f
Alarm signals (PMC axis
control) EIALE F500#2 – f

EIALF F503#2 – f

EIALG F506#2 – f

EIALH F509#2 – f

EGENA F130#4 f f

EGENB F133#4 f f

EGENC F136#4 – f

EGEND F139#4 – f
Axis moving signals (PMC
axis control) EGENE F500#4 – f

EGENF F503#4 – f

EGENG F506#4 – f

EGENH F509#4 – f

1119
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

EDENA F130#3 f f

EDENB F133#3 f f

EDENC F136#3 – f

EDEND F139#3 – f
Auxiliary function executing
signals (PMC axis control) EDENE F500#3 – f

EDENF F503#3 – f

EDENG F506#3 – f

EDENH F509#3 – f

EOTNA F130#6 f f

EOTNB F133#6 f f

EOTNC F136#6 – f

EOTND F139#6 – f
Negative–direction overtravel
PMC axis control 15.1
signals (PMC axis control) EOTNE F500#6 – f

EOTNF F503#6 – f

EOTNG F506#6 – f

EOTNH F509#6 – f

EOTPA F130#5 f f

EOTPB F133#5 f f

EOTPC F136#5 – f

EOTPD F139#5 – f
Positive–direction overtravel
signals (PMC axis control) EOTPE F500#5 – f

EOTPF F503#5 – f

EOTPG F506#5 – f

EOTPH F509#5 – f

1120
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

*FV0E to *FV7E G151 f f

*FV0EB to
G163 f f
*FV7EB

*FV0EC to
G175 – f
*FV7EC

*FV0ED to
G187 – f
*FV7ED
Feedrate override signals
(PMC axis control) *FV0EE to
G473 – f
*FV7EE

*FV0EF to
G485 – f
*FV7EF

*FV0EG to
G497 – f
*FV7EG

*FV0EH to
G509 – f
*FV7EH

OVCE G150#5 f f

OVCEB G162#5 f f

OVCEC G174#5 – f
PMC axis control 15.1
OVCED G186#5 – f
Override cancellation signal
(PMC axis control) OVCEE G472#5 – f

OVCEF G484#5 – f

OVCEG G496#5 – f

OVCEH G508#5 – f

Rapid traverse override

ROV1E,ROV2E G150#0,#1 f f
signals (PMC axis control)

Dry run signal (PMC axis

DRNE G150#7 f f
control)

Manual rapid traverse

selection signal (PMC axis RTE G150#6 f f
control)

Override 0% signal (PMC

EOV0 F129#5 f f
axis control)

ESKIP X000#3 f f
Skip signal (PMC axis
control) ESKIP X1000#3 f f

Distribution completion EADEN1 to

F112 f f
signals (PMC axis control) EADEN8

1121
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

EABUFA F131#1 f f

EABUFB F134#1 f f

EABUFC F137#1 – f

EABUFD F140#1 – f
Buffer full signals (PMC axis
control) EABUFE F501#1 – f

EABUFF F504#1 – f

EABUFG F507#1 – f

EABUFH F510#1 – f

Controlling signals (PMC axis EACNT1 to

F182 f f
control) EACNT8

ELCKZA G142#1 f f

ELCKZB G154#1 f f

ELCKZC G166#1 – f

ELCKZD G178#1 – f
Following zero checking
PMC axis control 15.1
signals (PMC axis control) ELCKZE G464#1 – f

ELCKZF G476#1 – f

ELCKZG G488#1 – f

ELCKZH G500#1 – f

Torque control mode signal TRQM1 to

F190 f f
(PMC axis control) TRQM8

+EDITA G462#0 f f

+EDITB G462#1 f f

+EDITC G462#2 – f

Interlock positive–direction +EDITD G462#3 – f

signal for each axis direction
(PMC axis control) +EDITE G462#4 – f

+EDITF G462#5 – f

+EDITG G462#6 – f

+EDITH G462#7 – f

1122
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

–EDITA G463#0 f f

–EDITB G463#1 f f

–EDITC G463#2 – f

Interlock negative–direction –EDITD G463#3 – f

PMC axis control signal for each axis direction 15.1
(PMC axis control) –EDITE G463#4 – f

–EDITF G463#5 – f

–EDITG G463#6 – f

–EDITH G463#7 – f

Spindle motor speed

SIND G033#7 f –
command selection signal

Spindle motor speed G032#0 to

R01I to R12I f –
command input signals G033#3

Spindle output Spindle motor command

SSIN G033#6 f – 15.4
control by the PMC polarity selection signal

Spindle motor command

SGN G033#5 f –
polarity command signals

Spindle motor speed F036#0 to

R01O to R12O f –
command output signals F037#3

Alarm number specification

PAL0 to PAL6 G225#0 to #6 f f
signals
Alarm display from
2.13
PMC Alarm generation selection
PALM G225#7 f f
signal

*ESP G008#4 f f

Emergency stop Emergency stop signal *ESP X000#4 f f 2.1

*ESP X1000#4 f f

Fan alarm signals (for each F248#5,

Fan FANAL1, FANAL2 f f 2.4
fan) F248#6

V–READY waiting
V–READY waiting signal WVRDY F209#4 f f 2.16
signal

All–axis VRDY off alarm

IGNVRY G066#0 f f
ignore signal
VRDY OFF alarm
2.9
ignore signal Each–axis VRDY off alarm IGVRY1 to
G192 f f
ignore signal IGVRY8

Follow–up Follow–up signal *FLWU G007#5 f f 1.2.7

F070#0 to
Position switch Position switch signals PSW01 to PSW10 f f 1.2.9
F071#1

1123
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Function Signal name Symbol Address PM i–D PM i–H Item

Auxiliary function code

M00 to M31 F010 to F013 f f
signals

Auxiliary function strobe

MF F007#0 f f
signal

DM00 F009#7 f f

DM01 F009#6 f f
Decode M signals
DM02 F009#5 f f

Auxiliary function DM30 F009#4 f f 8.1

Spindle function code signals S00 to S31 F022 to F025 f –

Spindle function strobe signal SF F007#2 f –

Tool function code signals T00 to T31 F026 to F029 f f

Tool function strobe signal TF F007#3 f f

End signal FIN G004#3 f f

Distribution end signal DEN F001#3 f f

Auxiliary function
Auxiliary function lock signal AFL G005#6 f f 8.2
lock

Machine lock signal for all

MLK G044#1 f f
axes
Machine lock 5.3.1
Machine lock signal for each
MLK1 to MLK8 G108 f f
axis

Waiting signals WAT1 to WAT4 F209#0 to #3 f f

Waiting 8.5
Waiting complete signals WFN1 to WFN4 G214#0 to #3 f f

Manual absolute
Manual absolute signal *ABSM G006#2 f f 5.4
on/off

Mirror image signals MI1 to MI8 G106 f f

Mirror image 1.2.6
Mirror image check signals MMI1 to MMI8 F108 f f

Memory protection
Memory protection signals KEY1 to KEY4 G046#3 to #6 f f 12.2.3
key

RTN11 to RTN18 G206 f f

Return signal Return signals RTN21 to RTN28 G207 f f 3.4

RTN31 to RTN38 G208 f f

MD1,MD2,MD4 G043#0 to #2 f f

Mode selection Mode selection signals DNCI G043#5 f f 2.6

ZRN G043#7 f f

1124
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Function Signal name Symbol Address PM i–D PM i–H Item

MMDI F003#3 f f

MAUT F003#5 f f

MRMT F003#4 f f

MEDT F003#6 f f
Mode selection Operation mode check signal 2.6
MSTP F003#1 f f

MJ F003#2 f f

MZRN F004#5 f f

MTCHIN F003#7 f f

Rigid tapping signal RGTAP G061#0 f –

RGSPP F065#0 f –
Spindle rotation direction
signals RGSPM F065#1 f – 9.5.4.1

Rigid tapping–in–progress
RTAP F076#3 f –
signal

Spindle enable signal ENB F001#4 f –

Rigid tapping
Spindle–speed function code
S00 to S31 F022 to F025 f –
signals (binary output) 9.5.4.2

Spindle–speed function
SF F007#2 f –
strobe signal

Gear selection signals GR3O, GR2O,

F034#2, #1, #0 f –
(output) GR1O
9.5.4.3
Gear selection signals (input) GR2, GR1 G028#2, #1 f –

Rigid tapping retraction start

RTNT G212#6 f –
signal
Rigid tapping
5.8
retraction Rigid tapping retraction
RTPT F209#5 f –
completion signal

External reset signal ERS G008#7 f f

Reset & rewind signal RRW G008#6 f f

Reset and rewind 5.2
Resetting signal RST F001#1 f f

Rewinding signal RWD F000#0 f f

Reference position Signal for reference position ZPEXT1 to

G211 f f 4.7
external setting external setting ZPEXT8

Interrupt type custom Interrupt signal for custom

UINT G053#3 f f 11.3.2
macro macro

1125
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

A.2.2
List of Signals f : Available
– : Unavailable
(In Order of Symbols)

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

*+L1 to *+L8 G114 f f

Overtravel signals 2.3.1
*–L1 to *–L8 G116 f f

*ABSM Manual absolute signal G006#2 f f 5.4

X000#5 f –
*DEC1 4.1
X1000#5 f –

X002 – f
*DEC1 to *DEC8 Reference position return deceleration signal 4.1
X1002 – f

X001#5 f –
*DEC2 4.1
X1001#5 f –

Control axis selection status signals (PMC axis

*EAXSL F129#7 f f 15.1
control)

*ESP G008#4 f f

*ESP Emergency stop signal X000#4 f f 2.1

*ESP X1000#4 f f

*ESPA Emergency stop signals (serial spindle) G071#1 f – 9.2

*FLWU Follow–up signal G007#5 f f 1.2.7

*FV0 to *FV7 Feedrate override signals G012 f f 7.1.5.2

*FV0E to *FV7E G151 f f

*FV0EB to
G163 f f
*FV7EB

*FV0EC to
G175 – f
*FV7EC

*FV0ED to
G187 – f
*FV7ED

*FV0EE to Feedrate override signals (PMC axis control) 15.1

G473 – f
*FV7EE

*FV0EF to
G485 – f
*FV7EF

*FV0EG to
G497 – f
*FV7EG

*FV0EH to
G509 – f
*FV7EH

1126
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

*FV0O to *FV7O Software operator’s panel signals (*FV0 to *FV7) F078 f f 12.1.10

*HROV0 to
1% step rapid traverse override signals G096#0 to #6 f f 7.1.5.1
*HROV6

*IT Interlock signal for all axes G008#0 f f

2.5
*IT1 to *IT8 Interlock signal for each axis G130 f f

*JV0 to *JV15 Manual feedrate override signals G010,G011 f f 3.1

*JV0O to *JV15O Software operator’s panel signals (*JV0 to *JV15) F079, F080 f f 12.1.10

X000#6 f f
*RILK Interlock signal for all axes 2.5
X1000#6 f f

*SP Feed hold signal G008#5 f f 5.1

*SPO Software operator’s panel signal (*SP) F075#7 f f 12.1.10

*SSTP Spindle stop signal G029#6 f – 9.3

Interlock positive–direction signal for each axis

+EDITA G462#0 f f
direction (PMC axis control)

+EDITB G462#1 f f

+EDITC G462#2 – f

+EDITD G462#3 – f
15.1
+EDITE G462#4 – f

+EDITF G462#5 – f

+EDITG G462#6 – f

+EDITH G462#7 – f

+J1 to +J8 Feed axis and direction selection signals G100 f f 3.1

+J1 to +J8 Feed axis direction select signal G100 f f 4.2

F081#0,#2,#4,
+J1O to +J4O Software operator’s panel signals (+J1 to +J4) f f 12.1.10
#6

+LM1 to +LM8 Stroke check external setting signals G110 f f 2.3.2

+MIT1 to +MIT8 Interlock signal for each axis and direction G132 f f 2.5

1127
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

–EDITA G463#0 f f

–EDITB G463#1 f f

–EDITC G463#2 – f

–EDITD G463#3 – f
Interlock negative–direction signal for each axis
15.1
–EDITE direction (PMC axis control) G463#4 – f

–EDITF G463#5 – f

–EDITG G463#6 – f

–EDITH G463#7 – f

–J1 to –J8 Feed axis and direction selection signals G102 f f 3.1

–J1 to –J8 Feed axis direction select signal G102 f f 4.2

F081#1,#3,#5,
–J1O to –J4O Software operator’s panel signals (–J1 to –J4) f f 12.1.10
#7

–LM1 to –LM8 Stroke check external setting signals G112 f f 2.3.2

–MIT1 to –MIT8 Interlock signal for each axis and direction G134 f f 2.5

Unexpected disturbance torque detection axis output

ABTD1 to ABTD8 F184 f f 2.10
signals

Servo axis unexpected disturbance torque detection

ABTQSV F090#0 f f 2.10
signal

Spindle unexpected disturbance torque detection

ABTSP1 F090#1 f – 2.10
signal

ACT Temporary interrupt detection signal G212#7 f f 2.15

F206#2 to
AD00 to ADSGN Analog input signals f f 21.1
F207#7

AFL Auxiliary function lock signal G005#6 f f 8.2

AL Alarm signal F001#0 f f 2.4

ALAPC APC alarm signal F251#0 f f 2.11

ALMA Alarm signals (serial spindle) F045#0 f – 9.2

ALOH Over heat alarm signal F250#5 f f

ALOT Over travel alarm signal F250#4 f f

ALPS P/S alarm signal F250#3 f f

ALPS1 P/S alarm 100 signal F250#0 f f 2.11

ALPS2 P/S alarm 000 signal F250#1 f f

ALPS3 P/S alarm 101 signal F250#2 f f

ALPS4 P/S alarm (No. 5001 or later) signal F251#2 f f

1128
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

ALSPD Spindle alarm signal F251#1 f –

2.11
ALSV Servo alarm signal F250#6 f f

F236#7 to
APBL1 to APBL8 APC battery low alarm 2 signal f f
F243#7

F236#6 to
APBV1 to APBV8 APC battery low alarm 1 signal f f
F243#6

F236#5 to
APBZ1 to APBZ8 APC battery voltage 0 error signal f f
F243#5

APCM1 to F236#0 to
APC communication error signal f f
APCM8 F243#0
2.12
F236#2 to
APFE1 to APFE8 APC framing error signal f f
F243#2

F236#1 to
APOV1 to APOV8 APC over time error signal f f
F243#1

F236#3 to
APPE1 to APPE8 APC parity error signal f f
F243#3

F236#4 to
APPS1 to APPS8 APC pulse miss error signal f f
F243#4

ARSTA Alarm reset signals (serial spindle) G071#0 f – 9.2

BAL Battery alarm signal F001#2 f f 2.4

BDT1 to BDT9 Optional block skip signals G044#0, G045 f f 5.5

BDTO Software operator’s panel signal (BDT) F075#2 f f 12.1.10

BGEACT Background editing signal F053#4 f f 13.2

BGEN Power Mate beckground in–use signal G092#4 f f

BGIALM Power Mate read/write alarm signal G092#3 f f 13.3

BGION Power Mate read/write in–progress signal G092#2 f f

CFINA Spindle switch completion signals (serial spindle) F046#1 f – 9.2

CHPA Power line switch signals (serial spindle) F046#0 f – 9.2

CLRCH1 to Torque limit reach signals for reference position

F180 f f 4.7
CLRCH8 setting with mechanical stopper

CSS Constant surface speed signal F002#2 f – 9.4

CTH1A,CTH2A Clutch/gear signals (serial spindle) G070#3,#2 f – 9.2

CUT Cutting feed signal F002#6 f f 2.8

Differential speed mode command signals (serial

DEFMDA G072#3 f – 9.2
spindle)

DEN Distribution end signal F001#3 f f 8.1

1129
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

14.1,
DI30 to DI37 High–speed skip signals X1003 f f 14.2,
14.3

DM00 F009#7 f f

DM01 F009#6 f f
Decode M signals 8.1
DM02 F009#5 f f

DM30 F009#4 f f

DNCI DNC operation selection signal G043#5 f – 5.7

DNCI Mode selection signals G043#5 f f 2.6

Selection signal for registration mode of the cam

DNCI G043#5 – f 1.9
shape data

DRN Dry run signal G046#7 f f 5.3.2

DRNE Dry run signal (PMC axis control) G150#7 f f 15.1

DRNO Software operator’s panel signal (DRN) F075#5 f f 12.1.10

DTCH1 to DTCH8 Controlled axis detach signals G124 f f 1.2.4

CON-
NEC-
TION
DVALM0 to Built–in I/O overcurrent alarm signals (Y1000 to F248#0 to MANU-
f f
DVALM2 Y1002) F248#2 AL
(HARD-
WARE)
6.4

EA0 to EA6 Address signals for external data input G002#0 to #6 f f 15.2

EABUFA F131#1 f f

EABUFB F134#1 f f

EABUFC F137#1 – f

EABUFD F140#1 – f
Buffer full signals (PMC axis control)
EABUFE F501#1 – f
15.1
EABUFF F504#1 – f

EABUFG F507#1 – f

EABUFH F510#1 – f

EACNT1 to
Controlling signals (PMC axis control) F182 f f
EACNT8

EADEN1 to
Distribution completion signals (PMC axis control) F112 f f 15.1
EADEN8

EAX1 to EAX8 Control axis selection signals (PMC axis control) G136 f f 15.1

1130
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

EBSYA F130#7 f f

EBSYB F133#7 f f

EBSYC F136#7 – f

EBSYD F139#7 – f
Axis control command read completion signals (PMC
15.1
EBSYE axis control) F500#7 – f

EBSYF F503#7 – f

EBSYG F506#7 – f

EBSYH F509#7 – f

EBUFA G142#7 f f

EBUFB G154#7 f f

EBUFC G166#7 – f

EBUFD G178#7 – f
Axis control command read signals (PMC axis
15.1
EBUFE control) G464#7 – f

EBUFF G476#7 – f

EBUFG G488#7 – f

EBUFH G500#7 – f

EC0A to EC6A G143#0 to #6 f f

EC0B to EC6B G155#0 to #6 f f

EC0C to EC6C G167#0 to #6 – f

EC0D to EC6D G179#0 to #6 – f

Axis control command signals (PMC axis control) 15.1
EC0E to EC6E G465#0 to #6 – f

EC0F to EC6F G477#0 to #6 – f

EC0G to EC6G G489#0 to #6 – f

EC0H to EC6H G501#0 to #6 – f

ECKZA F130#1 f f

ECKZB F133#1 f f

ECKZC F136#1 – f

ECKZD F139#1 – f
Following zero checking signals (PMC axis control) 15.1
ECKZE F500#1 – f

ECKZF F503#1 – f

ECKZG F506#1 – f

ECKZH F509#1 – f

1131
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

ECLRA G142#6 f f

ECLRB G154#6 f f

ECLRC G166#6 – f

ECLRD G178#6 – f
Reset signals (PMC axis control) 15.1
ECLRE G464#6 – f

ECLRF G476#6 – f

ECLRG G488#6 – f

ECLRH G500#6 – f

ECMCST Phase calibration start signal G239#7 – f

ECMCP1 to
Phase calibration completion signals F223#0 to #3 – f
ECMCP4

ECMST Electronic CAM running start signal G239#0 – f

1.9
ECMEXE Electronic CAM running executing signal F224#0 – f

ECMEND Electronic CAM function completion signal G239#1 – f

ECMCHG CAM shaft changing signal G239#2 – f

ECMMOD Electronic CAM mode in–progress signal F224#7 – f

ED0 to ED15 Data signals for external data input G000,G001 f f 15.2

EDENA F130#3 f f

EDENB F133#3 f f

EDENC F136#3 – f

EDEND F139#3 – f
Auxiliary function executing signals (PMC axis
15.1
EDENE control) F500#3 – f

EDENF F503#3 – f

EDENG F506#3 – f

EDENH F509#3 – f

EDG00 to EDG15 External punch start data number signals G252 to G253 f f

EDGN Diagnosis data selection signal G251#7 f f 13.2

EDN00 to EDN15 External punch total data number signals G254 to G255 f f

1132
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

EFINA G142#0 f f

EFINB G154#0 f f

EFINC G166#0 – f

EFIND G178#0 – f
Auxiliary function completion signals (PMC axis
15.1
EFINE control) G464#0 – f

EFINF G476#0 – f

EFING G488#0 – f

EFINH G500#0 – f

EGENA F130#4 f f

EGENB F133#4 f f

EGENC F136#4 – f

EGEND F139#4 – f
Axis moving signals (PMC axis control) 15.1
EGENE F500#4 – f

EGENF F503#4 – f

EGENG F506#4 – f

EGENH F509#4 – f

EIALA F130#2 f f

EIALB F133#2 f f

EIALC F136#2 – f

EIALD F139#2 – f
Alarm signals (PMC axis control) 15.1
EIALE F500#2 – f

EIALF F503#2 – f

EIALG F506#2 – f

EIALH F509#2 – f

EID0A to EID31A G146 to G149 f f

EID0B to EID31B G158 to G161 f f

EID0C to EID31C G170 to G173 – f

EID0D to EID31D G182 to G185 – f

Axis control data signals (PMC axis control) 15.1
EID0E to EID31E G468 to G471 – f

EID0F to EID31F G480 to G483 – f

EID0G to EID31G G492 to G495 – f

EID0H to EID31H G504 to G507 – f

1133
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

EIF0A to EIF15A G144,G145 f f

EIF0B to EIF15B G156,G157 f f

EIF0C to EIF15C G168,G169 – f

EIF0D to EIF15D G180,G181 – f

Axis control feedrate signals (PMC axis control) 15.1
EIF0E to EIF15E G466,G467 – f

EIF0F to EIF15F G478,G479 – f

EIF0G to EIF15G G490,G491 – f

EIF0H to EIF15H G502,G503 – f

EINPA F130#0 f f

EINPB F133#0 f f

EINPC F136#0 – f

EINPD F139#0 – f
In–position signals (PMC axis control) 15.1
EINPE F500#0 – f

EINPF F503#0 – f

EINPG F506#0 – f

EINPH F509#0 – f

EKC0 to EKC7 Key code signals G098 f f

EKENB Key code read completion signal F053#7 f f 15.5

EKSET Key code read signal G066#7 f f

ELCAM1 to
CAM follower selection signals G238#0 to #3 – f 1.9
ELCAM4

ELCKZA G142#1 f f

ELCKZB G154#1 f f

ELCKZC G166#1 – f

ELCKZD G178#1 – f
Following zero checking signals (PMC axis control) 15.1
ELCKZE G464#1 – f

ELCKZF G476#1 – f

ELCKZG G488#1 – f

ELCKZH G500#1 – f

1134
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

EM11A to EM48A F132,F142 f f

EM11B to EM48B F135,F145 f f

EM11C to EM48C F138,F148 – f

EM11D to EM48D F141,F151 – f

Auxiliary function code signals (PMC axis control) 15.1
EM11E to EM48E F502,F488 – f

EM11F to EM48F F505,F491 – f

EM11G to EM48G F508,F494 – f

EM11H to EM48H F511,F497 – f

EMBUFA G142#2 f f

EMBUFB G154#2 f f

EMBUFC G166#2 – f

EMBUFD G178#2 – f
Buffering disable signals (PMC axis control) 15.1
EMBUFE G464#2 – f

EMBUFF G476#2 – f

EMBUFG G488#2 – f

EMBUFH G500#2 – f

EMFA F131#0 f f

EMFB F134#0 f f

EMFC F137#0 – f

EMFD F140#0 – f
Auxiliary function strobe signals (PMC axis control) 15.1
EMFE F501#0 – f

EMFF F504#0 – f

EMFG F507#0 – f

EMFH F510#0 – f

EMSBKA G143#7 f f

EMSBKB G155#7 f f

EMSBKC G167#7 – f

EMSBKD G179#7 – f
Block stop disable signals (PMC axis control) 15.1
EMSBKE G465#7 – f

EMSBKF G477#7 – f

EMSBKG G489#7 – f

EMSBKH G501#7 – f

1135
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

ENB Spindle enable signal F001#4 f – 9.5.4.2

ENB Spindle enable signal F001#4 f – 9.3

ENBEX1 to
External device input signals G455 f f 1.11
ENBEX8

ENBKY External key input mode selection signal G066#1 f f 15.5

EOTNA F130#6 f f

EOTNB F133#6 f f

EOTNC F136#6 – f

EOTND F139#6 – f
Negative–direction overtravel signals (PMC axis
EOTNE control) F500#6 – f

EOTNF F503#6 – f

EOTNG F506#6 – f

EOTNH F509#6 – f
15.1
EOTPA F130#5 f f

EOTPB F133#5 f f

EOTPC F136#5 – f

EOTPD F139#5 – f
Positive–direction overtravel signals (PMC axis
EOTPE control) F500#5 – f

EOTPF F503#5 – f

EOTPG F506#5 – f

EOTPH F509#5 – f

EOV0 Override 0% signal (PMC axis control) F129#5 f f 15.1

EPARM Parameter selection signal G251#6 f f 13.2

EPCON External pulse input interface select signal G066#6 f f 1.13

EPRG Program selection signal G251#4 f f 13.2

EREND Read completion signal for external data input F060#0 f f 15.2

ERS External reset signal G008#7 f f 5.2

1136
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

ESBKA G142#3 f f

ESBKB G154#3 f f

ESBKC G166#3 – f

ESBKD G178#3 – f
Block stop signals (PMC axis control) 15.1
ESBKE G464#3 – f

ESBKF G476#3 – f

ESBKG G488#3 – f

ESBKH G500#3 – f

ESEND Search completion signal for external data input F060#1 f f 15.2

ESKIP X000#3 f f
Skip signal (PMC axis control) 15.1
ESKIP X1000#3 f f

ESOFA G142#4 f f

ESOFB G154#4 f f

ESOFC G166#4 – f

ESOFD G178#4 – f
Servo off signals (PMC axis control) 15.1
ESOFE G464#4 – f

ESOFF G476#4 – f

ESOFG G488#4 – f

ESOFH G500#4 – f

ESTB Read signal for external data input G002#7 f f 15.2

ESTPA G142#5 f f

ESTPB G154#5 f f

ESTPC G166#5 – f

ESTPD G178#5 – f
Axis control temporary stop signals (PMC axis
15.1
ESTPE control) G464#5 – f

ESTPF G476#5 – f

ESTPG G488#5 – f

ESTPH G500#5 – f

EVAR Macro variable selection signal G251#5 f f 13.2

EXF1 X000#0
EXF2 X000#1
EXF3 Rate change signals X000#6 f f 1.11
EXF4 X011#4
EXF5 X011#5

1137
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

EXIO2, EXIO1 Channel selection signals G248#0,1 f f 13.2

EXRD External read start signal G058#1 f f 13.2

EXSTP External read/punch stop signal G058#2 f f 13.2

EXWT External punch start signal G058#3 f f 13.2

F248#5,
FANAL1, FANAL2 Fan alarm signals (for each fan) f f 2.4
F248#6

FIN End signal G004#3 f f 8.1

FIN End signal G004#3 f f 8.3

FL00 to FL15 File number specification signals G249, G250 f f 13.2

G08MD Look–ahead feed–forward control mode signal F066#0 f f 7.1.7

GR1,GR2 Gear selection signals (input) G028#1,#2 f – 9.3

GR2, GR1 Gear selection signals (input) G028#2, #1 f – 9.5.4.3

GR1O, GR2O,
Gear selection signals (output) F034#0 to #2 f – 9.3
GR3O

GR3O, GR2O,
Gear selection signals (output) F034#2, #1, #0 f – 9.5.4.3
GR1O

GST Gear shift signal G212#5 f – 9.3

HALM1 to HALM8 Motion program alarm signals (each axis) F230 f f

HALMM1 to 1.8
Motion program alarm signals (each M–code group) F481 – f
HALMM8

HCPL Compile start signal G226#7 – f

HCPLO Compile executing signal F228#7 – f

HERS1 to HERS8 Motion program reset signals (each axis) G233 – f

HERSM1 to
Motion program reset signals (each M–code group) G457 – f
HERSM8

HEX1 to HEX8 Motion program using signals (each axis) F229 – f 1.8

HEXM1 to
Motion program using signals (each M–code group) F480 – f
HEXM8

HFIN1 to HFIN8 Motion program auxiliary function completion signals G458 – f

HMD High–response mode switch signal G226#0 – f

HMDO High–response mode in–progress signal F228#0 – f

HMF1 to HMF8 Motion program auxiliary function strobe signals G484 – f 1.8

1138
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

HOPATH Handy operator’s panel connecting signal F208#0 f f

HOPEMG Handy operator’s panel emergency stop status signal F175#7 f f

19
Handy operator’s panel deadman switch status
HOPENB F175#6 f f
signal

Handy operator’s panel emergency stop button

HOPSTP F175#5 f f 19
status signal

HOVC1 to
Motion program override cancel signals G227 – f
HOVC8
1.8
HPST00 to
Motion program start signals G228 to G231 – f
HPST31

HRDY1 to HRDY8 Motion program ready signals (each axis) F231 – f

HRDYM1 to 1.8
Motion program ready signals (each M–code group) F482 – f
HRDYM8

HROV 1% step rapid traverse override selection signals G096#7 f f 7.1.5.1

HS1A to HS1D Manual handle axis select signal G018#0 to #3 f f 1.13

HS1A to HS1D Manual handle feed axis selection signals G018#0 to #3 f f 3.2

HS1AO Software operator’s panel signal (HS1A) F077#0 f f

HS1BO Software operator’s panel signal (HS1B) F077#1 f f

12.1.10
HS1CO Software operator’s panel signal (HS1C) F077#2 – f

HS1DO Software operator’s panel signal (HS1D) F077#3 – f

HS2A to HS2D G018#4 to #7 f f

Manual handle feed axis selection signals 3.2
HS3A to HS3D G019#0 to #3 f f

HS1IA to HS1ID G041#0 to #3 f f

HS2IA to HS2ID Manual handle interrupt axis selection signals G041#4 to #7 f f 3.3

HS3IA to HS2ID G042#0 to #3 f f

HSBK1 to HSBK8 Motion program single block signals (each axis) G232 – f

HSBKM1 to Motion program single block signals (each M–code 1.8

G456 – f
HSBKM8 group)

IGNVRY All–axis VRDY off alarm ignore signal G066#0 f f

IGVRY1 to 2.9
Each–axis VRDY off alarm ignore signal G192 f f
IGVRY8

Incremental command externally set orientation

INCMDA G072#5 f – 9.2
signals (serial spindle)

INCSTA Incremental orientation mode signals (serial spindle) F047#1 f – 9.2

Orientation stop position change command signals

INDXA G072#0 f – 9.2
(serial spindle)

1139
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

INHKY Key input disable signal F053#0 f f 15.5

INP1 to INP8 In–position signals F104 f f 7.2.6.1

INTGA Speed integral signals (serial spindle) G071#5 f – 9.2

IOLACK I/O Link check signal G092#0 f f 13.3

IOLNK FANUC I/O Link Selection Signal G251#0 f f 13.3

IOLNKM Slave I/O Link selection signal F177#0 f f 13.3

IOLS I/O Link specification signal G092#1 f f 13.3

IPL1 to IPL8 Distributing signals F221 f f 7.2.7

CON-
NEC-
TION
MANU-
ITPS FSSB I/O module start signal F082#0 f f
AL
(HARD-
WARE)
6.12

KDEL Block deletion signal G215#6 – f

12.2.6
KENB Concurrent input completion signal F253#7 – f

KEY1 to KEY4 Memory protection signals G046#3 to #6 f f 12.2.3

KEYO Software operator’s panel signal (KEY1 to KEY4) F075#6 f f 12.1.10

KEYP Memory protection signal G046#0 f f 12.2.3

KEXC Input/deletion start signal G215#7 – f 12.2.6

KF F code concurrent input signal G215#0 – f

KG00 G00 code concurrent input signal G215#2 – f

12.2.6
KG01 G01 code concurrent input signal G215#3 – f

KG04 G04 code concurrent input signal G215#4 – f

KPAX Axis address/P code input signal G215#1 – f 12.2.6

KUP Cursor up signal G215#5 – f 12.2.6

LDT1A Load detection signals 1 (serial spindle) F045#4 f –

9.2
LDT2A Load detection signals 2 (serial spindle) F045#5 f –

LED01 to LED09 Handy operator’s panel LED control signal G204, G205#0 f f 19

M–OPE Handy operator’s panel mode F169#5 f f 19

M00 to M31 Auxiliary function code signals F010 to F013 f f 8.3

M00 to M31 Auxiliary function code signals F010 to F013 f f 8.1

1140
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

M200 to M215 2nd M function code signals F014 to F015 f f

M300 to M315 3rd M function code signals F016 to F017 f f

8.3
M400 to M415 4th M function code signals F018 to F019 – f

M500 to M515 5th M function code signals F020 to F021 – f

MA CNC ready signal F001#7 f f 2.2

MAUT Operation mode check signal F003#5 f f 2.6

MCFNA Power line switch completion signals (serial spindle) G071#3 f – 9.2

MD1,MD2,MD4 Mode selection signals G043#0 to #2 f f 2.6

MD1O Software operator’s panel signal (MD1) F073#0 f f

MD2O Software operator’s panel signal (MD2) F073#1 f f 12.1.10

MD4O Software operator’s panel signal (MD4) F073#2 f f

MDTCH1 to
Controlled axis detach status signals F110 f f 1.2.4
MDTCH8

MEAS0 to MEAS7 Measuring signals G244 f f 14.3

MEDT Operation mode check signal F003#6 f f 2.6

MF Auxiliary function strobe signals F007#0 f f 8.3

MF Auxiliary function strobe signal F007#0 f f 8.1

MF2 2nd M function strobe signal F008#4 f f

MF3 3rd M function strobe signal F008#5 f f

8.3
MF4 4th M function strobe signal F008#6 – f

MF5 5th M function strobe signal F008#7 – f

MFIN Auxiliary function completion signal G005#0 f f 8.4

MFIN2 2nd M function completion signal G004#4 f f 8.4

MFIN2 2nd M function end signals G004#4 f f 8.3

MFIN3 3rd M function completion signal G004#5 f f 8.4

MFIN3 3rd M function end signals G004#5 f f

MFIN4 4th M function end signals G004#6 – f 8.3

MFIN5 5th M function end signals G004#7 – f

Spindle switch MAIN MCC contact status signals

MFNHGA G072#6 f – 9.2
(serial spindle)

MI1 to MI8 Mirror image signals G106 f f 1.2.6

MJ Operation mode check signal F003#2 f f 2.6

1141
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

MLK Machine lock signal for all axes G044#1 f f

5.3.1
MLK1 to MLK8 Machine lock signal for each axis G108 f f

MLKO Software operator’s panel signal (MLK) F075#4 f f 12.1.10

MMDI Operation mode check signal F003#3 f f 2.6

MMI1 to MMI8 Mirror image check signals F108 f f 1.2.6

Magnetic sensor orientation completion signals

MORA1A F046#6 f –
(serial spindle)
9.2
Magnetic sensor orientation proximity signals (serial
MORA2A F046#7 f –
spindle)

Magnetic sensor orientation command signals (serial

MORCMA G073#0 f – 9.2
spindle)

MP1, MP2 Manual handle feed movement value select signal G019#4, #5 f f 1.13

Manual handle feed amount selection signals

MP1,MP2 G019#4,#5 f f 3.2
(incremental feed signals)

MP1O Software operator’s panel signal (MP1) F076#0 f f 12.1.10

MP2O Software operator’s panel signal (MP2) F076#1 f f 12.1.10

MPOFA Motor power cutoff command signals (serial spindle) G073#2 f – 9.2

MRDYA Machine ready signals (serial spindle) G070#7 f – 9.2

MRMT DNC operation selection confirmation signal F003#4 f – 5.7

MRMT Operation mode check signal F003#4 f f 2.6

Confirm signal for registration mode of the cam

MRMT F003#4 – f 1.9
shape data

MSTP Operation mode check signal F003#1 f f 2.6

MTCHIN Operation mode check signal F003#7 f f 2.6

MV1 to MV8 Axis moving signals F102 f f

1.2.5
MVD1 to MVD8 Axis moving direction signals F106 f f

MZRN Operation mode check signal F004#5 f f 2.6

Manual reference position return selection check

MZRN F004#5 f – 4.1
signal

Manual reference position return selection check

MZRN F004#5 f f 4.2
signal

Shortcut command signals for orientation stop

NRROA G072#2 f – 9.2
position change (serial spindle)

OP Automatic operation signal F000#7 f f 5.1

ORARA Orientation completion signals (serial spindle) F045#7 f – 9.2

ORCMA Orientation command signals (serial spindle) G070#6 f – 9.2

1142
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

Software operator’s panel general–purpose switch

OUT0 to OUT7 F072 f f 12.1.10
signals

OVC Override cancel signal G006#4 f f 7.1.5.3

OVCE G150#5 f f

OVCEB G162#5 f f

OVCEC G174#5 – f

OVCED G186#5 – f
Override cancellation signal (PMC axis control) 15.1
OVCEE G472#5 – f

OVCEF G484#5 – f

OVCEG G496#5 – f

OVCEH G508#5 – f

OVRIDA Analog override signals (serial spindle) G072#4 f – 9.2

PAL0 to PAL6 Alarm number specification signals G225#0 to #6 f f

2.13
PALM Alarm generation selection signal G225#7 f f

PATHO Path display confirmation signal F254#7 f – 2.7

PATHS Path selection signal G063#0 f – 2.7

Position coder one–rotation signal detection status

PC1DEA F047#0 f – 9.2
signals (serial spindle)

PN0 to PN7 Workpiece number search signals G009#0 to 7 f f 15.3

Position coder orientation proximity signal (serial

PORA2A F046#5 f – 9.2
spindle)

PRGDPL Program screen display mode signal F053#1 f f 15.5

PRTSF Target part count reached signal F062#7 f f 12.1.9

F070#0 to
PSW01 to PSW10 Position switch signals f f 1.2.9
F071#1

G032#0 to
R01I to R12I Spindle motor speed command input signals f –
G033#3
15.4
F036#0 to
R01O to R12O Spindle motor speed command output signals f –
F037#3

F036#0 to
R01O to R12O S12–bit code signals f – 9.3
F037#3

RCFNA Output switch completion signals (serial spindle) F046#3 f – 9.2

RCHA Power line status check signals (serial spindle) G071#7 f – 9.2

RCHPA Output switch signals (serial spindle) F046#2 f – 9.2

Spindle switch HIGH MCC contact status signals

RCHHGA G072#7 f – 9.2
(serial spindle)

1143
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

RGSPP F065#0 f –
Spindle rotation direction signals
RGSPM F065#1 f – 9.5.4.1

RGTAP Rigid tapping signal G061#0 f –

RLSOT Stroke check release signal G007#7 f f 2.3.2

Rotational direction command signals for orientation

ROTAA G072#1 f – 9.2
stop position change (serial spindle)

ROV1,ROV2 Rapid traverse override signals G014#0,#1 f f 7.1.5.1

ROV1E,ROV2E Rapid traverse override signals (PMC axis control) G150#0,#1 f f 15.1

ROV1O Software operator’s panel signal (ROV1) F076#4 f f

12.1.10
ROV2O Software operator’s panel signal (ROV2) F076#5 f f

RPALM Read/punch alarm signal F053#3 f f 13.2

RPBSY Read/punch busy signal F053#2 f f 13.2

RPDET1 to
Pole position detection signals F158 f f
RPDET8
21
RPFIN1 to
Pole position detection completion signals F159 f f
RPFIN8

RPREQ1 to
Pole position detection request signals G135 f f 21
RPREQ8

RRW Reset & rewind signal G008#6 f f 5.2

RSLA Output switch request signals (serial spindle) G071#6 f – 9.2

RST Resetting signal F001#1 f f 5.2

RSTP0 to RSTP8 Quick stop type axis stop signals G247 f f 2.10

RT Manual rapid traverse selection signal G019#7 f f 3.1

RTAP Rigid tapping–in–progress signal F076#3 f – 9.5.4.1

Manual rapid traverse selection signal (PMC axis

RTE G150#6 f f 15.1
control)

RTN11 to RTN18 G206 f f

RTN21 to RTN28 Return signals G207 f f 3.4

RTN31 to RTN38 G208 f f

RTNT Tapping retraction start signal G212#6 f – 5.9

RTNT Rigid tapping retraction start signal G212#6 f – 5.8

RTO Software operator’s panel signal (RT) F077#6 f f 12.1.10

RTPT Tapping retraction completion signal F209#5 f – 5.9

RTPT Rigid tapping retraction completion signal F209#5 f – 5.8

1144
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

RWD Rewinding signal F000#0 f f 5.2

S00 to S31 Spindle function code signals F022 to F025 f – 8.1

S00 to S31 Spindle–speed function code signals (binary output) F022 to F025 f – 9.5.4.2

SA Servo ready signal F000#6 f f 2.2

SAR Spindle speed arrival signal G029#4 f – 9.3

SARA Speed arrival signals (serial spindle) F045#3 f – 9.2

SBK Single block signal G046#1 f f 5.3.3

SBKO Software operator’s panel signal (SBK) F075#3 f f 12.1.10

SDTA Speed detection signals (serial spindle) F045#2 f – 9.2

SF Spindle function strobe signal F007#2 f – 8.1

SF Spindle–speed function strobe signal F007#2 f – 9.5.4.2

SFIN Spindle function completion signal G005#2 f – 8.4

SFRA CW command signals (serial spindle) G070#5 f – 9.2

SGN Spindle motor command polarity command signals G033#5 f – 15.4

Spindle orientation external stop position command G078#0 to

SHA00 to SHA11 f – 9.6
signals (for 1st spindle) G079#3

SIND Spindle motor speed command selection signal G033#7 f – 15.4

SKIP X000#7 f f 14.2.1

Skip signals
SKIP X1000#7 f f 14.2.1

X000#7 f f
SKIP Skip signals 14.2.2
X1000#7 f f

X000#0 to #2 f f
SKIP2 to SKIP4 Skip signals 14.2.2
X1000#0 to #2 f f

SKIPP Skip signals G006#6 f f 14.2.1

SKIPP Skip signals G006#6 f f 14.2.2

SKIPP1 to
Skip signals G266 to G267 – f 1.8
SKIPP16

Subordinate operation mode command signals

SLVA G073#1 f – 9.2
(serial spindle)

SLVSA Subordinate operation status signals (serial spindle) F046#4 f – 9.2

SOCNA Soft start/stop cancel signals (serial spindle) G071#4 f – 9.2

SOR Spindle orientation signal G029#5 f – 9.3

SOV0 to SOV7 Spindle speed override signals G030 f – 9.3

1145
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

SPL Feed hold lamp signal F000#4 f f 5.1

SPSLA Spindle selection signals (serial spindle) G071#2 f – 9.2

SRLNI0 to
Group number specification signals G091#0 to #3 f f
SRLNI3
13.3
SRLNO0 to
Group number output signals F178#0 to #3 f f
SRLNO3

SRVA CCW command signals (serial spindle) G070#4 f – 9.2

SSIN Spindle motor command polarity selection signal G033#6 f – 15.4

SSTA Speed zero signals (serial spindle) F045#1 f – 9.2

ST Cycle start signal G007#2 f f

5.1
STL Cycle start lamp signal F000#5 f f

SUP1 to SUP8 Acceleration/deceleration signals F220 f f 7.2.7

SVER1 to SVER8 Servo position deviation monitor signal F222 f f 2.13

SVF1 to SVF8 Servo off signals G126 f f 1.2.8

SW1 to SW61 Handy operator’s panel key output signal F168 to F175 f f 16

SYNC1 to SYNC8 Simple synchronous axis selection signals G138 f f

SYNCJ1 to Simple synchronous manual feed axis selection 1.6

G140 f f
SYNCJ8 signals

T00 to T31 Tool function code signals F026 to F029 f f 8.1

TAP Tapping signal F001#5 f – 11.4

TDFTR1 to
Disturbance torque value trouble prediction signal F299 f f
TDFTR8
2.17
TDSML1 to
Thermal simulation trouble prediction signal F298 f f
TDSML8

TF Tool function strobe signal F007#3 f f 8.1

TFIN Tool function completion signal G005#3 f f 8.4

TLMA Torque limit signals (serial spindle) F045#6 f – 9.2

TLMHA Torque limit command HIGH signals (serial spindle) G070#1 f – 9.2

TLMLA Torque limit command LOW signals (serial spindle) G070#0 f – 9.2

TMRON General–purpose integrating meter start signal G053#0 f f 12.1.9

TRQ10 to TRQ87 Torque limit signals G217 to G224 f f 1.12

TRQ1E to TRQ8E Torque limit enable signals G216 f f 1.12

TRQL1 to TRQL8 Torque limit reach signals F114 – f 1.8

TRQM1 to
Torque control mode signal (PMC axis control) F190 f f 15.1
TRQM8

1146
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Symbol Signal name Address PM i–D PM i–H
ence

UI000 to UI015 G054, G055 f f

UI016 to UI031 G056, G057 f f

UI100 to UI131 Input signals for custom macro G276 to G279 f f 11.3.1

UI200 to UI231 G280 to G283 f f

UI300 to UI331 G284 to G287 f f

UINT Interrupt signal for custom macro G053#3 f f 11.3.2

UO000 to UO015 F054, F055 f f

UO016 to UO031 F276, F277 f f

UO100 to UO131 Output signals for custom macro F056 to F059 f f 11.3.1

UO200 to UO231 F280 to F283 f f

UO300 to UO331 F284 to F287 f f

WAT1 to WAT4 Waiting signals F209#0 to #3 f f

8.5
WFN1 to WFN4 Waiting complete signals G214#0 to #3 f f

WVRDY V–READY waiting signal F209#4 f f 2.16

ZP1 to ZP8 Reference position return end signal F094 f f 4.1

ZR1 to ZR8 Reference position without dogs setting signal G210 f f

4.2
ZP1 to ZP8 Reference position return end signals F094 f f

ZP21 to ZP28 2nd reference position return completion signals F096 f f

4.4
ZP31 to ZP38 3rd reference position return completion signals F098 f f

ZPEXT1 to
Signal for reference position external setting G211 f f 4.7
ZPEXT8

ZRF1 to ZRF8 Reference position establishment signal F120 f f 4.2

ZRF1 to ZRF8 Reference position establishment signal F120 f f 4.1

ZRN Manual reference position return selection signal G043#7 f f 4.2

ZRN Manual reference position return selection signal G043#7 f f 4.1

ZRN Mode selection signals G043#7 f f 2.6

ZRNO Software operator’s panel signal (ZRN) F073#4 f f 12.1.10

1147
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

A.2.3
List of Signals f : Available
– : Unavailable
(In Order of Addresses)
Refer-
Address Signal name Symbol PM i–D PM i–H
ence

X000#0 to #2 Skip signals SKIP2 to SKIP4 f f 14.2.2

X000#3 Skip signal (PMC axis control) ESKIP f f 15.1

X000#4 Emergency stop signal *ESP f f 2.1

X000#5 Reference position return deceleration signal *DEC1 f – 4.1

X000#6 Interlock signal for all axes *RILK f f 2.5

X000#0 EXF1
X000#1 EXF2
X000#6 Rate change signals EXF3 f f 1.11
X011#4 EXF4
X011#5 EXF5

X000#7 Skip signals SKIP f f 14.2.1

X001#5 Reference position return deceleration signal *DEC2 f – 4.1

X002 Reference position return deceleration signal *DEC1 to *DEC8 – f 4.1

X1000#0 to #2 Skip signals SKIP2 to SKIP4 f f 14.2.2

X1000#3 Skip signal (PMC axis control) ESKIP f f 15.1

X1000#4 Emergency stop signal *ESP f f 2.1

X1000#5 Reference position return deceleration signal *DEC1 f – 4.1

X1000#6 Interlock signal for all axes *RILK f f 2.5

X1000#7 Skip signals SKIP f f 14.2.1

X1001#5 Reference position return deceleration signal *DEC2 f – 4.1

X1002 Reference position return deceleration signal *DEC1 to *DEC8 – f 4.1

14.1,
X1003 High–speed skip signals DI30 to DI37 f f 14.2,
14.3

G000,G001 Data signals for external data input ED0 to ED15 f f 15.2

G002#0 to #6 Address signals for external data input EA0 to EA6 f f

15.2
G002#7 Read signal for external data input ESTB f f

G004#3 End signal FIN f f 8.1

G004#3 End signal FIN f f 8.3

G004#4 2nd M function completion signal MFIN2 f f 8.4

G004#4 2nd M function end signals MFIN2 f f 8.3

G004#5 3rd M function completion signal MFIN3 f f 8.4

1148
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G004#5 3rd M function end signals MFIN3 f f

G004#6 4th M function end signals MFIN4 – f 8.3

G004#7 5th M function end signals MFIN5 – f

G005#0 Auxiliary function completion signal MFIN f f

G005#2 Spindle function completion signal SFIN f – 8.4

G005#3 Tool function completion signal TFIN f f

G005#6 Auxiliary function lock signal AFL f f 8.2

G006#2 Manual absolute signal *ABSM f f 5.4

G006#4 Override cancel signal OVC f f 7.1.5.3

G006#6 Skip signals SKIPP f f 14.2.2

G006#6 Skip signals SKIPP f f 14.2.1

G007#2 Cycle start signal ST f f 5.1

G007#5 Follow–up signal *FLWU f f 1.2.7

G007#7 Stroke check release signal RLSOT f f 2.3.2

G008#0 Interlock signal for all axes *IT f f 2.5

G008#4 Emergency stop signal *ESP f f 2.1

G008#5 Feed hold signal *SP f f 5.1

G008#6 Reset & rewind signal RRW f f 5.2

G008#7 External reset signal ERS f f 5.2

G009#0 to 7 Workpiece number search signals PN0 to PN7 f f 15.3

G010,G011 Manual feedrate override signals *JV0 to *JV15 f f 3.1

G012 Feedrate override signals *FV0 to *FV7 f f 7.1.5.2

G014#0,#1 Rapid traverse override signals ROV1,ROV2 f f 7.1.5.1

G018#0 to #3 Manual handle axis select signal HS1A to HS1D f f 1.13

G018#0 to #3 HS1A to HS1D f f

Manual handle feed axis selection signals 3.2
G018#4 to #7 HS2A to HS2D f f

G019#0 to #3 Manual handle feed axis selection signals HS3A to HS3D f f

Manual handle feed amount selection signals 3.2

G019#4,#5 MP1,MP2 f f
(incremental feed signals)

G019#4, #5 Manual handle feed movement value select signal MP1, MP2 f f 1.13

G019#7 Manual rapid traverse selection signal RT f f 3.1

G028#1,#2 Gear selection signals (input) GR1,GR2 f – 9.3

1149
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G028#2, #1 Gear selection signals (input) GR2, GR1 f – 9.5.4.3

G029#4 Spindle speed arrival signal SAR f – 9.3

G029#5 Spindle orientation signal SOR f – 9.3

G029#6 Spindle stop signal *SSTP f – 9.3

G030 Spindle speed override signals SOV0 to SOV7 f – 9.3

G032#0 to
Spindle motor speed command input signals R01I to R12I f – 15.4
G033#3

G033#5 Spindle motor command polarity command signals SGN f – 15.4

G033#6 Spindle motor command polarity selection signal SSIN f – 15.4

G033#7 Spindle motor speed command selection signal SIND f – 15.4

G041#0 to #3 HS1IA to HS1ID f f

Manual handle interrupt axis selection signals 3.3
G041#4 to #7 HS2IA to HS2ID f f

G042#0 to #3 Manual handle interrupt axis selection signals HS3IA to HS2ID f f 3.3

G043#0 to #2 Mode selection signals MD1,MD2,MD4 f f 2.6

G043#5 DNC operation selection signal DNCI f – 5.7

G043#5 Mode selection signals DNCI f f 2.6

Selection signal for registration mode of the cam

G043#5 DNCI – f 1.9
shape data

G043#7 Manual reference position return selection signal ZRN f f 4.1

G043#7 Manual reference position return selection signal ZRN f f 4.2

G043#7 Mode selection signals ZRN f f 2.6

G044#0, G045 Optional block skip signals BDT1 to BDT9 f f 5.5

G044#1 Machine lock signal for all axes MLK f f 5.3.1

G046#0 Memory protection signal KEYP f f 12.2.3

G046#1 Single block signal SBK f f 5.3.3

G046#3 to #6 Memory protection signals KEY1 to KEY4 f f 12.2.3

G046#7 Dry run signal DRN f f 5.3.2

G053#0 General–purpose integrating meter start signal TMRON f f 12.1.9

G053#3 Interrupt signal for custom macro UINT f f 11.3.2

G054, G055 UI000 to UI015 f f

Input signals for custom macro 11.3.1
G056, G057 UI016 to UI031 f f

1150
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G058#1 External read start signal EXRD f f

G058#3 External punch start signal EXWT f f 13.2

G058#2 External read/punch stop signal EXSTP f f

G061#0 Rigid tapping signal RGTAP f – 9.5.4.1

G063#0 Path selection signal PATHS f – 2.7

G066#0 All–axis VRDY off alarm ignore signal IGNVRY f f 2.9

G066#1 External key input mode selection signal ENBKY f f 15.5

G066#6 External pulse input interface select signal EPCON f f 1.13

G066#7 Key code read signal EKSET f f 15.5

G070#0 Torque limit command LOW signals (serial spindle) TLMLA f –

G070#1 Torque limit command HIGH signals (serial spindle) TLMHA f –

G070#3,#2 Clutch/gear signals (serial spindle) CTH1A,CTH2A f –

G070#4 CCW command signals (serial spindle) SRVA f –

G070#5 CW command signals (serial spindle) SFRA f –

G070#6 Orientation command signals (serial spindle) ORCMA f –

G070#7 Machine ready signals (serial spindle) MRDYA f –

G071#0 Alarm reset signals (serial spindle) ARSTA f –

G071#1 Emergency stop signals (serial spindle) *ESPA f – 9.2

G071#2 Spindle selection signals (serial spindle) SPSLA f –

G071#3 Power line switch completion signals (serial spindle) MCFNA f –

G071#4 Soft start/stop cancel signals (serial spindle) SOCNA f –

G071#5 Speed integral signals (serial spindle) INTGA f –

G071#6 Output switch request signals (serial spindle) RSLA f –

G071#7 Power line status check signals (serial spindle) RCHA f –

Orientation stop position change command signals

G072#0 INDXA f –
(serial spindle)

Rotational direction command signals for orientation

G072#1 ROTAA f –
stop position change (serial spindle)

Shortcut command signals for orientation stop

G072#2 NRROA f – 9.2
position change (serial spindle)

Differential speed mode command signals (serial

G072#3 DEFMDA f –
spindle)

1151
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G072#4 Analog override signals (serial spindle) OVRIDA f –

Incremental command externally set orientation

G072#5 INCMDA f –
signals (serial spindle)

Spindle switch MAIN MCC contact status signals

G072#6 MFNHGA f –
(serial spindle)

Spindle switch HIGH MCC contact status signals

G072#7 RCHHGA f – 9.2
(serial spindle)

Magnetic sensor orientation command signals (serial

G073#0 MORCMA f –
spindle)

Subordinate operation mode command signals

G073#1 SLVA f –
(serial spindle)

G073#2 Motor power cutoff command signals (serial spindle) MPOFA f –

G078#0 to Spindle orientation external stop position command

SHA00 to SHA11 f – 9.6
G079#3 signals (for 1st spindle)

SRLNI0 to
G091#0 to #3 Group number specification signals f f
SRLNI3

G092#0 I/O Link check signal IOLACK f f

G092#1 I/O Link specification signal IOLS f f

13.3
G092#2 Power Mate read/write in–progress signal BGION f f

G092#3 Power Mate read/write alarm signal BGIALM f f

G092#4 Power Mate background in–use signal BGEN f f

*HROV0 to
G096#0 to #6 1% step rapid traverse override signals f f 7.1.5.1
*HROV6

G096#7 1% step rapid traverse override selection signals HROV f f 7.1.5.1

G098 Key code signals EKC0 to EKC7 f f 15.5

G100 Feed axis and direction selection signals +J1 to +J8 f f 3.1

G100 Feed axis direction select signal +J1 to +J8 f f 4.2

G102 Feed axis and direction selection signals –J1 to –J8 f f 3.1

G102 Feed axis direction select signal –J1 to –J8 f f 4.2

G106 Mirror image signals MI1 to MI8 f f 1.2.6

G108 Machine lock signal for each axis MLK1 to MLK8 f f 5.3.1

G110 +LM1 to +LM8 f f

Stroke check external setting signals 2.3.2
G112 –LM1 to –LM8 f f

G114 *+L1 to *+L8 f f

Overtravel signals 2.3.1
G116 *–L1 to *–L8 f f

G124 Controlled axis detach signals DTCH1 to DTCH8 f f 1.2.4

1152
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G126 Servo off signals SVF1 to SVF8 f f 1.2.8

G130 Interlock signal for each axis *IT1 to *IT8 f f

G132 +MIT1 to +MIT8 f f 2.5

Interlock signal for each axis and direction
G134 –MIT1 to –MIT8 f f

RPREQ1 to
G135 Pole position detection request signals f f 21
RPREQ8

G136 Control axis selection signals (PMC axis control) EAX1 to EAX8 f f 15.1

G138 Simple synchronous axis selection signals SYNC1 to SYNC8 f f

Simple synchronous manual feed axis selection SYNCJ1 to 1.6

G140 f f
signals SYNCJ8

Auxiliary function completion signals (PMC axis

G142#0 EFINA f f 15.1
control)

G142#1 Following zero checking signals (PMC axis control) ELCKZA f f 15.1

G142#2 Buffering disable signals (PMC axis control) EMBUFA f f 15.1

G142#3 Block stop signals (PMC axis control) ESBKA f f 15.1

G142#4 Servo off signals (PMC axis control) ESOFA f f 15.1

Axis control temporary stop signals (PMC axis

G142#5 ESTPA f f 15.1
control)

G142#6 Reset signals (PMC axis control) ECLRA f f 15.1

Axis control command read signals (PMC axis

G142#7 EBUFA f f 15.1
control)

G143#0 to #6 Axis control command signals (PMC axis control) EC0A to EC6A f f 15.1

G143#7 Block stop disable signals (PMC axis control) EMSBKA f f 15.1

G144,G145 Axis control feedrate signals (PMC axis control) EIF0A to EIF15A f f 15.1

G146 to G149 Axis control data signals (PMC axis control) EID0A to EID31A f f 15.1

G150#0,#1 Rapid traverse override signals (PMC axis control) ROV1E,ROV2E f f 15.1

G150#5 Override cancellation signal (PMC axis control) OVCE f f 15.1

Manual rapid traverse selection signal (PMC axis

G150#6 RTE f f 15.1
control)

G150#7 Dry run signal (PMC axis control) DRNE f f 15.1

G151 Feedrate override signals (PMC axis control) *FV0E to *FV7E f f 15.1

Auxiliary function completion signals (PMC axis

G154#0 EFINB f f 15.1
control)

G154#1 Following zero checking signals (PMC axis control) ELCKZB f f 15.1

G154#2 Buffering disable signals (PMC axis control) EMBUFB f f 15.1

1153
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G154#3 Block stop signals (PMC axis control) ESBKB f f 15.1

G154#4 Servo off signals (PMC axis control) ESOFB f f 15.1

Axis control temporary stop signals (PMC axis

G154#5 ESTPB f f 15.1
control)

G154#6 Reset signals (PMC axis control) ECLRB f f 15.1

Axis control command read signals (PMC axis

G154#7 EBUFB f f 15.1
control)

G155#0 to #6 Axis control command signals (PMC axis control) EC0B to EC6B f f 15.1

G155#7 Block stop disable signals (PMC axis control) EMSBKB f f 15.1

G156,G157 Axis control feedrate signals (PMC axis control) EIF0B to EIF15B f f 15.1

G158 to G161 Axis control data signals (PMC axis control) EID0B to EID31B f f 15.1

G162#5 Override cancellation signal (PMC axis control) OVCEB f f 15.1

*FV0EB to
G163 Feedrate override signals (PMC axis control) f f 15.1
*FV7EB

Auxiliary function completion signals (PMC axis

G166#0 EFINC – f 15.1
control)

G166#1 Following zero checking signals (PMC axis control) ELCKZC – f 15.1

G166#2 Buffering disable signals (PMC axis control) EMBUFC – f 15.1

G166#3 Block stop signals (PMC axis control) ESBKC – f 15.1

G166#4 Servo off signals (PMC axis control) ESOFC – f 15.1

Axis control temporary stop signals (PMC axis

G166#5 ESTPC – f 15.1
control)

G166#6 Reset signals (PMC axis control) ECLRC – f 15.1

Axis control command read signals (PMC axis

G166#7 EBUFC – f 15.1
control)

G167#0 to #6 Axis control command signals (PMC axis control) EC0C to EC6C – f 15.1

G167#7 Block stop disable signals (PMC axis control) EMSBKC – f 15.1

G168,G169 Axis control feedrate signals (PMC axis control) EIF0C to EIF15C – f 15.1

G170 to G173 Axis control data signals (PMC axis control) EID0C to EID31C – f 15.1

G174#5 Override cancellation signal (PMC axis control) OVCEC – f 15.1

*FV0EC to
G175 Feedrate override signals (PMC axis control) – f 15.1
*FV7EC

Auxiliary function completion signals (PMC axis

G178#0 EFIND – f 15.1
control)

G178#1 Following zero checking signals (PMC axis control) ELCKZD – f 15.1

G178#2 Buffering disable signals (PMC axis control) EMBUFD – f 15.1

1154
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G178#3 Block stop signals (PMC axis control) ESBKD – f 15.1

G178#4 Servo off signals (PMC axis control) ESOFD – f 15.1

Axis control temporary stop signals (PMC axis

G178#5 ESTPD – f 15.1
control)

G178#6 Reset signals (PMC axis control) ECLRD – f 15.1

Axis control command read signals (PMC axis

G178#7 EBUFD – f 15.1
control)

G179#0 to #6 Axis control command signals (PMC axis control) EC0D to EC6D – f 15.1

G179#7 Block stop disable signals (PMC axis control) EMSBKD – f 15.1

G180,G181 Axis control feedrate signals (PMC axis control) EIF0D to EIF15D – f 15.1

G182 to G185 Axis control data signals (PMC axis control) EID0D to EID31D – f 15.1

G186#5 Override cancellation signal (PMC axis control) OVCED – f 15.1

*FV0ED to
G187 Feedrate override signals (PMC axis control) – f 15.1
*FV7ED

IGVRY1 to
G192 Each–axis VRDY off alarm ignore signal f f 2.9
IGVRY8

G204, G205#0 Handy operator’s panel LED control signal LED01 to LED09 f f 19

G206 RTN11 to RTN18 f f

G207 Return signals RTN21 to RTN28 f f 3.4

G208 RTN31 to RTN38 f f

G210 Reference position without dogs setting signal ZR1 to ZR8 f f 4.2

ZPEXT1 to
G211 Signal for reference position external setting f f 4.7
ZPEXT8

G212#5 Gear shift signal GST f – 9.3

G212#6 Rigid tapping retraction start signal RTNT f – 5.8

G212#6 Tapping retraction start signal RTNT f – 5.9

G212#7 Temporary interrupt detection signal ACT f f 2.15

G214#0 to #3 Waiting complete signals WFN1 to WFN4 f f 8.5

G215#0 F code concurrent input signal KF – f

G215#1 Axis address/P code input signal KPAX – f

G215#2 G00 code concurrent input signal KG00 – f

12.2.6
G215#3 G01 code concurrent input signal KG01 – f

G215#4 G04 code concurrent input signal KG04 – f

G215#5 Cursor up signal KUP – f

1155
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G215#6 Block deletion signal KDEL – f

12.2.6
G215#7 Input/deletion start signal KEXC – f

G216 Torque limit enable signals TRQ1E to TRQ8E f f 1.12

G217 to G224 Torque limit signals TRQ10 to TRQ87 f f

G225#0 to #6 Alarm number specification signals PAL0 to PAL6 f f

2.13
G225#7 Alarm generation selection signal PALM f f

G226#0 High–response mode switch signal HMD – f 1.8

G226#7 Compile start signal HCPL – f 1.8

G227 Motion program override cancel signals HOVC1 to HOVC8 – f 1.8

HPST00 to
G228 to G231 Motion program start signals – f
HPST31
1.8
G232 Motion program single block signals (each axis) HSBK1 to HSBK8 – f

G233 Motion program reset signals (each axis) HERS1 to HERS8 – f 1.8

ELCAM1 to
G238#0 to #3 CAM follower selection signals – f 1.9
ELCAM4

G239#0 Electronic CAM running start signal ECMST – f

G239#1 Electronic CAM function completion signal ECMEND – f 1.9

G239#2 CAM shaft changing signal ECMCHG – f

G239#7 Phase calibration start signal ECMCST – f 1.9

14.1,
G244 Measuring signals MEAS0 to MEAS7 f f 14.2,
14.3

G247 Quick stop type axis stop signals RSTP0 to RSTP8 f f 2.10

G248#0, #1 Channel selection signals EXIO2, EXIO1 f f

13.2
G249, G250 File number specification signals FL00 to FL15 f f

G251#0 FANUC I/O Link Selection Signal IOLNK f f 13.3

G251#3 PMC Data Selection Signal EPMC f f 13.2

G251#4 Program selection signal EPRG f f

13.2
G251#5 Macro variable selection signal EVAR f f

G251#6 Parameter selection signal EPARM f f 13.2

G251#7 Diagnosis data selection signal EDGN f f 13.2

G252 to G253 External punch start data number signals EDG00 to EDG15 f f
13.2
G254 to G255 External punch total data number signals EDN00 to EDN15 f f

1156
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

SKIPP1 to
G266 to G267 Skip signals – f 1.8
SKIPP16

G276 to G279 UI100 to UI131 f f

G280 to G283 Input signals for custom macro UI200 to UI231 f f 11.3.1

G284 to G287 UI300 to UI331 f f

ENBEX1 to
G455 External device input signals f f 1.11
ENBEX8

Motion program single block signals (each M–code HSBKM1 to

G456 – f 1.8
group) HSBKM8

HERSM1 to
G457 Motion program reset signals (each M–code group) – f
HERSM8
1.8
G458 Motion program auxiliary function completion signals HFIN1 to HFIN8 – f

G462#0 +EDITA f f

G462#1 +EDITB f f

G462#2 +EDITC – f

G462#3 +EDITD – f
Interlock positive–direction signal for each axis
15.1
G462#4 direction (PMC axis control) +EDITE – f

G462#5 +EDITF – f

G462#6 +EDITG – f

G462#7 +EDITH – f

G463#0 –EDITA f f

G463#1 –EDITB f f

G463#2 –EDITC – f

G463#3 –EDITD – f
Interlock negative–direction signal for each axis
15.1
G463#4 direction (PMC axis control) –EDITE – f

G463#5 –EDITF – f

G463#6 –EDITG – f

G463#7 –EDITH – f

Auxiliary function completion signals (PMC axis

G464#0 EFINE – f 15.1
control)

G464#1 Following zero checking signals (PMC axis control) ELCKZE – f 15.1

G464#2 Buffering disable signals (PMC axis control) EMBUFE – f 15.1

G464#3 Block stop signals (PMC axis control) ESBKE – f 15.1

G464#4 Servo off signals (PMC axis control) ESOFE – f 15.1

1157
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

Axis control temporary stop signals (PMC axis

G464#5 ESTPE – f 15.1
control)

G464#6 Reset signals (PMC axis control) ECLRE – f 15.1

Axis control command read signals (PMC axis

G464#7 EBUFE – f 15.1
control)

G465#0 to #6 Axis control command signals (PMC axis control) EC0E to EC6E – f 15.1

G465#7 Block stop disable signals (PMC axis control) EMSBKE – f 15.1

G466,G467 Axis control feedrate signals (PMC axis control) EIF0E to EIF15E – f 15.1

G468 to G471 Axis control data signals (PMC axis control) EID0E to EID31E – f 15.1

G472#5 Override cancellation signal (PMC axis control) OVCEE – f 15.1

*FV0EE to
G473 Feedrate override signals (PMC axis control) – f 15.1
*FV7EE

Auxiliary function completion signals (PMC axis

G476#0 EFINF – f 15.1
control)

G476#1 Following zero checking signals (PMC axis control) ELCKZF – f 15.1

G476#2 Buffering disable signals (PMC axis control) EMBUFF – f 15.1

G476#3 Block stop signals (PMC axis control) ESBKF – f 15.1

G476#4 Servo off signals (PMC axis control) ESOFF – f 15.1

Axis control temporary stop signals (PMC axis

G476#5 ESTPF – f 15.1
control)

G476#6 Reset signals (PMC axis control) ECLRF – f 15.1

Axis control command read signals (PMC axis

G476#7 EBUFF – f 15.1
control)

G477#0 to #6 Axis control command signals (PMC axis control) EC0F to EC6F – f 15.1

G477#7 Block stop disable signals (PMC axis control) EMSBKF – f 15.1

G478,G479 Axis control feedrate signals (PMC axis control) EIF0F to EIF15F – f 15.1

G480 to G483 Axis control data signals (PMC axis control) EID0F to EID31F – f 15.1

G484 Motion program auxiliary function strobe signals HMF1 to HMF8 – f 1.8

G484#5 Override cancellation signal (PMC axis control) OVCEF – f 15.1

*FV0EF to
G485 Feedrate override signals (PMC axis control) – f 15.1
*FV7EF

Auxiliary function completion signals (PMC axis

G488#0 EFING – f 15.1
control)

G488#1 Following zero checking signals (PMC axis control) ELCKZG – f 15.1

G488#2 Buffering disable signals (PMC axis control) EMBUFG – f 15.1

G488#3 Block stop signals (PMC axis control) ESBKG – f 15.1

1158
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

G488#4 Servo off signals (PMC axis control) ESOFG – f 15.1

Axis control temporary stop signals (PMC axis

G488#5 ESTPG – f 15.1
control)

G488#6 Reset signals (PMC axis control) ECLRG – f 15.1

Axis control command read signals (PMC axis

G488#7 EBUFG – f 15.1
control)

G489#0 to #6 Axis control command signals (PMC axis control) EC0G to EC6G – f 15.1

G489#7 Block stop disable signals (PMC axis control) EMSBKG – f 15.1

G490,G491 Axis control feedrate signals (PMC axis control) EIF0G to EIF15G – f 15.1

G492 to G495 Axis control data signals (PMC axis control) EID0G to EID31G – f 15.1

G496#5 Override cancellation signal (PMC axis control) OVCEG – f 15.1

*FV0EG to
G497 Feedrate override signals (PMC axis control) – f 15.1
*FV7EG

Auxiliary function completion signals (PMC axis

G500#0 EFINH – f 15.1
control)

G500#1 Following zero checking signals (PMC axis control) ELCKZH – f 15.1

G500#2 Buffering disable signals (PMC axis control) EMBUFH – f 15.1

G500#3 Block stop signals (PMC axis control) ESBKH – f 15.1

G500#4 Servo off signals (PMC axis control) ESOFH – f 15.1

Axis control temporary stop signals (PMC axis

G500#5 ESTPH – f 15.1
control)

G500#6 Reset signals (PMC axis control) ECLRH – f 15.1

Axis control command read signals (PMC axis

G500#7 EBUFH – f 15.1
control)

G501#0 to #6 Axis control command signals (PMC axis control) EC0H to EC6H – f 15.1

G501#7 Block stop disable signals (PMC axis control) EMSBKH – f 15.1

G502,G503 Axis control feedrate signals (PMC axis control) EIF0H to EIF15H – f
15.1
G504 to G507 Axis control data signals (PMC axis control) EID0H to EID31H – f

G508#5 Override cancellation signal (PMC axis control) OVCEH – f 15.1

*FV0EH to
G509 Feedrate override signals (PMC axis control) – f 15.1
*FV7EH

F000#0 Rewinding signal RWD f f 5.2

F000#4 Feed hold lamp signal SPL f f 5.1

F000#5 Cycle start lamp signal STL f f 5.1

F000#6 Servo ready signal SA f f 2.2

1159
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

F000#7 Automatic operation signal OP f f 5.1

F001#0 Alarm signal AL f f 2.4

F001#1 Resetting signal RST f f 5.2

F001#2 Battery alarm signal BAL f f 2.4

F001#3 Distribution end signal DEN f f 8.1

F001#4 Spindle enable signal ENB f – 9.3

F001#4 Spindle enable signal ENB f – 9.5.4.2

F001#5 Tapping signal TAP f – 11.4

F001#7 CNC ready signal MA f f 2.2

F002#2 Constant surface speed signal CSS f – 9.4

F002#6 Cutting feed signal CUT f f 2.8

F003#1 Operation mode check signal MSTP f f 2.6

F003#2 Operation mode check signal MJ f f 2.6

F003#3 Operation mode check signal MMDI f f 2.6

F003#4 DNC operation selection confirmation signal MRMT f – 5.7

Confirm signal for registration mode of the cam

F003#4 MRMT – f 1.9
shape data

F003#4 Operation mode check signal MRMT f f 2.6

F003#5 Operation mode check signal MAUT f f 2.6

F003#6 Operation mode check signal MEDT f f 2.6

F003#7 Operation mode check signal MTCHIN f f 2.6

Manual reference position return selection check

F004#5 MZRN f – 4.1
signal

Manual reference position return selection check

F004#5 MZRN f f 4.2
signal

F004#5 Operation mode check signal MZRN f f 2.6

F007#0 Auxiliary function strobe signals MF f f 8.3

F007#0 Auxiliary function strobe signal MF f f 8.1

F007#2 Spindle–speed function strobe signal SF f – 9.5.4.2

F007#2 Spindle function strobe signal SF f – 8.1

F007#3 Tool function strobe signal TF f f 8.1

1160
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

F008#4 2nd M function strobe signal MF2 f f

F008#5 3rd M function strobe signal MF3 f f

8.3
F008#6 4th M function strobe signal MF4 – f

F008#7 5th M function strobe signal MF5 – f

F009#4 Decode M signals DM30 f f 8.1

F009#5 Decode M signals DM02 f f 8.1

F009#6 Decode M signals DM01 f f 8.1

F009#7 Decode M signals DM00 f f 8.1

F010 to F013 Auxiliary function code signals M00 to M31 f f 8.3

F010 to F013 Auxiliary function code signals M00 to M31 f f 8.1

F014 to F015 2nd M function code signals M200 to M215 f f

F016 to F017 3rd M function code signals M300 to M315 f f

8.3
F018 to F019 4th M function code signals M400 to M415 – f

F020 to F021 5th M function code signals M500 to M515 – f

F022 to F025 Spindle function code signals S00 to S31 f – 8.1

F022 to F025 Spindle–speed function code signals (binary output) S00 to S31 f – 9.5.4.2

F026 to F029 Tool function code signals T00 to T31 f f 8.1

GR1O, GR2O,
F034#0 to #2 Gear selection signals (output) f – 9.3
GR3O

GR3O, GR2O,
F034#2, #1, #0 Gear selection signals (output) f – 9.5.4.3
GR1O

F036#0 to
S12–bit code signals R01O to R12O f – 9.3
F037#3

F036#0 to
Spindle motor speed command output signals R01O to R12O f – 15.4
F037#3

F045#0 Alarm signals (serial spindle) ALMA f –

F045#1 Speed zero signals (serial spindle) SSTA f –

F045#2 Speed detection signals (serial spindle) SDTA f –

F045#3 Speed arrival signals (serial spindle) SARA f –

9.2
F045#4 Load detection signals 1 (serial spindle) LDT1A f –

F045#5 Load detection signals 2 (serial spindle) LDT2A f –

F045#6 Torque limit signals (serial spindle) TLMA f –

F045#7 Orientation completion signals (serial spindle) ORARA f –

1161
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

F046#0 Power line switch signals (serial spindle) CHPA f –

F046#1 Spindle switch completion signals (serial spindle) CFINA f –

F046#2 Output switch signals (serial spindle) RCHPA f –

F046#3 Output switch completion signals (serial spindle) RCFNA f – 9.2

F046#4 Subordinate operation status signals (serial spindle) SLVSA f –

Position coder orientation proximity signal (serial

F046#5 PORA2A f –
spindle)

Magnetic sensor orientation completion signals

F046#6 MORA1A f –
(serial spindle)

Magnetic sensor orientation proximity signals (serial

F046#7 MORA2A f –
spindle)
9.2
Position coder one–rotation signal detection status
F047#0 PC1DEA f –
signals (serial spindle)

F047#1 Incremental orientation mode signals (serial spindle) INCSTA f –

F053#0 Key input disable signal INHKY f f

15.5
F053#1 Program screen display mode signal PRGDPL f f

F053#2 Read/punch busy signal RPBSY f f

13.2
F053#3 Read/punch alarm signal RPALM f f

F053#4 Background editing signal BGEACT f f 13.2

F053#7 Key code read completion signal EKENB f f 15.5

F054, F055 Output signals for custom macro UO000 to UO015 f f 11.3.1

F056 to F059 Output signals for custom macro UO100 to UO131 f f 11.3.1

F060#0 Read completion signal for external data input EREND f f

15.2
F060#1 Search completion signal for external data input ESEND f f

F062#7 Target part count reached signal PRTSF f f 12.1.9

F065#0 RGSPP f –
Spindle rotation direction signals 9.5.4.1
F065#1 RGSPM f –

F066#0 Look–ahead feed–forward control mode signal G08MD f f 7.1.7

F070#0 to
Position switch signals PSW01 to PSW10 f f 1.2.9
F071#1

Software operator’s panel general–purpose switch

F072 OUT0 to OUT7 f f 12.1.10
signals

1162
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

F073#0 Software operator’s panel signal (MD1) MD1O f f

F073#1 Software operator’s panel signal (MD2) MD2O f f

12.1.10
F073#2 Software operator’s panel signal (MD4) MD4O f f

F073#4 Software operator’s panel signal (ZRN) ZRNO f f

F075#2 Software operator’s panel signal (BDT) BDTO f f

F075#3 Software operator’s panel signal (SBK) SBKO f f

12.1.10
F075#4 Software operator’s panel signal (MLK) MLKO f f

F075#5 Software operator’s panel signal (DRN) DRNO f f

F075#6 Software operator’s panel signal (KEY1 to KEY4) KEYO f f

12.1.10
F075#7 Software operator’s panel signal (*SP) *SPO f f

F076#0 Software operator’s panel signal (MP1) MP1O f f 12.1.10

F076#1 Software operator’s panel signal (MP2) MP2O f f 12.1.10

F076#3 Rigid tapping–in–progress signal RTAP f – 9.5.4.1

F076#4 Software operator’s panel signal (ROV1) ROV1O f f

12.1.10
F076#5 Software operator’s panel signal (ROV2) ROV2O f f

F077#0 Software operator’s panel signal (HS1A) HS1AO f f

F077#1 Software operator’s panel signal (HS1B) HS1BO f f

12.1.10
F077#2 Software operator’s panel signal (HS1C) HS1CO – f

F077#3 Software operator’s panel signal (HS1D) HS1DO – f

F077#6 Software operator’s panel signal (RT) RTO f f 12.1.10

F078 Software operator’s panel signals (*FV0 to *FV7) *FV0O to *FV7O f f 12.1.10

F079, F080 Software operator’s panel signals (*JV0 to *JV15) *JV0O to *JV15O f f 12.1.10

F081#0,#2,#4,
Software operator’s panel signals (+J1 to +J4) +J1O to +J4O f f
#6
12.1.10
F081#1,#3,#5,
Software operator’s panel signals (–J1 to –J4) –J1O to –J4O f f
#7

CON-
NEC-
TION
MANU-
F082#0 FSSB I/O module start signal ITPS f f
AL
(HARD-
WARE)
6.12

1163
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

Servo axis unexpected disturbance torque detection

F090#0 ABTQSV f f
signal
2.10
Spindle unexpected disturbance torque detection
F090#1 ABTSP1 f –
signal

F094 Reference position return end signal ZP1 to ZP8 f f 4.1

F094 Reference position return end signals ZP1 to ZP8 f f 4.2

F096 2nd reference position return completion signals ZP21 to ZP28 f f

4.4
F098 3rd reference position return completion signals ZP31 to ZP38 f f

F102 Axis moving signals MV1 to MV8 f f 1.2.5

F104 In–position signals INP1 to INP8 f f 7.2.6.1

F106 Axis moving direction signals MVD1 to MVD8 f f 1.2.5

F108 Mirror image check signals MMI1 to MMI8 f f 1.2.6

MDTCH1 to
F110 Controlled axis detach status signals f f 1.2.4
MDTCH8

EADEN1 to
F112 Distribution completion signals (PMC axis control) f f 15.1
EADEN8

F114 Torque limit reach signals TRQL1 to TRQL8 – f 1.8

F120 Reference position establishment signal ZRF1 to ZRF8 f f 4.1

F120 Reference position establishment signal ZRF1 to ZRF8 f f 4.2

F129#5 Override 0% signal (PMC axis control) EOV0 f f 15.1

Control axis selection status signals (PMC axis

F129#7 *EAXSL f f 15.1
control)

F130#0 In–position signals (PMC axis control) EINPA f f 15.1

F130#1 Following zero checking signals (PMC axis control) ECKZA f f 15.1

F130#2 Alarm signals (PMC axis control) EIALA f f 15.1

Auxiliary function executing signals (PMC axis

F130#3 EDENA f f 15.1
control)

F130#4 Axis moving signals (PMC axis control) EGENA f f 15.1

Positive–direction overtravel signals (PMC axis

F130#5 EOTPA f f 15.1
control)

Negative–direction overtravel signals (PMC axis

F130#6 EOTNA f f 15.1
control)

Axis control command read completion signals (PMC

F130#7 EBSYA f f 15.1
axis control)

F131#0 Auxiliary function strobe signals (PMC axis control) EMFA f f 15.1

F131#1 Buffer full signals (PMC axis control) EABUFA f f 15.1

1164
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

F132,F142 Auxiliary function code signals (PMC axis control) EM11A to EM48A f f 15.1

F133#0 In–position signals (PMC axis control) EINPB f f 15.1

F133#1 Following zero checking signals (PMC axis control) ECKZB f f 15.1

F133#2 Alarm signals (PMC axis control) EIALB f f 15.1

Auxiliary function executing signals (PMC axis

F133#3 EDENB f f 15.1
control)

F133#4 Axis moving signals (PMC axis control) EGENB f f 15.1

Positive–direction overtravel signals (PMC axis

F133#5 EOTPB f f 15.1
control)

Negative–direction overtravel signals (PMC axis

F133#6 EOTNB f f 15.1
control)

Axis control command read completion signals (PMC

F133#7 EBSYB f f 15.1
axis control)

F134#0 Auxiliary function strobe signals (PMC axis control) EMFB f f 15.1

F134#1 Buffer full signals (PMC axis control) EABUFB f f 15.1

F135,F145 Auxiliary function code signals (PMC axis control) EM11B to EM48B f f 15.1

F136#0 In–position signals (PMC axis control) EINPC – f 15.1

F136#1 Following zero checking signals (PMC axis control) ECKZC – f 15.1

F136#2 Alarm signals (PMC axis control) EIALC – f 15.1

Auxiliary function executing signals (PMC axis

F136#3 EDENC – f 15.1
control)

F136#4 Axis moving signals (PMC axis control) EGENC – f 15.1

Positive–direction overtravel signals (PMC axis

F136#5 EOTPC – f 15.1
control)

Negative–direction overtravel signals (PMC axis

F136#6 EOTNC – f 15.1
control)

Axis control command read completion signals (PMC

F136#7 EBSYC – f 15.1
axis control)

F137#0 Auxiliary function strobe signals (PMC axis control) EMFC – f 15.1

F137#1 Buffer full signals (PMC axis control) EABUFC – f 15.1

F138,F148 Auxiliary function code signals (PMC axis control) EM11C to EM48C – f 15.1

F139#0 In–position signals (PMC axis control) EINPD – f 15.1

F139#1 Following zero checking signals (PMC axis control) ECKZD – f 15.1

F139#2 Alarm signals (PMC axis control) EIALD – f 15.1

Auxiliary function executing signals (PMC axis

F139#3 EDEND – f 15.1
control)

1165
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

F139#4 Axis moving signals (PMC axis control) EGEND – f 15.1

Positive–direction overtravel signals (PMC axis

F139#5 EOTPD – f 15.1
control)

Negative–direction overtravel signals (PMC axis

F139#6 EOTND – f 15.1
control)

Axis control command read completion signals (PMC

F139#7 EBSYD – f 15.1
axis control)

F140#0 Auxiliary function strobe signals (PMC axis control) EMFD – f 15.1

F140#1 Buffer full signals (PMC axis control) EABUFD – f 15.1

F141,F151 Auxiliary function code signals (PMC axis control) EM11D to EM48D – f 15.1

RPDET1 to
F158 Pole position detection signals f f
RPDET8
21
RPFIN1 to
F159 Pole position detection completion signals f f
RPFIN8

F168 to F175 Handy operator’s panel key output signal SW1 to SW61 f f 19

F169#5 Handy operator’s panel mode M–OPE f f 19

Handy operator’s panel emergency stop button

F175#5 HOPSTP f f 19
status signal

Handy operator’s panel deadman switch status

F175#6 HOPENB f f 19
signal

F175#7 Handy operator’s panel emergency stop status signal HOPEMG f f 19

F177#0 Slave I/O Link selection signal IOLNKM f f 13.3

F177#1 Slave external read start signal ERDIO f f 13.3

F177#2 Slave read/write stop signal ESTPIO f f 13.3

F177#3 Slave external write start signal EWTIO f f 13.3

F177#4 Slave program selection signal EPRGM f f 13.3

F177#5 Slave macro variable selection signal EVARM f f 13.3

F177#6 Slave parameter selection signal EPARMM f f 13.3

F177#6 Slave diagnostic data selection signal EDGNM f f 13.3

SRLNO0 to
F178#0 to #3 Group number output signals f f 13.3
SRLNO3

Torque limit reach signals for reference position CLRCH1 to

F180 f f 4.7
setting with mechanical stopper CLRCH8

EACNT1 to
F182 Controlling signals (PMC axis control) f f 15.1
EACNT8

Unexpected disturbance torque detection axis output

F184 ABTD1 to ABTD8 f f 2.10
signals

1166
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

TRQM1 to
F190 Torque control mode signal (PMC axis control) f f 15.1
TRQM8

F206#2 to
Analog input signals AD00 to ADSGN f f 21.1
F207#7

F208#0 Handy operator’s panel connecting signal HOPATH f f 19

F209#0 to #3 Waiting signals WAT1 to WAT4 f f 8.5

F209#4 V–READY waiting signal WVRDY f f 2.16

F209#5 Tapping retraction completion signal RTPT f – 5.9

F209#5 Rigid tapping retraction completion signal RTPT f – 5.8

F220 Acceleration/deceleration signals SUP1 to SUP8 f f

7.2.7
F221 Distributing signals IPL1 to IPL8 f f

F222 Servo position deviation monitor signal SVER1 to SVER8 f f 2.13

ECMCP1 to
F223#0 to #3 Phase calibration completion signals – f 1.9
ECMCP4

F224#0 Electronic CAM running executing signal ECMEXE – f 1.9

F224#7 Electronic CAM mode in–progress signal ECMMOD – f 1.9

F228#0 High–response mode in–progress signal HMDO – f 1.8

F228#7 Compile executing signal HCPLO – f 1.8

F229 Motion program using signals (each axis) HEX1 to HEX8 – f 1.8

F230 Motion program alarm signals (each axis) HALM1 to HALM8 f f 1.8

F231 Motion program ready signals (each axis) HRDY1 to HRDY8 – f 1.8

F236#0 to
APC communication error signal APCM1 to APCM8 f f
F243#0

F236#1 to
APC over time error signal APOV1 to APOV8 f f
F243#1

F236#2 to
APC framing error signal APFE1 to APFE8 f f
F243#2

F236#3 to
APC parity error signal APPE1 to APPE8 f f
F243#3
2.12
F236#4 to
APC pulse miss error signal APPS1 to APPS8 f f
F243#4

F236#5 to
APC battery voltage 0 error signal APBZ1 to APBZ8 f f
F243#5

F236#6 to
APC battery low alarm 1 signal APBV1 to APBV8 f f
F243#6

F236#7 to
APC battery low alarm 2 signal APBL1 to APBL8 f f
F243#7

1167
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

CON-
NEC-
TION
F248#0 to Built–in I/O overcurrent alarm signals (Y1000 to DVALM0 to MANU-
f f
F248#2 Y1002) DVALM2 AL
(HARD-
WARE)
6.4

F248#5,
Fan alarm signals (for each fan) FANAL1, FANAL2 f f 2.4
F248#6

F250#0 P/S alarm 100 signal ALPS1 f f

F250#1 P/S alarm 000 signal ALPS2 f f

F250#2 P/S alarm 101 signal ALPS3 f f

F250#3 P/S alarm signal ALPS f f

F250#4 Over travel alarm signal ALOT f f

2.11
F250#5 Over heat alarm signal ALOH f f

F250#6 Servo alarm signal ALSV f f

F251#0 APC alarm signal ALAPC f f

F251#1 Spindle alarm signal ALSPD f –

F251#2 P/S alarm (No. 5001 or later) signal ALPS4 f f

F253#7 Concurrent input completion signal KENB – f 12.2.6

F254#7 Path display confirmation signal PATHO f – 2.7

F276, F277 UO016 to UO031 f f

F280 to F283 Output signals for custom macro UO200 to UO231 f f 11.3.1

F284 to F287 UO300 to UO331 f f

TDSML1 to
F298 Thermal simulation trouble prediction signal f f 2.17
TDSML8

TDFTR1 to
F299 Disturbance torque value trouble prediction signal f f 2.17
TDFTR8

F480 Motion program using signals (each M–code group) HEXM1 to HEXM8 – f 1.8

HALMM1 to
F481 Motion program alarm signals (each M–code group) – f 1.8
HALMM8

HRDYM1 to
F482 Motion program ready signals (each M–code group) – f 1.8
HRDYM8

Motion program auxiliary function strobe signal

F484 HMF1 to HMF8 – f 1.8
(high–speed response function)

F500#0 In–position signals (PMC axis control) EINPE – f 15.1

F500#1 Following zero checking signals (PMC axis control) ECKZE – f 15.1

1168
B–63173EN–1/02 A. INTERFACE BETWEEN CNC AND PMC

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

F500#2 Alarm signals (PMC axis control) EIALE – f 15.1

Auxiliary function executing signals (PMC axis

F500#3 EDENE – f 15.1
control)

F500#4 Axis moving signals (PMC axis control) EGENE – f 15.1

Positive–direction overtravel signals (PMC axis

F500#5 EOTPE – f 15.1
control)

Negative–direction overtravel signals (PMC axis

F500#6 EOTNE – f 15.1
control)

Axis control command read completion signals (PMC

F500#7 EBSYE – f 15.1
axis control)

F501#0 Auxiliary function strobe signals (PMC axis control) EMFE – f 15.1

F501#1 Buffer full signals (PMC axis control) EABUFE – f 15.1

F502,F488 Auxiliary function code signals (PMC axis control) EM11E to EM48E – f 15.1

F503#0 In–position signals (PMC axis control) EINPF – f 15.1

F503#1 Following zero checking signals (PMC axis control) ECKZF – f 15.1

F503#2 Alarm signals (PMC axis control) EIALF – f 15.1

Auxiliary function executing signals (PMC axis

F503#3 EDENF – f 15.1
control)

F503#4 Axis moving signals (PMC axis control) EGENF – f 15.1

Positive–direction overtravel signals (PMC axis

F503#5 EOTPF – f 15.1
control)

Negative–direction overtravel signals (PMC axis

F503#6 EOTNF – f 15.1
control)

Axis control command read completion signals (PMC

F503#7 EBSYF – f 15.1
axis control)

F504#0 Auxiliary function strobe signals (PMC axis control) EMFF – f 15.1

F504#1 Buffer full signals (PMC axis control) EABUFF – f 15.1

F505,F491 Auxiliary function code signals (PMC axis control) EM11F to EM48F – f 15.1

F506#0 In–position signals (PMC axis control) EINPG – f 15.1

F506#1 Following zero checking signals (PMC axis control) ECKZG – f 15.1

F506#2 Alarm signals (PMC axis control) EIALG – f 15.1

Auxiliary function executing signals (PMC axis

F506#3 EDENG – f 15.1
control)

F506#4 Axis moving signals (PMC axis control) EGENG – f 15.1

Positive–direction overtravel signals (PMC axis

F506#5 EOTPG – f 15.1
control)

1169
A. INTERFACE BETWEEN CNC AND PMC B–63173EN–1/02

Refer-
Address Signal name Symbol PM i–D PM i–H
ence

Negative–direction overtravel signals (PMC axis

F506#6 EOTNG – f 15.1
control)

Axis control command read completion signals (PMC

F506#7 EBSYG – f 15.1
axis control)

F507#0 Auxiliary function strobe signals (PMC axis control) EMFG – f 15.1

F507#1 Buffer full signals (PMC axis control) EABUFG – f 15.1

F508,F494 Auxiliary function code signals (PMC axis control) EM11G to EM48G – f 15.1

F509#0 In–position signals (PMC axis control) EINPH – f 15.1

F509#1 Following zero checking signals (PMC axis control) ECKZH – f

15.1
F509#2 Alarm signals (PMC axis control) EIALH – f

Auxiliary function executing signals (PMC axis

F509#3 EDENH – f 15.1
control)

F509#4 Axis moving signals (PMC axis control) EGENH – f 15.1

Positive–direction overtravel signals (PMC axis

F509#5 EOTPH – f 15.1
control)

Negative–direction overtravel signals (PMC axis

F509#6 EOTNH – f 15.1
control)

Axis control command read completion signals (PMC

F509#7 EBSYH – f 15.1
axis control)

F510#0 Auxiliary function strobe signals (PMC axis control) EMFH – f 15.1

F510#1 Buffer full signals (PMC axis control) EABUFH – f 15.1

F511,F497 Auxiliary function code signals (PMC axis control) EM11H to EM48H – f 15.1

1170
B–63173EN–1/02 Index
ƠNumbersơ CNC ready signal, 345
CNC screen display function, 1048
2nd or 4th reference position return, 445
Combined use of the electronic CAM mode and simple
synchronous control in the electronic CAM function, 276
Command types, 286
ƠAơ Command types and specification methods, 286

Abnormal load detection, 372 Commands using a G code, 287

About the pacemaker, 312 Commands using PMC axis control, 289

Absolute position detection, 64 Common variables, 197

Acceleration/deceleration, 321 Congiguration, 301

Acceleration/deceleration control, 533 Connection, 1057

Acceleration/deceleration control in high response mode, 228 Connection among spindle, spindle motor, and position coder,
636
Actual position reading function with absolute–position
detector, 1032 Constant surface speed control, 629
Controlled axes, 2
Advanced preview feed–forward control, 517
Controlled axes detach, 11
Alams, 309
Corner control, 554
Alarm and diagnosis, 1047
Custom macro, 707
Alarm classification signals, 388
Custom macro in the high response mode, 192
Alarm signal, 353
Cutting feedrate clamp, 506
Alarms, 304
Cycle start/feed hold, 464
Analog input, 999
Analog input function, 1000
Analog spindle, 1019
APC alarm classification signals, 391
ƠDơ
Data input/output functions based on the I/O link (master), 818
Automatic acceleration/deceleration, 533
Data input/output functions based on the I/O link (slave), 855
Automatic operation, 463
Decimal point programming/pocket calculator type decimal
Auxiliary function, 566, 567 point programming, 703
Auxiliary function in high response mode, 176 Detail specifications, 1018
Auxiliary function lock, 577 Details, 1057
Available addresses, 1057 Device input function, 316
Available G code in high response mode, 148 DI/DO signals, 1021
Axis control, 1 Direct DI signals (MT to CNC), 1021
Axis status signals, 558 Direct signal output function in high response function, 182
Display of hardware and software configuration, 741
Display of parameter set supporting screen function, 771
ƠBơ Display/set, 735
Background editing, 775 Display/set/edit, 734

Backlash compensation, 55 Displaying alarm history, 738

Bell–shaped acceleration/deceleration after cutting feed Displaying operation history, 736

interpolation, 545 Distance/angle–yet–to–move of various motion commands, 215
Bit–specified access to system variables, 202 Distance/angle–yet–to–move read function, 215
Butt–type reference position setting, 448 DNC operation, 487
Dry run, 476
Dual–screen display, 1050
ƠCơ
C executor, 728
Canned cycle (Power Mate i–D), 720 ƠEơ
Changing pulse signal output intervals, 1045 Edit, 772
Circular interpolation, 495 Electronic CAM function (Power Mate i–H), 233
Clock function, 735 Electronic cam function(B–specification), 257

i–1
INDEX B–63173EN–1/02

Emergency stop, 342 G92 (setting a workpiece coordinate system), 159

End request DI signal, 1050 General information about NC axis synchronization commands,
287
Enhancement of electronic CAM function, 262
General information about PMC axis synchronization
Error compensation, 47 commands, 289
Exact stop, 486
Example, 1045
Example for electronic cam operation is performed for both the
master unit and slave unit, 305
ƠHơ
Handy operator’s panel, 989
Example of a complicated synchronization relationship (when
all axes are servo axes), 282 Helical interpolation (Power Mate i–H), 501
Example of a simple synchronization relationship, 281 Help function, 738
Example of a synchronization relationship where a master High response function (Power Mate i–H), 116
device in another unit is used as the parent axis, 284
High–speed M/S/T/B interface, 582
Example of a synchronization relationship where a pacemaker
is used as the parent axis, 285 High–speed position switch (including “judging a passing
type), 27
Example of a synchronization relationship where a separate
absolute position detector is used as the parent axis, 283 High–speed skip function, 865

Example of electronic cam (master unit) and multiaxis High–speed skip function (wirh traveling distance from skip
synchronization (slave unit), 306 signal), 872

Expansion of time constant, 565 High–speed skip function (with traveling distance from skip
signal) in PMC axis control, 950
External data input, 971
How to give a command, 208
External I/O device control, 789
Hypothetical axis, 320
External key input, 983
External Pulse Input Function, 336
External workpiece number search, 975
ƠIơ
In–position check, 554
In–position check independently of feed/rapid traverse, 555
ƠFơ Increment system, 5
FANUC I/O link function, 1003 Input/output of data, 781
Feed forward in rapid traverse, 564 Inter–unit data sharing function, 300
Feed per minute, 508 Interface between CNC and PMC, 1061
Feed per revolution/manual feed per revolution, 509 Interface signals between the CNC and PMC (PMC → CNC,
Feed stop function, 516 CNC → PMC), 1022

Feedrate control, 504 Interpolation function, 489

Interruption type custom macro, 717
Feedrate control/acceleration and deceleration control, 503
Feedrate override, 513
Follow–up, 19
FSSB serial feedback dummy function, 83 ƠJơ
FSSB setting, 65, 1018 Jog feed/step feed, 403

Function of teach–in for four axes (Power Mate i–H), 777

ƠKơ
ƠGơ Key codes for T series, 770

G00 (positioning), 148 Key operations at power–on, 1016

G01 (linear interpolation), 149

G04 (dwell), 150
G135.1 (continuous feed), 159 ƠLơ
G135.3 (motion command with acceleration/deceleration time Limitations, 311, 316, 1023, 1049, 1050
constant), 171
Linear acceleration/deceleration after cutting feed interpolation,
G28 (reference position return), 150 541
G31 (skip function), 151 Linear acceleration/deceleration after cutting feed interpolation,
bell–shaped acceleration/deceleration after cutting feed
G90, G91 (absolute and incremental programming), 158 interpolation, 230

i–2
B–63173EN–1/02 INDEX

Linear acceleration/deceleration before cutting feed Optional block skip, 483

interpolation, 549
Others, 1023
Linear interpolation, 492
Outputting the movement state of an axis, 14
Linear scale with absolute addressing reference marks, 455
Override, 510
List of addresses, 1062
Override cancel, 515
List of signals, 1100
Overtravel check, 347
List of signals (in order of addresses), 1147
Overtravel signal, 347
List of signals (in order of functions), 1100
List of signals (in order of symbols), 1125
Local variables, 197
ƠPơ
Pacemaker function, 312
Parameter, 303, 1058
ƠMơ Parameters, 295, 313, 317, 321, 1046, 1051
M code in multipath mode (Power Mate i–H), 592 Parameters related to servo, 59
M29 and G84 (G74) are specified in the same block, 653 Parameters related to the electronic cam function, 308
M99 in high response function, 181 Part program storage length, 772
Machine coordinate system, 87 Path display switching, 1013
Machine lock, 473 Path number when the DPL/MDI operation package is used as
the display unit, 1015
Macro compiler/macro executor, 727
Path select signal, 1014
Macro statement, 192
Path selection/display of optional path names (two–path
Manual absolute on/off, 481 control), 366
Manual handle, 1019 Periodic maintenance screen, 763
Manual handle feed, 410 Playback, 776
Manual handle interruption, 416 PMC axis control acceleration/deceleration specification feed,
959
Manual operation, 402
PMC axis control/PMC axis speed control function, 894
Manual reference position return, 424
PMC axis indirect specification command, 944
Measurement, 857
PMC axis synchronization command (direct specification), 290
Memory protection key, 773
PMC axis synchronization command (indirect specification),
Mirror image, 16 292
Mode selection, 359 PMC control function, 893
Multi–language display, 762 PMC key data reference function (output), 1025
Multi–step skip, 862 PMC window data read function, 216
Multiple M commands in a single block, 578 Polar coordinate interpolation, 499
Pole position detection function, 1026
Position switch, 23

ƠNơ Positioning, 490

Positioning by optimal acceleration, 524
Name of axes, 4
Power Mate i–MODEL D/H list of address, 1062
No. of registered programs, 772
Power–on priority, 1057
Notes, 299, 1023
Preparations for operation, 341
Notes and limitations, 311
Procedure, 281
Notes on interface with the PMC, 645
Program command, 702
Notes on making connections, 1058
Program configuration, 705
Number of blocks, 199
Pulse signal output function (Power Mate i–H), 1042

ƠOơ ƠRơ
One–screen display, 1049
Rapid traverse bell–shaped acceleration/deceleration, 538
Operation, 1050
Rapid traverse linear acceleration/deceleration, rapid traverse
Operation procedure, 308 bell–shaped acceleration/deceleration, 229

i–3
INDEX B–63173EN–1/02

Rapid traverse override, 510 Specifying 2 path control, 1011

Rapid traverse rate, 504 Specifying G84 (G74) for rigid tapping by parameters, 657
Rate change function, 326 Specifying the rotation axis, 8
Rate–feedfunction, 167 Spindle, 1018
Reader/puncher interface, 782 Spindle orientation, 694
Reference position establishment, 423 Spindle output control by the PMC (Power Mate i–D), 978
Reference position return, 443 Spindle output switching, 696
Referring to variables, 196 Spindle serial output/spindle analog output, 596
Reset and rewind, 469 Spindle setting and tuning screen, 739
Retraction for rigid tapping, 662 Spindle speed control, 602
Retraction for tapping, 668 Spindle speed function, 594

Return signal, 418 Spindle speed function (S code output), 595

Rigid tapping, 635 Start lock/interlock, 355

Rigid tapping specification, 641 Start point synchronization command, 288

Rigid threading for chaser tool, 692 Status output signal, 368

Rotary axis roll over, 90 Stored pitch error compensation, 47

Run hour and parts count display, 742 Stored stroke check 1, 350
Straightness compensation B, 55
Sub–program call for high–speed response function, 207

ƠSơ Subscript of axis names, 1014

Switching between the paths by key input on the display unit,
Screen state signals (output) DPL0. DPL1, DPL2 1013
<F254#0–#2>, 1024
Switching by input signal, 1013
Selecting key control, 1050
System variables, 197
Self–diagnosis, 740
Serial spindle, 1018
Servo axis, 1018
ƠTơ
Servo off (mechanical handle), 20
Tandem control, 107
Servo position deviation monitor signal, 396, 397
Temporary interrupt detection signal, 398
Servo tuning screen, 739
Testing a program, 473
Setting, 320
The function of assigning C executor’s screens to the
Setting a synchronization relationship, 281 <SUSTOM/GRAPH> key, 729
Setting each axis, 4 Third–party touch panel connection function, 1055
Setting example for inter–unit synchronization, 302 Timing charts for rigid tapping specification, 648
Setting manual pulse generators on handy machine operator’s Timing to cancel rigid tapping mode, 661
panels, 1036
Tool compensation value/tool compensation number/tool
Setting the pulse signal output function, 1044 compensation memory, 700
Setting the reference position without dogs, 437 Tool function, 699
Settings related to servo–controlled axes, 59 Tool functions, 698
Settings related with coordinate systems, 87 Tool length measurement (M series), 858
Signal, 642 Torque limit function, 331
Signal addresses, 645 Trouble prediction signal, 400
Signals, 297, 315, 319, 1052 Troubleshooting in multiaxis synchronous control, 324
Signals for the rigid tapping function, 642 Two–path control (Power Mate i–D), 1008
Signals related to gear switching, 644 Two–path display, 1013
Signals related to S code output, 643 Types of shared data, 301
Simple synchronous control, 93, 218, 233, 280
Single block, 479
Skip function, 859 ƠUơ
Software operator’s panel, 747 Use, 1044
Specification methods, 286 Use example, 320

i–4
B–63173EN–1/02 INDEX

Use with the multi axes synchronous function and the electronic
cam function, 304 ƠWơ
Waiting function, 586

ƠVơ When M29 is specified before G84 (G74), 649

V–READY waiting signal, 399

Workpiece coordinate system/addition of workpiece coordinate
VRDY OFF alarm ignore signal, 370 system pair, 88

i–5





 




 






  

!"#$%#$





-
-..)
/0





)123
3
 1
 .()
45())

3)


 
637 +
8
)1
/3
!+
88!

.

-9 :
(//6
-( +
)1

3
-( 




 +
. 

/
-( 



 +
(.;

6 1
(

.



 +

1)
-( +


<(
./
-( +
;
.
3(.
3(
-( +
3.6
-

.
/
-
/

3(
 .&

 ."+
 
=>'',?+
8


3

/

).+
/3

6


(3
 

).+
@2
6
)
).+

(9.
3
 
).+
. .


3.



 +
;3
-
/
+

A)
-( +



/(.31
/



 +

)
1
)
-

1

.+

; (
+
B6

-




+
3.6
-
3
/


(33
)


-( +

( 
-
 12
-

-(

;



 +


&'
()*+
'&&,
3((3(
-( 
9

1

:
/
+





3((3(
-( 
9

1

:
. +
)123

:3
-( +
)123
:3
-( 
1

.)
 

-
/
:3
). +
(
)
-( 
96
()
1)123
:3

).



 +
.)
3(+
(

.:
-( +

231

.



2 +
8


).

(3(
.&+
.$+
.'=',CD&2D'?+

:6



-
 
-( 
(3( +
.
3
 
-( +

(.
3

)
-( 
1
9.(23
 
+




8)
/(.
3(.
)



16
/ 1
3

E

3.+
(.
).
(3(
-( 



 +




3.6
-( +
1
23
6
( 1
3.
 

-( 



-
).



-
3
/





 
-
















&$
F(*+
$GG%