Gfke 0218a en - 050120

FANUC Series 16*/160*/160*s-MODEL B

Dual Check Safety

OPERATOR’S MANUAL for SD7
GFKE-0218A-EN
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”.
GFKE-0218A-EN SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
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.
NOTE
The IEC61131-3 adresses from PMC SD7 used in this manual have been
shortened by the '%' as follows:
'%I1234' => 'I1234'

'%Q1234' => 'Q1234'
'%IF1234' => 'IF1234'
'%QG1234' => 'QG1234'
'%M1234' => 'M1234'
'%R1234' => 'RI1234'
s-1
GFKE-0218A-EN TABLE OF CONTENTS
TABLE OF CONTENTS
DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1

1 OVERVIEW ............................................................................................. 1
1.1 DIRECTIVE AND STANDARDS .................................................................... 2
1.1.1 Directives..................................................................................................................2
1.1.2 Related Safety Standards..........................................................................................2
1.1.3 Risk Analysis and Evaluation...................................................................................2
1.2 DEFINITION OF TERMS............................................................................... 3
1.2.1 General Definition of Terms ....................................................................................3
1.2.2 Definition of Terms Related to the Safety Function ................................................3
1.3 BASIC PRINCIPLE OF DUAL CHECK SAFETY ........................................... 4
1.3.1 Features of Dual Check Safety .................................................................................4
1.3.2 Compliance with the Safety Standard (EN954-1, Category 3) ................................5
1.3.2.1 Latent error detection and cross-check ................................................................ 6
1.3.2.2 Safety monitoring cycle and cross-check cycle ................................................... 6
1.3.2.3 MCC off Test....................................................................................................... 7
1.3.2.4 Error analysis ....................................................................................................... 7
1.3.2.5 Remaining risks ................................................................................................... 8
1.4 GENERAL INFORMATION ......................................................................... 10
2 SYSTEM CONFIGURATION................................................................. 12
3 SAFETY FUNCTIONS........................................................................... 14
3.1 APPLICATION RANGE ............................................................................... 15
3.2 BEFORE USING THE SAFETY FUNCTION ............................................... 19
3.2.1 Important Items to Check Before Using the Safety Function ................................19
3.2.2 MCC off Test of the Safe Stop Function................................................................19
3.3 STOP........................................................................................................... 20
3.3.1 Stopping the Spindle Motor ...................................................................................20
3.3.2 Stopping the Servo Motor ......................................................................................21
3.3.3 Stop States ..............................................................................................................21
3.4 SAFE-RELATED I/O SIGNAL MONITORING ............................................. 23
3.5 EMERGENCY STOP................................................................................... 29
3.6 SAFE SPEED MONITORING ...................................................................... 30
3.7 SAFE MACHINE POSITION MONITORING ............................................... 32
3.8 MCC OFF TEST .......................................................................................... 34
3.9 PROGRAMMABLE SAFE-RELATED I/O SIGNALS.................................... 36
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TABLE OF CONTENTS GFKE-0218A-EN
3.9.1 Sequence of the Programmable Safe-Related I/O Signal Function........................36

3.9.2 C Language Executor .............................................................................................38
3.10 SAFETY POSITION SWITCH SIGNAL ....................................................... 43
4 INSTALLATION .................................................................................... 45
4.1 OVERALL CONNECTION DIAGRAM ......................................................... 47
4.1.1 For 1-path ...............................................................................................................47
4.1.2 For 2-path ...............................................................................................................49
4.1.3 Loader Control .......................................................................................................52
4.2 DI/DO CONNECTION (VIA THE PMC) ....................................................... 53
4.3 DI/DO CONNECTION (VIA THE FSSB) ...................................................... 54
4.3.1 FSSB I/O Connection.............................................................................................54
4.3.2 FSSB I/O Attachment.............................................................................................61
4.3.3 FSSB I/O Specification List ...................................................................................66
5 I/O SIGNALS ......................................................................................... 67

5.1 OVERVIEW ................................................................................................. 68
5.2 SIGNALS ..................................................................................................... 69
5.3 SIGNAL ADDRESSES ................................................................................ 81
5.3.1 1-path Control ........................................................................................................81
5.3.2 2-CPU 2-path Control (Series 16i/18i-TB, Series 16i-MB) ...................................83
5.3.3 1-CPU 2-path Control (Series 16i/18i-TB) ............................................................86
5.3.4 2-CPU 3-path Control (Series 16i-TB)...................................................................89
5.3.5 Loader Control (Series 16i/18i/21i-TB, Series 16i/18i-MB) .................................93
5.3.6 Caution (Common).................................................................................................94
5.4 SAFETY SIGNAL MODES .......................................................................... 95
5.5 NOTES ON MULTI-PATH CONTROL ......................................................... 97
5.5.1 2-CPU 2-Path Control (without Axis Change between Paths)...............................97
5.5.2 2-CPU 2-Path Control (with Axis Change between Paths)....................................98
5.5.3 1-CPU 2-Path Control ............................................................................................99
5.5.4 2-CPU 3-Path Control ..........................................................................................100
5.5.5 Loader Control .....................................................................................................101
6 PARAMETERS.................................................................................... 102
6.1 OVERVIEW ............................................................................................... 103
6.2 PARAMETERS .......................................................................................... 104
6.3 PARAMETERS RELATED TO THE USE OF FSSB I/O UNIT................... 122
6.4 FUNCTIONS THAT REQUIRE SPECIAL PARAMETER SETTINGS ........ 126
6.4.1 Tandem Control....................................................................................................126
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6.4.2 Simple Electronic Gear Box and Electronic Gear Box 2-pair..............................126
6.4.3 Multi-path Control................................................................................................126
6.4.4 Closed Loop Control ............................................................................................128
6.4.5 PMC Axis Control (Speed Command).................................................................129
7 START-UP........................................................................................... 130
7.1 START-UP OPERATION........................................................................... 131
7.1.1 Acceptance Test and Report for Safety Functions ...............................................131
7.2 START-UP OF THE DUAL CHECK SAFETY FUNCTION ........................ 133
7.2.1 Initial Start-up ......................................................................................................133
7.2.2 Series Start-up ......................................................................................................135
7.2.3 Troubleshooting ...................................................................................................135
8 MAINTENANCE .................................................................................. 136

8.1 SAFETY PRECAUTIONS .......................................................................... 137
8.2 ALARMS AND MESSAGES ...................................................................... 141
8.2.1 Overview ..............................................................................................................141
8.2.2 Servo Alarms........................................................................................................142
8.2.3 Serial Spindle Alarms...........................................................................................147
8.2.4 Alarms Displayed on the Spindle Unit.................................................................149
8.2.5 System Alarms .....................................................................................................150
8.2.6 Boot System Alarms.............................................................................................150
9 DIAGNOSIS......................................................................................... 151
9.1 OVERVIEW ............................................................................................... 152
9.2 DIAGNOSIS............................................................................................... 153
9.3 DUAL CHECK SAFETY DIAGNOSIS SCREEN ........................................ 154
9.3.1 Overview ..............................................................................................................154
9.3.2 Method of Displaying the Dual Check Safety Diagnosis Screen.........................154
9.3.3 Screen Display......................................................................................................155
10 SAMPLE SYSTEM CONFIGURATION............................................... 165

10.1 SAMPLE CONFIGURATION ..................................................................... 166
10.1.1 For 1-path (When One PSM Is Used) ..................................................................166
10.1.2 For 1-path (When One PSM Is Used) ..................................................................167
10.1.3 For 2-path (When the main side and sub side use a common MCC) ...................168
10.1.4 For 2-path (When the main side and sub side use independent MCCs and
protection doors) ..................................................................................................169
10.2 SAMPLE CONNECTIONS......................................................................... 170
10.2.1 Emergency Stop Signal (*ESP1, *ESP2).............................................................170
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TABLE OF CONTENTS GFKE-0218A-EN
10.2.2 Guard Open Request Signal (ORQ) .....................................................................171

10.2.3 Test Mode Signal (OPT) ......................................................................................171
10.2.4 Guard Unlock Signal (*LGD), Guard Lock State Signal (GDL), Guard State
Signal (SGD) ........................................................................................................172
10.2.5 MCC On Enable Signal (MCF), MCC Contact State Signal (*SMC) .................177
11 APPLYCATION OF OTHER FUNCTIONS.......................................... 178

11.1 OVERVIEW ............................................................................................... 179
11.2 EXTERNAL DECELERATION ................................................................... 180
11.2.1 Overview ..............................................................................................................180
11.2.2 Specifications .......................................................................................................181
11.2.3 Signals ..................................................................................................................183
11.2.3.1 Details on signals............................................................................................. 183
11.2.3.2 Signal address .................................................................................................. 184
11.2.4 Parameters ............................................................................................................184
11.3 SPINDLE OUTPUT CONTROL BY THE PMC .......................................... 186
11.3.1 Overview ..............................................................................................................186
11.3.2 Specifications .......................................................................................................187
11.3.3 Signals ..................................................................................................................188
11.3.3.2 Signal address .................................................................................................. 189
11.3.4 Parameters ............................................................................................................189
11.4 SPINDLE POSITIONING (T SERIES) ....................................................... 190
11.4.1 Overview ..............................................................................................................190
11.4.2 Specifications .......................................................................................................191
11.4.3 Signals ..................................................................................................................193
11.4.3.2 Signal address .................................................................................................. 194
11.4.4 Parameters ............................................................................................................194
11.5 CS CONTOUR CONTROL ........................................................................ 199
11.5.1 Overview ..............................................................................................................199
11.5.2 Specifications .......................................................................................................200
11.5.3 Signals ..................................................................................................................201
11.5.3.2 Signal address .................................................................................................. 202
11.5.4 Parameters ............................................................................................................203
11.6 SPINDLE ORIENTATION .......................................................................... 205
11.6.1 Overview ..............................................................................................................205
11.6.2 Specifications .......................................................................................................205
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11.6.3 Signals ..................................................................................................................206

11.6.3.2 Signal address .................................................................................................. 207
11.6.4 Parameters ............................................................................................................207
11.6.5 Sequence...............................................................................................................210
12 COMPONENTS LIST .......................................................................... 211

12.1 HARDWARE COMPONENTS ................................................................... 212
12.1.1 Hardware Components for Series
16i/18i/21i/160i/180i/210i/160is/180is/210is-MODEL A ...................................212
16i/18i/21i/160i/180i/210i/160is/180is/210is-MODEL B ...................................212
12.1.3 Hardware Components for Other Units................................................................213
12.2 SOFTWARE COMPONENTS.................................................................... 214
12.3 SERVO AMPLIFIER .................................................................................. 215
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GFKE-0218A-EN 1.OVERVIEW
1 OVERVIEW
Setup for machining, which includes attaching and detaching a
workpiece to be machined, and moving it to the machining start point
while viewing it, is performed with the protection door opened. The
dual check safety function provides a means for ensuring a high level
of safety with the protection door opened.
The simplest method of ensuring safety when the protection door is
open is to shut off power to the motor drive circuit by configuring a
safety circuit with a safety relay module. In this case, however, no
movements can be made on a move axis (rotation axis). Moreover,
since the power is shut off, some time is required before machining
can be restarted. This drawback can be corrected by adding a motor
speed detector to ensure safety. However, the addition of an external
detector may pose a response problem, and the use of many safety
relay modules results in a large and complicated power magnetics
cabinet circuit.
With the dual check safety function, two independent CPUs built into
the CNC monitor the speed and position of motors in dual mode. An
error in speed and position is detected at high speed, and power to the
motor is shut off via two independent paths. Processing and data
related to safety is cross-checked by two CPUs. To prevent failures
from being built up, a safety-related hardware and software test must
be conducted at certain intervals time.
The dual check safety function need not have an external detector
added. Instead, only a detector built into a servo motor or spindle
motor is used. This configuration can be implemented only when
those motors, detectors built into motors, and amplifiers that are
specified by FANUC are used. When an abnormality related to safety
occurs, the dual check safety function stops operation safely.
The dual check safety function ensures safety with the power turned
on, so that an operator can open the protection door to work without
turning off the power. A major feature of the dual check safety
function is a very short time required from the detection of an
abnormality until the power is shut off. A cost advantage of the dual
check safety function is that external detectors and safety relays can
be eliminated or simplified.
If a position or speed mismatch is detected by a cross-check using two
CPUs, the safety function of the Dual Check Safety works the power
to be shut off (MCC off) to the motor drive circuit.
IMPORTANT
The IMPORTANT is used to indicate
supplementary information other than Warning and
Caution.
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1.OVERVIEW GFKE-0218-EN/02
1.1 DIRECTIVE AND STANDARDS
1.1.1 Directives
Machine tools and their components must satisfy the EC directives
listed below.
The FANUC CNC systems with the dual check safety function are
compatible with all of these directives.
Directive
Directive 98/37/EC 1998 Safety of machinery (Machine directives)
Directive 89/336/EEC 1989 Electromagnetic compatibility (EMC directives)
Directive 73/23/EEC 1973 Low Voltage Requirement (Low voltage directives)
1.1.2 Related Safety Standards

To be compatible with the directives, especially the machine directive,
the international standards and European standards need to be
observed.
Important safety standards

EN292-1/2 1991 Safety of machinery – Basic concepts, general principle for design
Part 1: Basic terminology, methodology
Part 2: Technical principles for design
EN954-1 1996 Safety of machinery – Safety related parts of control systems –
Part 1: General principles for design
EN1050 1996 Safety of machinery – Principles for risk assessment
EN60204-1 1997 Safety of machinery – Electrical equipment of machine
Part 1 : General requirements
DIN V VDE0801 (1990) including Principles for computers in safety –related systems
amendment A1(1994)
1.1.3 Risk Analysis and Evaluation

According to the machine directive, the manufacturer of a machine or
machine components and a responsible person who supplies a
machine or machine components to the market must conduct risk
evaluation to identify all risks that can arise in connection with the
machine or machine components. Based on such risk analysis and
evaluation, a machine and machine components must be designed and
manufactured. Risk evaluation must reveal all remaining risks and
must be documented.
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1.2 DEFINITION OF TERMS
1.2.1 General Definition of Terms
Reliability and safety

Reliability and safety are defined by EN292-1 as follows:
Term Definition
Reliability Capability of a machine, machine component, or
equipment to perform its required function under a
specified condition for a specified period
Safety Capability of a machine to perform its function without
injuring the health under a condition of use for an
intended purpose specified in the operator's manual and
allow its transportation, installation, adjustment,
maintenance, disassembly, and disposal
1.2.2 Definition of Terms Related to the Safety Function
Safe-related I/O signal

Safe-related I/O signals are input/output signals monitored by two
systems. These signals are valid for each feed axis and spindle with a
built-in safety function, and are used with each monitoring system.
Example: Protection door state signal
Safe stop
When a safe stop occurs, power to the drive section is shut off. The
drive section can generate neither a torque nor dangerous operation.
The following are measures for incorporating the safe stop feature:
Contactor between the line and drive system (line contactor)
Contactor between the power section and drive motor (motor
contactor)
If an external force is applied (such as a force applied onto a vertical
axis), an additional measure (such as a mechanical brake) must be
securely implemented to protect against such a force.
Safety limitation speed

When the drive system has reached a specified limitation speed, a
transition is made to the safe stop state.
A measure must be implemented to prevent a set limitation speed from
being changed by an unauthorized person.
Safe machine position

When the drive system has reached a specified positional limit, a
transition is made to the safe stop state. When a positional limit is set,
a maximum move distance traveled until a stop occurs must be
considered. A measure must be implemented to prevent a set
positional limit from being changed by an unauthorized person.
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1.3 BASIC PRINCIPLE OF DUAL CHECK SAFETY
1.3.1 Features of Dual Check Safety

Dual Check Safety function has the following features.
• Two-channel configuration with two or more independent CPUs
• Cross-check function for detecting latent errors
Detection
A servo motor detector signal is sent via the servo amplifier and is
applied to the CNC through the FSSB interface. Then, it is fed to two
CPUs: a CNC CPU and a servo CPU.
A spindle motor detector signal is sent via the spindle amplifier and is
applied to the CNC connected through the serial interface. Then, it is
fed to two CPUs: a CNC CPU and a spindle CPU.
Evaluation
The safety function is monitored independently by a CNC CPU and
servo CPU or by a CNC CPU and spindle CPU. Each CPU
cross-checks data and results at certain intervals.
Response
If the monitoring function detects an error, the CNC CPU and the
servo/spindle CPU switch off the MCC via independent paths to shut
off the power to the feed axis and spindle.
-4-
1.3.2 Compliance with the Safety Standard (EN954-1, Category 3)

The dual check safety function satisfies the requirements of Category
3 of the safety standard EN954-1.
Category 3 requires the following:

• The safety function of a safety-related portion must not degrade
when a single failure occurs.
• Single errors must be detected at all times when natural
execution is possible.
To satisfy these requirements, the dual check safety function is

implemented using the two-channel configuration shown below.
CNC Shut off power

CNC
CPU
CPU
Motor detector signal Cross-check Magnetic
of data and
Door switch signal
results
contactor
Monitor
Monitor Shut off power
CPU
CPU
CNC controller
Monitoring of servo motor and spindle motor movement

Data output from the detector built into each motor is transferred to
the CNC through the amplifier. The safety of this path is ensured by
using motors and amplifiers specified by FANUC.
Cross-monitoring using 2 CPUs

Two CPUs built into the CNC are used to cross-monitor the safety
function. Each CPU is periodically checked for errors. If one
system fails, the servo system and spindle can be stopped safely.
Power shutoff via two paths

If an error is detected, the power is shut off via two power shutoff
paths. The paths need to be tested for built-up failures within a
certain time.
Input signal safety

Safety-related input signals such as the protection door lock/unlock
signal are monitored doubly. If a mismatch between the two
occurrences of a signal is detected, the power to the motor drive
circuit is shut off. This cross-check is constantly made.
-5-
Output signal safety

A signal is output (via two paths) to the relay used to shut off the
power to the motor drive circuit. An error is detected by a MCC off
Test. For detection of built-up failures, a MCC off Test needs to be
conducted at certain intervals. This MCC off Test is not mandatory
when machining is performed with the protection door closed. (The
MCC off Test should be performed, before the protection door is open
after the certain intervals.)
1.3.2.1 Latent error detection and cross-check
Detection of latent errors

This detection function can detect latent software and hardware errors
in a system that has a two-channel configuration. So, the safety-related
portions of the two channels need to be tested at least once within an
allowable period of time for latent errors.
CAUTION
Forced detection of a latent error on the MCC
shutoff path must be performed by the user through
a MCC off Test (after power-on and at intervals of a
specified time (within 24 hours)).
When the system is operating in the automatic
mode (when the protection door is closed), this
detection processing is not requested as
mandatory. 保護扉を開ける前には実施しなけれ
ば、保護扉のロックが解除されません。
Cross-check
A latent safety-related error associated with two-channel monitoring
can be detected as a result of cross-checking.
NOTE
An error detected as the result of forced latent error
detection or cross-checking leads to a safety stop
state. (See Subsection 3.3.3).
1.3.2.2 Safety monitoring cycle and cross-check cycle

The safety function is subject to periodical monitoring in a monitoring
cycle.
Monitoring cycle: 8 ms
The cross-check cycle represents a cycle at which all data subject to

cross-checking is compared.
Cross-check cycle: 8 ms
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1.3.2.3 MCC off Test

The MCC is shut off using two CPUs: a CNC CPU and monitor CPU.
To detect a latent error in the MCC shutoff paths forcibly, a MCC off
Test is conducted. This test is essential to dual check safety. A MCC
off Test must be conducted at specified times (after power-on and at
intervals of 24 hours) to check that the MCC shutoff paths operate
normally. A MCC off Test is conducted once on the CNC side and
once on the monitor side. When a MCC off Test becomes necessary,
the CNC outputs a MCC off Test execution request signal to the PMC.
NOTE
The machine tool builder is to warn and prompt the
operator to conduct a MCC off Test when a MCC
off Test execution request signal is output. A MCC
off Test is executed by turning on the test mode
signal.
1.3.2.4 Error analysis
Error analysis
The table below indicates the results of system error analysis
controlled by the dual check safety function.
Error analysis when the protection door is open

Error Cause Action
Spindle safety Amplifier or control unit Safety limitation speed
excessive failure, operation error, monitoring function
speed etc. EN60204-1 Category 1/0 stop
Excessive feed Amplifier or control unit Safety limitation speed
axis speed failure, operation error, monitoring function
etc. EN60204-1 Category 1/0 stop
Feed axis Amplifier or control unit Safety limitation speed
safety machine failure, operation error, monitoring function
position error etc. EN60204-1 Category 1/0 stop
Input/output Wiring error, control unit Safety limitation speed
signal error failure, etc. monitoring function
EN60204-1 Category 1/0 stop
Error analysis when the protection door is closed

Error Cause Action
Input/output Wiring error, control unit Safety limitation speed
signal error failure, etc. monitoring function
EN60204-1 Category 1/0 stop
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1.3.2.5 Remaining risks

The machine tool builder is to make a failure analysis in connection
with the control system and determine the remaining risks of the
machine.
The dual check safety function has the following remaining risks:
• The safety function is not active until the control system and
drive system have fully powered up. The safety function cannot
be activated if any one of the components of the control or drive
is not powered on.
• Faults in the absolute encoder can cause incorrect operation of
the safety machine position monitoring function.
• Interchanged phases of motor connections, reversal in the signal
of encoder and reversal mounting of encoder can cause an
increase in the spindle speed or acceleration of axis motion. If
abnormal speed detected, system controlled to brake to zero
speed, but no effective for above error. MCC off is not activated
until the delay time set by parameter has expired. Electrical faults
can also result in the response described above (component
failure too).
• The simultaneous failure of two power transistors in the inverter
may cause the axis to briefly(motion depend on number of pole
pairs of motor)
Example:
A 8-pole synchronous motor can cause the axis to move by
a maximum of 45 degrees. With a lead-screw that is directly
driven by, e.g.16 mm per revolution, this corresponds to a
maximum linear motion of approximately 2.0 mm.
• With a 1-encoder system, encoder faults are detected in a single
channel, but by various HW and SW monitoring functions. The
parameter related to encoder must be set carefully. Depending on
the error type, a category 0 or category 1 stop function according
to EN60204-1 is activated.
• The category 0 stop function according to EN60204-1 (defined
as STOP A in Safety Integrated) means that the spindles/axes are
not braked to zero speed, but coast to a stop (this may take a very
long time depending on the level of kinetic energy involved).
This must be noted, for example, when the protective door
locking mechanism is opened.
• When a limit value is violated, the speed may exceed the set
value briefly or the axis/spindle overshoot the setpoint position to
a greater or lesser degree during the period between error
detection and system reaction depending on the dynamic
response of the drive and the parameter settings (see Section
Safety-Functions)
• Dual check Safety is not capable of detecting errors in
parameterization and programming made by the machine
manufacturer. The required level of safety can only be assured by
thorough and careful acceptance.
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• Amplifiers (drive power modules) and motors must always be

replaced by the same equipment type or else the parameters will
no longer match the actual configuration and cause Dual check
Safety to respond incorrectly.
• There is a parameter that MCC off test is not to be made in the
self test mode at power-on as in the case of machine adjustment.
This parameter is protected, only changed by authorized person.
IF MCC off test is not conducted, MCC may not be off at stop
response is measured.
• During machine adjustment, an exact motion may be executed
incorrectly untie the safety functions setup correctly and confirm
test is completely.
• No alarm is issued even if a mismatch between <state of the
signal via the PMC> and <state of the signal via the FSSB> lasts
for the period of time set in parameter No. 13810 after the CNC
is started.
• No alarm is issued even if the operating mode is safety mode D
for the period of time set in parameter No. 13810 after the CNC
is started.
for the period of time set in parameter No. 13810 after the ladder
is restarted.
• When bit 0 (NIO) of parameter No. 1909 is set to 1, no alarm is
issued even if there is a mismatch between <state of the signal
via the PMC> and <state of the signal via the FSSB> while the
PMC ladder is stopped.
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1.4 GENERAL INFORMATION
The following requirements must be fulfilled for the Dual-Check

System:
• All conditions of the certification report has to be respected.
• The procedures for the changes in the System (either HW or
SW) should be referred to maintenance manual (B-63005).
When safety related components are exchanged, confirmation
test regarding safety functions can be performed accoding to
Chapter 7.
• Programming in ladder logic should be referred to programming
manual (B-61863E).
Training
FANUC Training Center provides versatile training course for the
person who is concerned with hardware installation, maintenance and
operation. FANUC recommend studying and learning in the training
center how efficiently operate FANUC products.
There are 3 CNC training course.
[CNC ELEMENTARY COURSE]

Provides basics of CNC functions, operation and programming. The
course is recommended before taking more specialized training
courses to gain best effects.
MAIN ITEMS OF TRAINING

• CNC functions
• Configuration of CNC
• Configuration and function of servo system
• Basic programming of CNC
• Part programming of milling machine
• Part programming of turning machine
• Introduction of Custom Macro function
[CNC MAINTENANCE COURSE]

To master maintenance technique that permits you to maintain and
inspect CNC, also how to restore it promptly if a trouble should occur.

• Function and configuration of Power Unit
• Function and configuration of CNC system
• Include AC servo and AC spindle
• Self-diagnosis function
• Interface between CNC and the machine tools
• Data saving and restoring operation
• Trouble shooting
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[CNC SE INTERFACE COURSE]

Training course offered to the engineers who design CNC machine
tools or CNC application system for the first time. This course is also
suitable for customers who provide to retrofitting, to develop an
original CNC machine tools or new application of CNC.

• Configuration of CNC system
• Interface between CNC and machine tools
• Ladder programming of machine control sequence
• Setting of parameter related to machine
• Setting of parameter related to servo and spindle
More information and course registration

Yamanakako-mura, Yamanashi Prefecture : 401-0501, JAPAN
Phone : 81-555-84-6030
Fax : 81-555-84-5540
Internet:
www.fanuc.co.jp/eschool
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2.SYSTEM CONFIGURATION GFKE-0218-EN/02
2 SYSTEM CONFIGURATION
The dual check safety function has the following components.
Applicable CNC
FANUC Series 16i/18i/21i/160is/180is/210is/160i/180i/210i
(LCD-mounted type)
FANUC Series 16i/18i/21i/160is/180is/210is/160i/180i/210i
(stand-alone type)
Number of controlled axes

• Series 21i/210is/210i : 5 maximum
Number of spindle controlled axes

Amplifier
• α series servo amplifier
• α series spindle amplifier
• α series power supply module
• αi series servo amplifier

• αi series spindle amplifier
• αi series power supply module
• βi series servo amplifier
Motor
• α series servo motor
• α series spindle motor
• β series servo motor
• αi series servo motor
• αi series spindle motor
• αis series servo motor
• βis series servo motor
• Lis series linear motor
- 12 -
GFKE-0218A-EN 2.SYSTEM CONFIGURATION
I/O
• I/O unit (I/O Link)
• I/O module (FSSB)
Software
• Dual Check Safety software option
Detector system
- Feed axis detector
• α Pulsecoder
• αi Pulsecoder
• β Pulsecoder
• βi Pulsecoder
• Separate detector
- Spindle detector
• M sensor
• MZ sensor
• BZ sensor
• Mi sensor
• MZi sensor
• BZi sensor
- High Resolution Serial output circuit
- 13 -
3.SAFETY FUNCTIONS GFKE-0218-EN/02
3 SAFETY FUNCTIONS
- 14 -
GFKE-0218A-EN 3.SAFETY FUNCTIONS
3.1 APPLICATION RANGE
The dual check safety function assumes the following configuration:
A) One protective door is provided.

B) If the protective door is closed, safety is assured.
C) One safety area is provided. However, up to four protective
doors with a lock can be installed within the area.
When the operator makes a request to open the protective door, the
safety functions are enabled, and the protective door can be unlocked.
While the protective door is open, the active safety functions assure
safety. When the request to open the protective door is canceled, the
protective door is locked, and the safety functions are disabled.
The dual check safety function provides these safety functions while
the protective door is open, as described above. Some of the safety
functions continue working while the protective door is closed.
WARNING
Each machine tool builder should take measures to
assure safety while the protective door is closed
and to ensure safety related to a rotation axis and
travel axis. At the same time, safety measures for
the FANUC servo motor or spindle motor need to
be taken, while the door is open.
The dual check safety function has the following safety functions:
Safe-related I/O signal monitoring

This function in redundant mode monitors I/O related to safety
(emergency stop, protective door lock/open/close state, power-down,
safety speed/safety position selection signal, safety position switch,
programmable safe-related I/O signals) in redundant mode. The
emergency stop, protective door lock/open/close state, power-down,
safety speed/safety position selection signal, safety position switch,
and programmable safe-related I/O signals are checked in redundant
mode. If the two corresponding inputs do not match, the system
judges that an abnormal event has occurred. The power-down (MCC
off) signal is output in redundant mode (from two paths). Whether the
2-path output is normal is judged in a MCC off Test.
Safe speed monitoring

This function checks that the rotation speeds of the servo motor and
spindle motor are within a predetermined speed range, using two
CPUs in redundant mode. If a speed exceeding the range is detected,
the system judges that an abnormal event has occurred.
- 15 -
Safe machine position monitoring

This function checks that the position on a servo axis is within a
specified range, using two CPUs in redundant mode. If a position
exceeding the range is detected, the system judges that an abnormal
event has occurred.
If an abnormal event (safety error) is found, the dual check safety

function shuts off the power to the motor driving circuit, using the two
independent CPUs. The state in which the servo or spindle motor
stops because of power-down is referred to as the safe stop state. If a
safety error results in the safe stop state, the operator must turn off the
CNC, remove the cause of the error, then turn on the CNC again. The
user must conduct a MCC off Test every 24 hours in order to detect a
potential cause of error.
CAUTION
1 This safety function is enabled while the protective
door is open after a request to open the protective
door is made. If the request to open the protective
door is canceled and if the protective door is
closed, this safety function is disabled.
If multiple protective doors are installed, the safety
function is enabled when at least one protective
door is open. When all protective doors are closed,
the safety function is disabled.
However, the redundant input check and
emergency stop function of the safe-related I/O
monitoring function, and comparison between the
monitor safety function result and the servo or CNC
safety function check result (crosscheck) always
operate regardless of whether the protective door is
opened or closed.
2 The machine position monitored by this function is
not a specified position but an actual position
(position determined from feedback data sent from
the position detector). So, this function cannot be
used with a machine based on a nonlinear link
feature.
- 16 -
The safe speed of

the spindle motor is
checked by the CNC
CPU and spindle
CNC CPU in redundant
mode.
Dual monitoring of emergency stop
signal
Emergency Spindle
stop CPU
CNC Cross-check
Spindle
Dual monitoring of protective door state CPU motor
SPM
Protective
door Protective door Safe speed monitoring
lock signal
SVM
Servo motor
Door lock/
open/close
monitoring Cross-check
PSM
Safe machine position
monitoring
Monitor
CPU Dual monitoring of MCC
Power-
down
I/O, safe speed of the (MCC)
servo motor, and
machine position are Power-down
checked by the CNC
Dual monitoring of MCC
CPU and monitor
Dual power-down
CPU in redundant
Detection of potential cause of error by
mode.
MCC off test
Safety functions
• Dual monitoring and output of safe-related I/O signals
Emergency stop input, protective door lock/open/close state,
MCC contact state
Output signal for power-down (MCC off), safety speed/safety
position selection signal, programmable safe-related I/O signals
Safety position switch signal
A MCC off Test is required to detect a latent failure.
• Spindle motor
• Servo motor
Safe machine position monitoring
- 17 -
Programmable safe-related I/O signals

For use by the machine tool builder for an arbitrary purpose, 16 points
of input signals and 8 points of output signals are available. These
signals are monitored in dual mode. By using the C language executor
and the PMC ladder function, logic for handling these signals can be
developed by the machine tool builder.
With this function, Dual Check Safety can be applied in a flexible
manner to a machine that has two or more protective doors and a
complex signal system.
CAUTION
1 The FSSB I/O module is not used with tool post 2
of a 1-CPU 2-path machine and tool post 3 of a
2-CPU 3-path machine, so that the programmable
safe-related I/O signals are not applicable to these
tool posts.
2 This function is not applied to the Series 21i-B
(PMC-SA1) and loader control.
Safety position switch

Two CPUs, namely, the CNC CPU and monitor CPU, monitor the
position independently of each other, and output a signal (safety
position switch signal) via two paths according to the position set in
the safety parameter. The dual check safety function checks the state
of the safety position switch signal sent via each of the two paths. If
an error is detected, the independent CPUs immediately shut off
power to the motor drive circuit.
CAUTION
1 The machine position monitored by this function is
not a specified position but an actual position
(position determined from feedback data sent from
the position detector). So, this function cannot be
used with a machine based on a nonlinear link
feature.
2 This function is not applied to the Series 21i-B
(PMC-SA1) and loader control.
- 18 -
3.2 BEFORE USING THE SAFETY FUNCTION
3.2.1 Important Items to Check Before Using the Safety Function

When using the safety function for the first time upon assembly of the
machine, replacing a part, or changing a safety parameter (such as a
safety speed or safe range as described in Chapter 6), the user must
check that all safety parameters are correct and that all safety
functions are working normally. A return reference position must be
made on each axis. The user must also check the absolute position of
the machine. For details, see Chapter 7, "START UP."
3.2.2 MCC off Test of the Safe Stop Function

A MCC off Test of the safe stop function monitors the contact state of
the electromagnetic contactor (MCC), compares the state with a
command to the electromagnetic contactor, and checks that the safe
stop function works normally. The test must be carried out by the user
of the machine. This test must be carried out when the CNC is turned
on or when 24 hours have elapsed after the previous test is completed.
If the CNC is turned on or if 24 hours have elapsed after the previous
test is completed, a guard open request (protective door open request)
is not accepted until the test is performed.
- 19 -
3.3 STOP
3.3.1 Stopping the Spindle Motor

Because the spindle motor is an induction type motor, power-down
during rotation causes the motor to continue rotating for a certain
amount of time. From a safety standpoint, the motor may have to be
stopped immediately. If the CNC detects an error and judges that the
spindle can be controlled, it waits until the rotation of the spindle
stops, then shuts off the power. This wait period can be specified as a
safety parameter. For this safety parameter, two different values can
be specified. One value is used when the safety function is active (the
door is open), and the other value is used otherwise. The values must
be determined in consideration of the stop period calculated from the
spindle speed.
To implement the function, the CNC CPU and monitor CPU

individually incorporate a timer function. Normal operation of the two
CPUs are mutually checked to ensure the safety of the timers.
To speed down and stop the spindle, the PMC must input the spindle
emergency stop signals (*ESPA(G71.1), *ESPB(G75.1), and so on).
When this signal is input, the spindle slows down and stops. (A
Ladder program for inputting this signal in case of alarm must be
created.) The emergency stop input (connector CX4) of the PSM has
the same effect. If the emergency stop signal is connected to
emergency stop input (connector CX4) of the PSM, the spindle slows
down and stops in the emergency stop state.
If this processing is not performed, power-down causes the spindle

motor to continue rotating at the speed prior to power-down (and
eventually stopping in the end).
CAUTION
The CNC outputs a DO notifying of an alarm. If
necessary, the spindle should be stopped. Because
the DO output is not duplicated, this DO may not be
output when a single failure is detected. In that
case, the speed cannot be reduced, but the MCC is
finally shut off and brought into the safe stop state.
If a spindle amplifier alarm or any other state in
which the spindle motor cannot be controlled is
encountered, immediate power-down is carried out.
- 20 -
3.3.2 Stopping the Servo Motor

Because the servo motor is a synchronous motor, power-down results
in a dynamic brake stop. The dynamic brake stop is electric braking in
which the excited rotor is isolated from the power source and the
generated electric energy is used up in the winding. Additional
braking is provided by an internal resistor. Unlike an induction motor,
the servo motor does not coast because of this function.
If the input of the emergency stop signal or an error of a safe-related
signal or speed monitoring is detected, the CNC automatically
specifies a command to zero the speed and reduces the speed to zero
(controlled stop). After the motor slows down and stops, the power is
turned off, and the motor is brought into the dynamic brake stop state.
To slow down and stop the motor, some parameters must be specified
in the CNC. If those parameters are not specified, the motor is
immediately brought into the dynamic brake stop state. In some
circumstances where a controlled stop cannot be made, a dynamic
brake stop is unconditionally made.
3.3.3 Stop States

The following stop states are possible:
Safe stop state

The power to the motor is shut off (MCC off state). If the spindle
motor can be controlled, the power is shut off after the spindle motor
is slowed down to a stop. If the spindle motor cannot be controlled,
the power is immediately shut off.
If the servo motor can be controlled, the motor is slowed down to a

stop and then brought into the dynamic brake stop state. If the motor
cannot be controlled, the motor is immediately brought into the
dynamic brake stop state.
If the power is shut off immediately, the spindle motor continues at
the same speed prior to the abnormal event and eventually comes to a
stop. If the spindle motor can be slowed down to a stop, the operation
is performed as instructed by the PMC and then the power is shut off.
- 21 -
Controlled stop state

The power to the motor is not shut off.
The servo motor and the spindle motor are controlled to stop.
In the controlled stop state of either motor, the safety function is

active if the condition for enabling the safety function is satisfied (the
door is open). If a further abnormal event occurs, the motor is brought
into the safe stop state.
WARNING
1 The machine tool builder must design the machine
so that the machine is kept in the stop state if the
power to the servo motor driving circuit is shut off.
Example) Brake mechanism that would not drop
the vertical axis after the power is shut
off
2 If the power to the spindle motor driving circuit is
shut off, the spindle motor continues rotating at the
speed before the power-down and eventually
comes to a stop. A measure must be taken so that
this coasting does not affect safety.
- 22 -
3.4 SAFE-RELATED I/O SIGNAL MONITORING
A set of safe-related I/O signals are connected to the I/O Link and the
servo FSSB through separate paths. The two independent CPUs
individually check the input signals. If a mismatch between two
corresponding signals is found, the system enters the safe stop state.
The following safe-related I/O signals are monitored or output in
redundant mode:
• Emergency stop input signal

• Protective door state input signal
• Lock state input signal
• Input signal for monitoring the MCC contact state
• Programmable safe-related input signals
• Safety speed/safety position selection signal input
• Output signal for turning off the MCC (power-down)
• Programmable safe-related output signals
• Safety position switch signal output
To configure the 2-path system, the machine tool builder must connect
these signals to both the I/O module and the FSSB I/O.
IMPORTANT
If the safety input signals, except for emergency
stop input signals, are connected to the I/O module,
a Ladder program must be created to establish a
1-to-one relationship between the actual input (X)
and the input to the CNC (G).
The duplicated input signals are always checked for a mismatch,

regardless of whether the safety function is active or not. When a
signal state changes, the pair of signals may not match for some period
because of a difference in response. The dual check safety function
checks whether a mismatch between the two signals continues for a
certain period of time, so that an error resulting from the difference in
response can be avoided. The check period must be specified as a
safety parameter.
Parameter No. Name

1945 Safe-related input signal check timer
The following signals are not defined as safe-related I/O signals and
are not duplicated. The signals, however, are necessary for the system.
• Input signal for making a protective door open request

• Input signal for starting the test mode
• Output signal for specifying a command to lock the protective door
• Output signal for requesting a MCC off Test
- 23 -
This section briefly describes the signals. For details, see Chapter 5,
"OPERATION." For specific connections, see the sample system
configuration in Chapter 10.
CNC Machine
I/O UNIT
DI
I/O LINK
CNC
DO
CPU
Cross check
FSSB I/O
DI
FSSB
Monitor DO
CPU
Duplicated I/O
Symbol Signal name I/O address

*ESP Emergency stop signal <I0069 > <DI+000#0> Dual input monitoring
SGD Guard state signal <QG1533 > <DI+001#4> Dual input monitoring
SGD2 Guard 2 state signal <QG2658 > <DI+000#1>
GDL Guard lock state signal <QG1534 > <DI+001#5> Dual input monitoring
*SMC MCC contact state signal <QG1535 > <DI+001#6> Dual input monitoring
SDI00 to SDI15 Programmable safe-related input signal <QG2673+,
+ QG2681+>h
+ Dual input monitoring
<DI+002,DI+003>
SVA1 to SVA8 Safety speed / safety position selection <QG2689+><DI+004> Dual input monitoring
signal A (for each axis)
SVB1 to SVB8 Safety speed / safety position selection <QG2697+><DI+005> Dual input monitoring
signal B (for each axis)
SPA1 to SPA4 Safety speed selection signal A <QG2705 to 3 > Dual input monitoring
(for each spindle) <DI+006#0 to #3>
SPB1 to SPB4 Safety speed selection signal B <QG2709 to 3 > Dual input monitoring
(for each spindle) <DI+006#4 to #7>
MCF MCC on enable signal <IF1530 > <DO+000#1> Duplicated output
SDO00 to SDO07 Programmable safe-related output signal <QG2649+><DO+001> Duplicated output
SPS01 to SPS32 Safety Position Switch signal <IF2689+ to IF2713+> Duplicated output
<DO+002 to DO+005>
ORQ Guard open request signal <QG1532 > Input
ORQ2 Guard 2 open request signal <QG2801 >
OPT Test mode signal <QG1531 > Input
*LGD Guard unlock signal <IF1529 > Output
*LGD2 Guard 2 unlock signal <IF2801 >
RQT MCC off Test execution request signal <IF1531 > Output
- 24 -
Safe-related I/O
1. *ESP Emergency stop signal (input)

Emergency stop signal. The signal is monitored in redundant mode.
The signal is connected to the *ESP input of the servo amplifier as
well.
2. SGDn Guard state signal (input)

The signal is provided for double monitoring of the protective door
state. The signal is connected so that it is normally set to 1 while the
protective door is closed and locked (door open) and set to 0 otherwise
(door close). These states are implemented by the combination of the
safety door and safety relays. The CNC monitors these states. If the
safety speed range is exceeded in the door open state, the system
enters the safe stop state.
3. GDL Guard lock state signal (input)

This signal is not usually used.
4. *SMC MCC contact state signal (input)

The MCC contact state is monitored in redundant mode. In normal
operation, the MCC is active, and whether the contact of a relay is
closed cannot be detected. In the test mode, a closed contact of a relay
can be detected.
5. Programmable safe-related input signals

These signals are used only for monitoring of input signals by the
CNC and monitor. The machine tool builder can freely use these
signals.
6. Safety speed / Safety position selection signal (input)

With these signals, a safety speed and safety machine position can be
selected for each axis.
7. MCF MCC on enable signal (output)

With this signal, the MCC is shut off from both the I/O Link side and
the FSSB side.
8. Programmable safe-related output signals

These signals are used only for monitoring of output signals by the
CNC and monitor. The machine tool builder can freely use these
signals.
9. Safety Position Switch signal (output)

This signal posts that the machine position on a controlled axis
specified by the safety parameters (No. 13880 to No. 13911) is within
the area specified by the safety parameters (No. 13920 to No. 13951,
No. 13960 to No. 13991).
- 25 -
Signals other than safe-related I/O

The following signals are not safe-related signals (are not checked in
redundant mode) but are important signals in the system. The machine
tool builder must create an appropriate Ladder program.
IMPORTANT
The Ladder program cannot be checked for an
error. Check the safety function (see Chapter 7).
10. ORQn Guard open request signal (input)

When this signal is input, the CNC checks the machine position and
speed. If both the machine position and speed are within the safe range,
the guard unlock signal (*LGD) is set to 1 (guard unlock enabled).
The machine tool builder must provide an output signal that opens the
actual protective door through the PMC. Connect the signal output.
When two or more protective doors are installed, the guard open
request signal needs to be input for each protective door.
11. OPT Test mode signal (input)

When the signal is input, a MCC off Test is executed. The MCC off
Test checks whether the contact of the MCC is closed. When carrying
out the MCC off Test manually, execute a MCC off Test by the PMC
and make necessary corrections before inputting this signal.
12. *LGDn Guard unlock signal (output)

If this signal is set to 1, the protective door can be unlocked. Then, a
signal to unlock the actual protective door should be output through
the PMC.
If the protective door is unlocked while the signal is set to 0, an alarm
occurs and brings the motor into the safe stop state.
CAUTION
When the signal is set to 1, there is a time delay
(depending on the Ladder program) before the
signal to unlock the actual protective door is output.
Meanwhile, the protective door is locked, and safety
is ensured. If an error is found as a result of speed
check or machine position check during that period,
*LGD becomes 0. If a single failure occurs in this
state and if the actual protective door is unlocked,
an alarm occurs.
When the safety function of the CNC is enabled, this signal is output.
If the signal is output, the signal to unlock the actual protective door
should be output through the PMC.
When two or more protective doors are installed, the guard unlock
signal is output for each protective door.
13. RQT MCC off Test execution request signal (output)

If the execution of a MCC off Test is required, this signal is output. At
power-on, this signal is output. If this signal is output, a MCC off Test
must be executed.
- 26 -
Guard open request signal and guard unlock signal

CNC (PMC)
Door open request
24V
X G Protective door
Ladder ORQ
ORQ-I
F Y
LGD Ladder
LGD-O
The figure shows a sample connection of the protective door open

request switch and the guard unlock signal. In the normal state, the
following state transition takes place before the safety monitoring state
is established.
State transition
ORQ-I ORQ *LGD *LGD-O
A 0 0 0 0 A protective door open request is not made, and the Normal operating
door is locked. state
B 1 0 0 0 A guard open request is made.
C 1 1 0 0 The request is transferred to the CNC.
D 1 1 1 0 A safety speed check and a machine position check
prove that there is no failure and that the CNC can
enter the safe state.
E 1 1 1 1 The actual safety door is unlocked. Safety function
Operations can be performed with the door open. enabled
D 1 1 1 0 The door is closed and locked again.
F 0 1 1 0 The guard open request is canceled.
G 0 0 1 0 The request is transferred to the CNC.
A 0 0 0 0 The CNC exits from the safe state.
NOTE
1 If the CNC detects that the protective door is open
(SGD is set to 0) while ORQ is set to 0, the CNC
judges that an abnormal event has occurred and
enters the safe stop state. This can occur, for
instance, when the door happens to open (or to be
unlocked) while machining is in progress with the
protective door open
2 When two or more protective doors are installed,
the protective door open request switch and the
protective door lock signal need to be connected for
each protective door.
- 27 -
Timing diagram from door close state to door open state

The following diagram shows the timings at which the door is opened
and closed again.
ORQ_P
ORQ
*LGD
*LGD_P1
(Actual door unlock signal)
SGD_P
SGD2
Door closed Door closed

Actual door status Door opened
(1) (2) (3) (4) (5)
(1) When the guard open request signal (ORQ) is input, it checks
that the machine position and speed are within safe ranges. Then,
the guard unlock signal (*LGD) is turned on.
(2) When *LGD goes on, the Ladder program turns on the unlock
signal. This example assumes that the protective door has an
electromagnetic lock mechanism. While the door is open, the
unlock signal is turned off.
(3) The door is open.
(4) The protective door is closed and locked. After this, the guard
open request signal (ORQ) must be turned off.
(5) When ORQ goes off, the CNC turns *LGD off.
CAUTION
Reserve a time of 100 ms or longer (t in the figure)
from when the door is closed (locked) until the
guard open request signal (ORQ) goes off. If this
time requirement is not satisfied, an alarm may be
raised when the door is closed (locked). ガードオ
ープン要求信号(ORQ)をオンしている間は操作盤の
ランプを点灯するなどして作業者に知らせるよう
にしてください。
- 28 -
3.5 EMERGENCY STOP
The emergency stop signal is monitored in redundant mode. When the

emergency stop is input, the servo motor slows down to a stop (*) and
enters the dynamic brake stop. The spindle slows down to a stop(*) as
instructed by the PMC, and the power is shut off.
CAUTION
To enable the function to slow down and stop the
servo motor, the corresponding parameter must be
specified. If the parameter is not specified, the
motor immediately enters the dynamic brake stop
state.
The spindle motor slows down and stops as
instructed by the PMC (Ladder program). If the
PMC does not instruct this, the motor maintains the
high speed prior to the power-down and coasts. If
an illegal speed is specified because of a failure on
the PMC side while the safety function is active (the
protective door is open), the CNC enters the safe
stop state.
WARNING
In the emergency stop state, the guard unlock
signal becomes 1 (the door opens). In the
emergency stop state, the processing to open or
close the protective door depends on the Ladder
program created by the machine tool builder. For
instance, if the protective door should not be
opened in the emergency stop state, a Ladder
program of the processing must be created.
When the emergency stop is canceled, an alarm may occur, depending

on the state. For instance, if the emergency stop state is canceled with
the protective door open and if no door open request is made, the CNC
judges that an error has occurred and enters the safe stop state.
IMPORTANT
(*) Emergency Stop Button must fulfill the Standard
IEC60947-5-1.
This is mandatory.
- 29 -
3.6 SAFE SPEED MONITORING
When the guard open request signal is input, the dual check safety
function starts monitoring whether a safety speed is kept on each feed
axis and spindle. If the speed does not exceed the safety speed range
and if the machine position is in within the safe range, the guard
unlock signal is enabled. If the safety speed range is exceeded while
the protective door is open, the dual check safety function
immediately enters the safe stop state. Up to four safety speeds can be
set for each of the feed axes and spindle in safety parameters. If
multiple safety speeds are set, switching between the safety speeds is
enabled according to the state of a dual safety input signal.
Safety speed 1 for a feed axis assumes the value of parameter No.
1942 when parameter No. 1942 is not set to 0. Safety speed 1 for a
feed axis assumes the value of parameter No. 13821 when parameter
No. 1942 is set to 0.
Safety Speed/
Safety Machine
Safety speed parameter
Position Selection
Safe speed signal
SVAn SVBn Parameter
Parameter
for feed
SPAn SPBn for spindle
axis
No.1942 /
Safety limit speed 1 0 0 No.4372
No.13821
Safety limit speed 2 1 0 No.13822 No.4438
CAUTION
If an illegal speed is detected, the MCC is shut off
after the time specified in the parameter.
IMPORTANT
1 The period from when an error is detected until the
MCC is shut off can be specified in a parameter.
The period is reserved to stop the spindle safely. A
large value means that a long time is needed to
shut off the MCC. In this parameter, different
values can be specified and used when the safety
function is enabled (the protective door is open)
and disabled (normal operation is performed). The
value of the parameter for the former case must be
carefully specified.
2 A gear ratio, ball screw, and the like must be
carefully selected so that a safety speed can be
kept on the feed axis.
- 30 -
IMPORTANT
3 Before inputting the guard open request signal,
reduce each axial speed and spindle speed to a
safety speed range or below. If a speed exceeds
the limit, the guard open request signal is not
accepted (the door is not unlocked). If the door is
forced open, the power to the driving circuit is shut
off (safe stop state).
WARNING
The safety speed monitoring function monitors
whether the traveling speed exceeds a specified
limit. The function cannot monitor the stop state
(zero speed).
If an error causes a movement on the feed axis at
a speed lower than the safety speed range while
the protective door is open, for instance, the
function cannot detect this state. The machine
must be designed so that this state does not affect
the safety of the machine system.
- 31 -
3.7 SAFE MACHINE POSITION MONITORING
While the door is open, the dual check safety function checks whether
the position on each feed axis is within the safe machine position
range defined by safety parameters. If it detects a machine position
beyond the safety range, the dual check safety function immediately
enters the safe stop state.
The user of the machine must first carry out a reference position return
in order to obtain the initial position. If the reference position return is
not carried out, the check function is disabled. This check function is
enabled after the reference position is established. For an axis where
the safety speed is checked not based on a speed command but based
on motor speed, however, this check function is disabled even after
reference position establishment.
For each feed axis, up to four safe machine positions are set in safety
parameters. If multiple safe machine positions are set, switching
between the safe machine positions is enabled according to the state of
a dual safety input signal.
Safety machine position 1 for a feed axis assumes the value of

parameter No. 1943 (No. 1944) when parameter No. 1943 (No. 1944)
is not set to 0. Safety machine position 1 assumes the value of
parameter No. 13831 (No. 13832) when parameter No. 1943 (No.
1944) is set to 0.
Safety Speed/
Safety machine position
Safety Machine Position
parameter
Safety machine Selection signal
speed
+ direction - direction
SVAn SVBn
parameter parameter
Safety machine No.1943 / No.1944 /

0 0
speed 1 No.13831 No.13832
Safety machine
1 0 No.13833 No.13834
speed 2
Safety machine
0 1 No.13835 No.13836
speed 3
Safety machine
1 1 No.13837 No.13838
speed 4
CAUTION
The safe machine position monitoring function
does not keep monitoring the specified range. Only
after the function detects that a position on a feed
axis exceeds the range, the system enters the safe
stop state. Accordingly, in the safe stop state, an
overtravel has occurred on the feed axis. The travel
distance depends on the traveling speed and other
conditions.
- 32 -
At power-on, the safety function does not work. After power-on, the
CNC checks whether a reference position return is completed. If the
reference position return is completed and if the protective door is
open, safe machine position monitoring and safety speed monitoring
are performed. Then, the safety functions start working. If the
reference position return is not completed, safe machine position
monitoring cannot be performed because the coordinates are not set.
In this state, the machine position monitoring function is disabled.
After a reference position return is made, this function is enabled.
Depending on the safety parameter setting, however, an alarm may be
raised. To avoid this alarm, specify the safe machine position
parameters before making a reference position return.
- 33 -
3.8 MCC OFF TEST
A MCC off Test must be carried out in intervals of 24 hours, so that

the safety functions would not be damaged by a possible cause of
failure. A message telling that the MCC off Test must be carried out is
displayed at power-on or when 24 hours have elapsed after the
previous MCC off Test. The protective door can be opened only after
the MCC off Test is carried out accordingly.
IMPORTANT
Carry out the MCC off Test with the protective door
closed. Because the test shuts off the MCC, prepare
the system for mechanical MCC shut-off before
starting the MCC off Test.
Notes on MCC off Test and the timing chart for MCC off Test are
provided below.
<1> When conducting a MCC off Test, ensure that the feed axes and
spindle are stopped.
<2> When a MCC off Test ends, the MCC off Test execution request
signal is turned off. After the MCC off Test execution request
signal is turned off, turn off the test mode signal.
<3> If a vertical axis is used, measures such as a brake circuit for
protecting against falling are required. On the ladder, ensure that
500 ms or more is provided between the actuation of the brake
and the start of the test start signal OPT.
<4> Do not connect a peripheral device and noise filter between the
MCC and PSM. If such a device is connected, the test may not be
terminated normally.
<5> For the servo axis connected to the PSM under test, ensure that
the servo-off signal (SVF8-1) is enabled after actuation of the
brake. If the servo-off signal is not input, an alarm may be issued
from the PSM during test.
<6> When a power outage backup module is connected, the power
outage backup module ready signal (contact output signal RDY)
is turned off during MCC off Test. So, make sure that no
problem arises on the ladder. For example, a countermeasure is
to mask the ready signal with the test mode signal.
- 34 -
Timing chart of MCC off Test
During test
MCC test start

(User signal)
Brake on
Vertical axis brake
500 ms or more
Test mode signal
OPT (QG1531 )
Servo-off signal
SVF8-1(QG1016 -QG1009h)
MCC off Test execution

MCC off Test being
request signal RQT
executed
(IF1531 )
Power outage backup module Contact on

ready signal
RDY (contact output) Contact off
- 35 -
3.9 PROGRAMMABLE SAFE-RELATED I/O SIGNALS
3.9.1 Sequence of the Programmable Safe-Related I/O Signal

Function
CNC C language executor
User
logic [f]
Monitor [g]
[k] speed/
position, Monitor
General output
signal (8 points)
etc.
[l] safe-related
output signal
Monitor
IF1529+, MCF, LGDn, QG1529+
IF2689+ - Safety QG2673+ Monitor
QG2649+ position switch
IF2713+, QG2681 safe-related
IF2801+ signal
input signal
[b] [d]
PMC
[e] Monitor
User [i]
logic
speed/
position,
etc.
General output MCF,

[e] DI+000 Safety position [h] DO+000
Y signal signal (8 points) X signal [c] switch signal
[m] - DI+007 [j] - DO+005
[a]
I/O Link #1 FSSB I/O #2
*ESP, *SMC,
GDL, SGDn,
General input signal (16 points),
Safe speed/safety position
selection signal
ORQn, OPT
MCF, general output signal (8 points),

safety position switch signal
Note) For [a] to [m] in the figure, see the

LGDn description of the sequence of the
programmable safe-related I/O signals
provided on the next page.
Outline of this function
- 36 -
The programmable safe-related I/O signal function operates according

to the sequence described below. See the figure (outline of this
function) provided on the previous page.
[a] The safe-related input signals (*ESP, *SMC, GDL, SGDn,

ORQn, OPT, safety speed/safety position selection signal, and 16
points of general signals) are input to the PMC via I/O Link #1
(X).
[b] A user program (ladder) on the PMC directly generates QG1529+,
QG2673+, and QG2681+ from each signal (*ESP, *SMC, GDL, SGDn,
points of general signals) (NOTE).
[c] The safe-related input signals (*ESP, *SMC, GDL, SGDn,
points of general signals) are input to the monitor via FSSB
I/O#2 (DI+000 to DI+007).
[d] The CNC CPU and the monitor CPU independently monitor the
safe-related input signals.
[e] A user program (ladder) on the PMC generates safe-related
output signals (8 points of general output signals) based on user
logic then outputs the signals to the machine via I/O Link #1 (Y)
and outputs the signals as QG2649+ to the CNC.
[f] A user program on the C language executor generates
safe-related output signals (8 points of general output signals)
based on user logic (same logic as for the user program (ladder)
on the PMC) then transfers the signals to the monitor.
[g] The CNC CPU and the monitor CPU independently monitor the
safe-related output signals.
[h] The monitor CPU outputs the safe-related output signals (8
points of general output signals) to the machine via FSSB I/O #2
(DO+001).
[i] The monitor CPU monitors speed/position and so forth, and
creates signals such as MCF and a safety position switch signal.
[j] The monitor CPU outputs MCF and a safety position switch
signal to the machine via FSSB I/O#2 (DO+000, DO+002 to
DO+005).
[k] The CNC CPU monitors speed/position and so forth, and creates
LGDn, MCF, and a safety position switch signal.
[l] The CNC CPU outputs LGDn, MCF, and a safety position switch
signal to the PMC (IF1529+, IF2689+ to IF2713+, IF2801+).
[m] The PMC CPU outputs LGDn, MCF, and a safe position switch
signal to the machine via I/O Link #1 (Y).
NOTE
Ensure that user logic on the PMC side does not
use the machine instructions dependent on the
CNC CPU listed below. The reason is that the C
language executor uses the CNC CPU, so that if
the user logic on the PMC side uses the CNC CPU,
dual monitoring is disabled.
EXIN, AXCTL, DISPB, WINDR, WINDW
- 37 -
Monitoring of abnormal state

If a mismatch between the state of the signal posted via the PMC and
the state of the signal posted via the FSSB lasts for a certain period of
time or more, the occurrence of a safety-related error is assumed. The
CNC CPU and the monitor CPU immediately shut off power to the
motor drive circuit independently of each other.
3.9.2 C Language Executor

For input/output of programmable safe-related I/O signals to and from
the monitor, use the C language executor library below.
CNC window call <HILEV>

[Function name] cnc_window
[Format] int cnc_window( unsigned int *iodata )
[Argument] iodata : Input/output data area
[Return value] A CNC window processing completion code is returned. This value is
the same one as stored in iodata[1].
[Description] A CNC window function is called.
iodata specifies an input/output data area for the CNC window
function. The pointer to this area is passed to the CNC window
processing. Set necessary information in this area with an application
program then call this function. Information returned by the CNC
window processing is stored in iodata.
A work RAM area required for the CNC window processing is

prepared within this function.
A general input/output area has the following data structure:
iodata[0] Function code

iodata[1] Completion code
iodata[2] Data length
iodata[3] Data number
iodata[4] Data attribute
iodata[5] and up Data area
For example, specify the following to call the function for "input of
alarm status":
unsigned int iodata[11] ;
iodata[0] = 23 ;
cnc_window( iodata ) ;
To iodata[5], CNC alarm information is returned.
High-level applications cannot call all CNC window functions. The

functions that can be called are listed below.
(1) Input of the number of the program currently being executed

(2) Input of the sequence currently being executed
- 38 -
(3) Input of actual speed (F) on a controlled axis

(4) Input of actual spindle speed (S)
(5) Input of an absolute position on a controlled axis
(6) Input of a machine position on a controlled axis
(7) Input of a relative position on a controlled axis
(8) Input of a distance to go on a controlled axis
(9) Input of a skip position on a controlled axis
(10) Input of a servo delay on a controlled axis
(11) Input of an acceleration/deceleration delay on a controlled axis
(12) Input of alarm status
(13) Input of abnormal load torque data
(14) Input of serial spindle load information
(15) Input of A/D conversion data (input of servo axis load
information)
(16) Reading of programmable safe-related input signals
(17) Writing of programmable safe-related output signals
A detailed description of each function will be provided separately.
To call the CNC window with this function, at least about 0.03 [msec]
is required (with the Series 16i/18i). If this function is called too many
times, the processing time increases to such an extent that the time
required for one execution may exceed the maximum allowable time
(1 msec). So, ensure that in one execution (at intervals of 8 msec) of
an application, this function is called not more than about ten times.
- 39 -
3.SAFETY FUNCTIONS GFKE-0218A-EN
(16) Reading of programmable safe-related input signals

This function is equivalent to the pmc_rdsafeprgio() function.
[Input] Function code iodate[0] = 136

Data length iodata[2] = 0
Data number iodata[3] = 0
Data attribute iodata[4] = 0
[Output] Completion code iodata[1] = 0 Normal termination
6 The dual check safety option is not added.
Programmable safe-related input signals
iodata[5] Higher byte: Programmable safe-related input signal 1
[DI+002]
Lower byte: Programmable safe-related input signal 2
[DI+003]
(17) Writing of programmable safe-related output signals

This function is equivalent to the pmc_wrsafeprgio() function.
[Input] Function code iodate[0] = 137

Data length iodata[2] = 1
Data number iodata[3] = 0
Data attribute iodata[4] = 0
Programmable safe-related output signals
( char )iodata[5]
[Output]Completion code iodata[1] = 0 Normal termination
6 The dual check safety option is not added.
- 40 -
Reading of programmable safe-related input signals

[Function name] pmc_rdsafeprgio
[Format] #include <fwindow.h>
int pmc_rdsafeprgio( int datano , struct iodbsaftyprg *buf ) ;
struct iodbsaftyprg {
int datano ; /* Data number */
int dummy ; /* Not used */
char cdata[2] ; /* I/O signal */
};
[Argument] datano : Data number. Specify 0.
Buf : Programmable safe-related input signal storage area
[Return value] 0 : Normal termination
6 : The dual check safety option is not added.
[Description] This function reads the programmable safe-related input signals on the
FSSB side of the programmable safe-related I/O signal function of
Dual Check Safety.
cdata[0] Programmable safe-related input signal 1 (DI+002)
cdata[1] Programmable safe-related input signal 2 (DI+003)
[Example of use] The state of programmable safe-related input signals is indicated.
void print_safetyprgio( void )

{
int ret;
struct iodbsaftyprg buf;
ret = pmc_rdsafeprgio( 0 , &buf ) ;

if( ret == 0 ) {
printf( "G3334 : %02xh \n" , buf.cdata[0] );
printf( "G335 : %02xh \n" , buf.cdata[1] );
}
}
- 41 -
Writing of programmable safe-related output signals

[Function name] pmc_wrsafeprgio
[Format] #include <fwindow.h>
int pmc_wrsafeprgio( char data ) ;
[Argument] data : Programmable safe-related output signal data
[Return value] 0 : Normal termination
6 : The dual check safety option is not added.
[Description] This function sets the programmable safe-related output signals
(DO+001) on the FSSB side of the programmable safe-related I/O
signal function of Dual Check Safety.
[Example of use] The programmable safe-related output signals are initialized.
int init_prgio_di( void )

{
int ret;
ret = pmc_wrsafeprgio( 0x00 ) ;
if( ret == 0 )
return( 0 );
else
return( -1 );
}
- 42 -
3.10 SAFETY POSITION SWITCH SIGNAL
Output of safety position switch signals

When the machine position on a controlled axis is within the
allowable range set in safety parameters, a safety position switch
signal is output.
Parameter-set value Parameter-set value
• The signal is output after establishment of a reference position on

the target axis. The signal is not output before completion of
reference position return operation.
• As the machine position, not a specified position but an actual
position (position determined from feedback data sent from the
position detector) is used.
• Whether a safety position switch signal is output is determined
using the detection unit.
• When machine position = parameter-set value, the signal is
output.
• The signal is not output for an axis for which bit 6 of parameter
No. 1904 is set to 1 to disable Dual Check Safety.
Number of signal points

The table below indicates the maximum number of safety position
switch signal points for each tool post.
Tool Tool Tool

Applicable system
post 1 post 2 post 3
Series 16i/18i/21i-TB/MB,
1-path control 32 (8) - -
Series 18i-MB5
2-CPU 2-path Series 16i/18i-TB,
32 (8) 32 (8) -
control Series 16i-MB
1-CPU 2-path
16 (8) 16 (0) - Series 16i/18i-TB
control
2-CPU 3-path
32 (8) 16 (8) 16 (0) Series 16i-TB
control
NOTE
The parenthesized values are applicable when the
FSSB I/O module (extension) is not used.
- 43 -
Assignment of signals to controlled axes

Safety position switch signals can be assigned to arbitrary controlled
axes (even the maximum allowable number of points can be assigned
to one axis). The safety parameters (No. 13880 to No. 13911) are used
for assignment to axes.
Safety position switch signals can be assigned to a rotation axis.
Monitoring of an error
If a mismatch between the state of the safety position switch signal
posted via the PMC and the state of the safety position switch signal
posted via the FSSB lasts for the period of time (set in parameter No.
1945) or more, the CNC CPU and the monitor CPU assume the
occurrence of an error, and alarm No. 485 and No. 493 are issued. The
CNC CPU and the monitor CPU immediately shut off power to the
motor drive circuit independently of each other.
FSSB I/O module

To use the 9th to 32nd safety position switch signals with tool posts
other than tool post 2 for 1-CPU 2-path control and tool post 3 for
2-CPU 3-path control, attach an extension module to the FSSB I/O
module connected to each tool post.
To use safety position switch signals with tool post 2 for 1-CPU
2-path control (or with tool post 3 for 2-CPU 3-path control), attach an
extension module to the FSSB I/O module connected to tool post 1 (or
tool post 2).
If these conditions are not satisfied, alarm No. 493 is issued when the
power is turned on.
When using the first FSSB I/O module, set bit 4 of parameter No.
1905 to 1 and parameter No. 1936 to 0 with an axis for which
parameter No. 1023 is set to 1 (or parameter No. 1023 is set to 9 when
tool post 2 is used in 2-CPU 2-path control or tool post 2 is used in
2-CPU 3-path control). When using the second FSSB I/O module, set
bit 5 of parameter No .1905 to 1 and parameter No. 1937 to 0 with an
axis for which parameter No. 1023 is set to 1 (or parameter No. 1023
is set to 9 when tool post 2 is used in 2-CPU 2-path control or tool
post 2 is used in 2-CPU 3-path control).
IMPORTANT
The FSSB I/O module and separate detector
interface unit (pulse module) are handled as units
of the same type on the FSSB. The term "first unit"
or "second unit" used in the description represents
the first or second unit when counted without
making a distinction between the FSSB I/O module
and separate detector interface unit. If one FSSB
I/O module and one separate detector interface
unit are connected and if the separate detector
interface unit is closer to the CNC than the FSSB
I/O module on the FSSB, for instance, the FSSB
I/O module is referred to as the "second unit."
- 44 -
GFKE-0218A-EN 4.INSTALLATION
4 INSTALLATION
Except FSSB I/O module, the hardware installation such as field
wiring, power supply, etc. should be referred to connection manual
(B-63003EN) for CNC units and (B-65162E) for servo amplifier.
EMC problem should be referred to EMC guideline manual
(A-72937/E).
Degree of IP protection:
Servo Motors: IP55
Spindle Motors: IP54 with oil-seal, IP40 without oil-seal
Servo and Spindle amplifiers: IP1x
CNC and other accessories: Ipxx
NOTE
Servo/Spindle amplifiers, CNC are to be installed in
IP54 protected cabinets.
The peripheral units and the control unit have been designed on the
assumption that they are housed in closed cabinets.
Environmental conditions for CNC units

Condition LCD–mounted Stand–alone LCD–mounted
type control type control type control
unit and unit unit with PC
display unit and data server
(except unit functions
with data
server function)
Ambient Operating 0°C to 58°C 0°C to 55°C 5°C to 53°C
Temperature Storage –20°C to 60°C
of the unit Transport
Humidity Normal 75% RH or less, no condensation 10% to 75% RH,
no condensation
Short period(less 95% RH or less, no condensation 10% to 90% RH,
than 1 month) no condensation
Vibration Operating 0.5 G or less
Non–operating 1.0 G or less
Meters above Operating Up to 1000 m Up to 1000 m
sea level Non–operating Up to 12000 m Up to 12000 m
Environment Normal machine shop environment (The environment must be
considered if the cabinets are in a location where the density of dust,
coolant, and/or organic solvent is relatively high.)
- 45 -
4.INSTALLATION GFKE-0218A-EN
Environmental conditions for servo amplifier
The servo amplifier α series must be installed in a sealed type cabinet

to satisfy the following environmental requirements:
(1) Ambient Temperature

Ambient temperature of the unit :
0 to 55°C (at operation)
-20 to 60°C (at keeping and transportation)
(2) Humidity
Normally 90% RH or below, and condensation-free
(3) Vibration
In operation : Below 0.5G
(4) Atmosphere
No corrosive or conductive mists or drops should deposit directly
on the electronic circuits.
- 46 -
4.1 OVERALL CONNECTION DIAGRAM
4.1.1 For 1-path
Mother board
LCD display unit
24V-IN(CP1A) 24 VDC power supply
24V-OUT(CP1B) To I/O device
MDI UNIT
Soft key cable
CK2
MDI(CA55) CK1
R232(JD36A) RS-232C I/O device
R232(JD36B) RS-232C I/O device

Touch panel
HDI(JA40) High-speed skip input
Distribution-type Manual
I/O board pulse generator
24VDC CPD1 JA3
I/O-LINK(JD1A) JD1 Operator's

panel
JD1
I/O unit, etc.

24VDC CPD1
JD1 Power
magnetics
JD1 cabinet
- 47 -
4.INSTALLATION GFKE-0218-EN/02
Mother board
LCD display unit
SPDL(JA41) JA7B JY2

SPM
JA7A TB2/CZ2
Serial spindle motor

Second spindle
FSSB(COP10A) COP10B TB2 Axis 1

SVM servo motor
COP10A JF1
COP10B TB2 Axis 2

SVM servo monitor
COP10A JF1
COP10B TB2 Axis 3

SVM servo motor
COP10A JF1
(This diagram assumes the use of a 1-axis amplifier.)
Separate detector interface unit
24VDC CP11A JF101 Linear scale axis 1
JF102 Linear scale axis 2

COP10B
JF103 Linear scale axis 3
COP10A
JF104
JA4A Battery for absolute

position detector
FSSB I/O
24VDC CP11A CB155A

Power
COP10B CB156A magnetics
cabinet
COP10A
Basic
CNF1
CNF2
CB155B
Extension
CB156B
SV-CHK(CA54) Servo check board
NOTE
The second spindle for SPM needs to be connected to connector JA7A. Refer to
Subsection 9.3.3.16, "Details of cable K90 connection," in "αi Series Servo
Amplifier Descriptions (B-65282EN)."
- 48 -
4.1.2 For 2-path
Main board I/O module for Machine

operator’s panel operator’s
panel
I/O Link (JD44A) JD1B CE56
JD1A CE57
I/O module for Power

connector panel magnetics
cabinet
JD1B CB150
JD1A
To next I/O unit Safe-related and other signals
PSM
200VAC 2φ MCC
CX1A CX3
200VAC 3φ CZ1 CX4 Emergency
stop
TB1 CXA2A
TB1 CXA2B
SPM
SPDL (JA41) JA7B JYA2

JA7A CZ2
Spindle motor
TB1 CXA2A
To next SPM (JA7B)
TB1 CXA2B
Axis control card SVM1
FSSB (COP10A-1)
COP10B JF1
COP10A CZ2
Servo motor
To next SVM (COP10B)
NOTE
The second spindle for SPM needs to be connected to connector JA7A. Refer to
Subsection 9.3.3.16, "Details of cable K90 connection," in "αi Series Servo
Amplifier Descriptions (B-65282EN)."
- 49 -
From previous SVM (COP10A)
Separate detector
interface unit
COP10B JF101 Separate

detector
COP10A JF102 Separate
detector
JF103 Separate
detector
JF104 Separate
detector
JA4A Battery
Safe-related signals
FSSB I/O module Power

magnetics
CB155A cabinet
COP10B
CB156A
COP10A
Basic
CNF1
CNF2
CB155B
Extension
CB156B
- 50 -
Sub CPU board
TB1 CXA2B
SPM
SPDL (JA41) JA7B JYA2
JA7A TB2/CZ2
Spindle motor
TB1 CXA2A
To next SPM (JA7B)
TB1 CXA2B
Axis control card SVM1
FSSB (COP10A-1) COP10B JF1
COP10A CZ2
Servo motor
Separate detector
interface unit
COP10B JF101 Separate detector
Separate detector
COP10A JF102
Separate detector
JF103
Separate detector
JF104
Battery
JA4A

magnetics
CB155A cabinet
COP10B
CB156A
COP10A
Basic
CNF1
CNF2
CB155B
Extension
CB156B
- 51 -
4.1.3 Loader Control
Loader control board
TB1 CXA2B
Axis control card
SVM1
FSSB (COP10A-1) COP10B JF1
COP10A CZ2
Servo motor
Separate detector
interface unit
COP10B JF101 Separate detector
COP10A JF102 Separate detector
JF103 Separate detector

JF104 Separate detector
JA4A Battery

magnetics
CB155A cabinet
COP10B
CB156A
COP10A
Basic
CNF1
CNF2
CB155B
Extension
CB156B
ESP (CNPW) *EMG

(Stand-alone type) Distributed I/O or
loader I/O
I/O LINK (JD1A) JD1B
JD1A
To the next I/O Link slave
NOTE
For details on connections for emergency stop, refer to the Loader Control
Connection Manual (B-62443EN-2).
- 52 -
4.2 DI/DO CONNECTION (VIA THE PMC)
For DI/DO signals connected via the PMC, the I/O signals of the unit
connected to the FANUC I/O Link are to be input to or output from
the following addresses, via the PMC:
For the layout and descriptions of the signals, see Chapter 5, "I/O
SIGNALS."
- 53 -
4.3 DI/DO CONNECTION (VIA THE FSSB)
For DI/DO signals connected via the FSSB, the I/O signals are to be
directly connected to the I/O unit connected to the FSSB.
4.3.1 FSSB I/O Connection
Power supply connection
External power supply
CP11A 24 VDC stabilized

1 +24V power supply
2 0V 24 VDC±10%
3
Cable
CP11A
AMP Japan
1-178288-3 (Housing)
External power supply
1-175218-5 (Contact)
Select a one that matches

+24V(1)
the pins of the external
0V(2) power supply.
Recommended cable specification: A02B-0124-K830 (5 m)

An M3 crimp terminal is provided on the external
power supply side.
The 24 VDC power input to CP11A can be drawn from CP11B for
distribution. The connection to CP11B is the same as for CP11A.
- 54 -
DI/DO connection
(1) Connector specifications
Adherence to the MIL-C-83503 standard
With improper insertion prevention key
(2) Connector pin numbers
Printed circuit board insertion direction
Improper insertion
Top view prevention key
Pin mark
The array closer to the improper

insertion prevention key is array A, and
A the other is array B.
B Pin A1: The pin closest to the triangle pin
mark is pin A1.
17 (Viewed from the cable) 321
- 55 -
+24E
RV
RV
RV
RV
RV
RV
RV
RV
DOCOM
+24V 0V
+24V stabilized
power supply
Relay
DV
DV Relay
DV Relay
DV Relay
DV Relay
DV Relay
DV Relay
DV Relay
- 56 -
Signal list
- Basic unit
(1) DI signals
#7 #6 #5 #4 #3 #2 #1 #0
DI+000
155A-B05 155A-A06 155A-B04 155A-A04 155A-B03 155A-A03 155A-B02 155A-A02
#7 #6 #5 #4 #3 #2 #1 #0
DI+001
#7 #6 #5 #4 #3 #2 #1 #0
DI+002
#7 #6 #5 #4 #3 #2 #1 #0
DI+003
(2) DO signals
#7 #6 #5 #4 #3 #2 #1 #0
DO+000
#7 #6 #5 #4 #3 #2 #1 #0
DO+001
#7 #6 #5 #4 #3 #2 #1 #0
DO+002
- Extension unit
(1) DI signals
#7 #6 #5 #4 #3 #2 #1 #0
DI+0004
155B-B05 155B-A06 155B-B04 155B-A04 155B-B03 155B-A03 155B-B02 155B-A02
#7 #6 #5 #4 #3 #2 #1 #0
DI+005
#7 #6 #5 #4 #3 #2 #1 #0
DI+006
#7 #6 #5 #4 #3 #2 #1 #0
DI+007
(2) DO signals
#7 #6 #5 #4 #3 #2 #1 #0
DO+003
#7 #6 #5 #4 #3 #2 #1 #0
DO+004
#7 #6 #5 #4 #3 #2 #1 #0
DO+005
- 57 -
Machine interface
- Basic unit
FSSB I/O module

CB155A CB156A
34-pin ribbon cable connector
A B A B
01 +24E +24E 01 +24E +24E
02 DI+000 #0 DI+000 #1 02 DI+002 #0 DI+002 #1
03 DI+000 #2 DI+000 #3 03 DI+002 #2 DI+002 #3
04 DI+000 #4 DI+000 #5 04 DI+002 #4 DI+002 #5
05 DI+000 #7 05 DI+002 #6 DI+002 #7
06 DI+000 #6 DOC 06 DOC DOC
07 DI+001 #0 DI+001 #1 07 DI+003 #0 DI+003 #1
08 DI+001 #2 DI+001 #3 08 DI+003 #2 DI+003 #3
09 DI+001 #4 DI+001 #5 09 DI+003 #4 DI+003 #5
10 DI+001 #6 DI+001 #7 10 DI+003 #6 DI+003 #7
11 DO+000 #0 DO+000 #1 11 DO+002 #0 DO+002 #1
12 DO+000 #2 DO+000 #3 12 DO+002 #2 DO+002 #3
13 DO+000 #4 DO+000 #5 13 DO+002 #4 DO+002 #5
14 DO+000 #6 DO+000 #7 14 DO+002 #6 DO+002 #7
15 DO+001 #0 DO+001 #1 15 DO+001 #4 DO+001 #5
16 DO+001 #2 DO+001 #3 16 DO+001 #6 DO+001 #7
17 0V 0V 17 0V 0V
CB155A Male CB156A Male
Female Female
Power magnetics cabinet and machine panel
NOTE
1 +24E (output)
24 VDC that was input to CP11A passes through
the fuse and is used for the DI signal. Do not
connect the 24 V output of the external power
supply. In addition, do not connect this to DOC.
2 DOC (external 24 V input)
Externally input 24 V of the power supply for DO in
this pin.
- 58 -
- Extension unit
FSSB I/O module

CB155B CB156B
34-pin ribbon cable connector
A B A B
01 +24E +24E 01 +24E +24E
02 DI+004 #0 DI+004 #1 02 DI+006 #0 DI+006 #1
03 DI+004 #2 DI+004 #3 03 DI+006 #2 DI+006 #3
04 DI+004 #4 DI+004 #5 04 DI+006 #4 DI+006 #5
05 DI+004 #7 05 DI+006 #6 DI+006 #7
06 DI+004 #6 DOC 06 DOC DOC
07 DI+005 #0 DI+005 #1 07 DI+007 #0 DI+007 #1
08 DI+005 #2 DI+005 #3 08 DI+007 #2 DI+007 #3
09 DI+005 #4 DI+005 #5 09 DI+007 #4 DI+007 #5
10 DI+005 #6 DI+005 #7 10 DI+007 #6 DI+007 #7
11 DO+003 #0 DO+003 #1 11 DO+005 #0 DO+005 #1
12 DO+003 #2 DO+003 #3 12 DO+005 #2 DO+005 #3
13 DO+003 #4 DO+003 #5 13 DO+005 #4 DO+005 #5
14 DO+003 #6 DO+003 #7 14 DO+005 #6 DO+005 #7
15 DO+004 #0 DO+004 #1 15 DO+004 #4 DO+004 #5
16 DO+004 #2 DO+004 #3 16 DO+004 #6 DO+004 #7
17 0V 0V 17 0V 0V
CB155B Male CB156B Male
Female Female
Power magnetics cabinet and machine panel
NOTE
1 +24E (output)
24 VDC that was input to CP11A passes through
the fuse and is used for the DI signal. Do not
connect the 24 V output of the external power
supply. In addition, do not connect this to DOC.
2 DOC (external 24 V input)
Externally input 24 V of the power supply for DO in
this pin.
- 59 -
Connecting the basic unit with an extension unit

Make a connection between the basic unit and extension unit by using
a flat cable as shown below.
The length of the flat cable is 100 mm.
Units viewed from top
Basic unit Extension unit

Mounting
plane
CNF1
CNF2
Marking
▼ mark
▼ mark
(on connector)
(on connector)
NOTE
Order a flat cable together with an extension unit.
- 60 -
4.3.2 FSSB I/O Attachment
External dimensions
NOTE
The figure above shows the outline drawing of the
basic unit. An extension unit has the same outside
dimensions.
CNF1(basic) CP11A
CNF2(extension) Fuse FUSE1 CP11B
Left : CB156A
Right : CB155A
COP10A COP10B
NOTE
The figure above shows the layout drawing of the
fuses and connectors of the basic unit. With an
extension unit, fuse FUSE1 and connectors
CP11A, CP11B, COP10A, and COP10B are not
used.
- 61 -
Screw attachment
2-M4
39
84
70 to 80
Mounting hole machining diagram
When using both of the basic unit and an extension unit, provide a
space of 70 mm to 80 mm between the mounting holes as shown
above.
- 62 -
CAUTION
When attaching/detaching this unit, a screwdriver is inserted at an
angle. So, a sufficiently large working space must be provided on
the both sides of this unit.
As a guideline, if the front surface of an adjacent unit is flush with
or set back from the front surface of this unit, provide about 20
mm between the adjacent unit and this unit. If the front surface of
the adjacent stands forward of the front surface of this unit,
provide about 70 mm between the adjacent unit and this unit.
When installing this unit near the side of the cabinet, provide
about 70 mm between this unit and the cabinet.
Working space around the I/O unit
- 63 -
Attachment to a DIN rail
Attachment
DIN rail
Detachment
DIN rail
Attachment
1. Hook the unit over the top of the DIN rail.
2. Press the unit down until it snaps into place.
Detachment
1. Pull down the lock section with a standard screwdriver.
2. Pull the lower part of the unit toward you.
- 64 -
Notes on installation
1. Use the unit in a completely sealed cabinet.
2. Be sure to install the unit on a vertical plane and provide a space
of 100 mm or more above and under the unit. Under the unit, do
not place a device that produces much heat.
3. When using the basic unit and extension unit, run the flat cable
connecting the units as shown below so that the flat cable does
not close the vent hole of the basic unit.
Vent hole Flat cable
- 65 -
4.3.3 FSSB I/O Specification List
Installation conditions
Ambient temperature Operating 0°C to 55°C
of the unit Storage, transportation -20°C to 60°C
Temperature variation 1.1°C /minute maximum
Normally
Relative humidity 75% or less
Humidity
Short term (no more than one month)
Relative humidity 95% or less
Vibration Operating 0.5G or less
Normal machining plant environment (Check is
required if the unit is to be used in an environment
Atmosphere exposed to relatively high levels of dust or coolant,
or a relatively high concentration of organic
solvents.)
(1) Use the unit in a completely sealed cabinet.
(2) Install the unit on a vertical surface, and provide
Other conditions a space of 100 mm or more above and below the
unit. Do not install equipment that dissipates
much heat under this unit.
Power supply capacity

Power supply
Supply voltage Remarks
capacity
24V±10% is fed from the CP11A
connector of the basic module. Number of DI points in
0.3A+7.3mAxDI
±10% includes momentary DI = ON state
variations and ripples.
Input signal specifications

Contact capacity 30 VDC, 16 mA or more
Leakage current between
1.0 mA or less (when the voltage is 26.4 V)
open contacts
Voltage drop across closed 2 V or less (including a cable voltage
contacts decrease)
Receiver delay time: 2 ms (MAX)
Delay time In addition, the FSSB transfer period and
ladder scan period need to be considered.
Output signal specifications

Maximum load current at
200 mA or less including momentary variations
ON time
Saturation voltage at ON
1.0 V (MAX) when the load current is 200 mA
time
24 V +20% or less including momentary
Dielectric voltage
variations
Output leakage current at
100 µA or less
OFF time
Driver delay time: 50 µs(MAX)
Delay time In addition, the FSSB transfer period and
ladder scan period must be considered.
- 66 -
GFKE-0218A-EN 5.I/O SIGNALS
5 I/O SIGNALS
- 67 -
5.I/O SIGNALS GFKE-0218-EN/02
5.1 OVERVIEW
The dual check safety function provides two input paths and two
output paths for safe-related signals (safety signals).
For input signals (safety input signals), two paths are used: one path
for input to the CNC via the PMC, and the other for input to the
monitor via the FSSB. The CNC and monitor exchange the safety
input signals with each other at all times to check each other. If a
mismatch is found between a safety input signal via one path and the
same signal via the other path, the signal is assumed to be 0. If such a
state lasts for the period set in a parameter or more, the CNC and
monitor independently detect an alarm. (Dual-check for safety input
signals)
For output signals (safety output signals), two paths are used: one path
for output from the CNC via the PMC, and the other for output from
the monitor via the FSSB. The MCC-on enable signal (MCF) is output
via these two paths. When both a signal via one path and the same
signal via the other path are 1, the signal is assumed to be 1. If either
is 0, the signal is assumed to be 0. That is, if the signal (MCF1) via the
PMC and the signal (MCF2) via the FSSB are both 1, the MCC may
be turned on. If either is 0, the MCC must be turned off.
In Subsection 5.2, a signal name is followed by its symbol and

addresses <via PMC> and <via FSSB>. Then, for an input signal, its
classification, function, and operation are described, in this order. For
an output signal, its classification, function, and output condition are
described in this order.
For information about the emergency stop mode, MCC off Test mode,
and safety signal modes A/B/C/D described in Subsection 5.2, see
Section 5.4.
Section 5.3 provides a list of the addresses of related signals for

1-CPU 1-path control, 2-CPU 2-path control, 1-CPU 2-path control,
2-CPU 3-path control, and loader control in this order.
- 68 -
5.2 SIGNALS
Emergency stop signal

*ESP1 <I0069 >(<I0008 > for loader control), *ESPG <QG0069 >,
*ESP2 <DI+000#0>
[Classification] Input signal
[Function] Stops machine movement immediately in an emergency.
[Operation] When emergency stop signal (*ESP) is set to 0, the CNC is reset, and
an emergency stop occurs. In general, emergency stop signal (*ESP)
is specified by the pushbutton switch B contact. When an emergency
stop occurs, the servo ready signal SA is set to 0.
When emergency stop signal (*ESP) is set to 0, the emergency stop
mode is set with the dual check safety function. In this mode, the
MCC contact state signal (*SMC) is checked. When *SMC = 0
(MCC-on state), the guard unlock signal (*LGD) is set to 0 (to disable
guard unlocking). When *SMC = 1 (MCC-off state), the guard unlock
signal (*LGD) is set to 1 (to enable guard unlocking).
CAUTION
Emergency stop signals (*ESP) via the PMC
<I0069 > (<I0008 > for loader control) and via the
FSSB <DI+000#0> are checked each other
(dual-check for safety input signals), but *ESP via
the PMC <QG0069 > is not checked.
Test mode signal

OPT <QG1531>
[Function] This signal notifies the CNC that MCC off Test mode is set with the
dual check safety function.
Test mode signal (OPT) is not input via the FSSB.
[Operation] When test mode signal (OPT) is 1, the CNC performs safety output
signal MCC off Test processing. (MCC-on enable signals
(MCF1/MCF2) is output in various patterns, and a test is conducted to
see if an appropriate MCC contact state signals (*SMC1/*SMC2)
pattern is input, respectively.) In the emergency stop state or while a
servo or spindle alarm is present, the MCC off test processing is not
performed.
If a MCC off Test is not completed within the time set in parameter
No. 1946, servo alarm No. 488 is issued.
- 69 -
The timing chart of signals related to MCC off Test mode is shown
below.
1 RQT
0
1
OPT
0
1
0
MCF1
1
SMC1
0
1 SMC2
0
Test No.
DGN379 1 2 3 4 0
CAUTION
1 While the MCC off test processing is in progress, avoid bringing the test mode
signal (OPT) to 0.
2 If multi-path control is carried out, run an MCC off test on individual paths
independently.
3 If different paths under multi-path control share the MCC, avoid carrying out an
MCC off test on those paths simultaneously. Never run the MCC off test
simultaneously on tool posts 1 and 2 under 1-CPU 2-path control or on tool posts 2
and 3 under 2-CPU 3-path control.
4 If the MCC off test processing is in progress on one of different paths sharing the
MCC under multi-path control, the remaining paths sharing the MCC should ignore
a VRDY OFF alarm by using the following: all-axis VRDY OFF alarm ignore signal
(IGNVRY <066#0>) or axial VRDY OFF alarm ignore signals (IGNVRY1 to
IGNVRY8 <QG1537+>)
5 MCF2 via the FSSB under 1-CPU 2-path control is tested by the MCC off test on
tool post 1 and is not tested by the MCC off test on tool post 2. MCF2 via the FSSB
connected to tool posts 2 and 3 under 2-CPU 3-path control is tested by the MCC
off test on tool post 2 and is not tested by the MCC off test on tool post 3.
6 If MCC off test mode is set (OPT = 1) with SMC1 = SMC2 = 1 unchanged, the test
number (DGN379) is set to 0.
WARNING
While the MCC off test processing is in progress, the MCC-on enable signal (MCF)
goes high and low to turn on and off the MCC. Carry out the MCC off test in such a
state that the turning on or off of the MCC will not cause a problem.
- 70 -
Test No. 1 2 3 4 5
MCF1 (PMC)
MCF2 (FSSB)
*SMC1 (PMC)
*SMC2 (FSSB)
Timer limit
Timer
Test start Test completion
Example 1) Timing chart 1 of MCC off test (normal state)
Test No. 1 2 3 4
MCF1 (PMC)
MCF2 (FSSB)
*SMC1 (PMC)
*SMC2 (FSSB)
Timer limit
Alarm !!
Timer
Test start
Example 2) Timing chart 2 of MCC off test (abnormal state)
- 71 -
5.I/O SIGNALS GFKE-0218A-EN
Guard open request signal

ORQ <QG1532>, ORQ2<QG2801 >, ORQ3<QG2802 >, ORQ4<QG2803 >
[Function] This signal requests the CNC to unlock the guard with the dual check
safety function.
Guard open request signal (ORQ, ORQ2, ORQ3, ORQ4) is not input
via the FSSB.
In addition, the guard open request signal ORQ,ORQ2, ORQ3 and
ORQ4 corresponds to guard lock release signal *LGD, *LGD2,
*LGD3 and *LGD4 respectively.
[Operation] When the guard open request signal (ORQ) is 1, the CNC, monitor
and spindle software make a machine position check and safety speed
check. If the results of the checks assure safety, guard unlock signal
(*LGD) is set to 1 (to enable guard unlocking).
When guard open request signal (ORQ) is 0, the CNC and monitor set
guard unlock signal (*LGD) to 0 (to disable guard unlocking). (In
emergency stop state, however, the guard unlock signal (*LGD) is set
to 1.)
ORQ2 corresponds to *LGD2, ORQ3 corresponds to *LGD3, and
ORQ4 corresponds to *LGD4.
When the emergency stop signal *ESPG is input, all of *LGD to
*LGD4 are set to 1 (to guard unlock).
See Subsection 5.4.
For the setting of multiple doors, see the description of parameter No.
13800.
Guard state signal

SGD1 <QG1533 >, SGD21<QG2661 >, SGD31<QG2662 >, SGD41<QG2663 >,
SGD2<DI+001#4>, SGD22<DI+000#1>, SGD32<DI+000#2>, SGD42<DI+000#3>
[Function] This signal posts the guard open/closed state to the CNC and monitor
with the dual check safety function.
0: Guard open state
1: Guard closed state
[Operation] This input signal is used together with safety input signals such as
guard open request signal (ORQ to ORQ4) to determine a safety
signal mode that specifies the operation of the CNC, monitor, and
spindle software. For details, see Subsection 5.4.
Input this signal according to the guard state.
13800.
NOTE
Use contacts conforming to IEC60947-5-1 for the
Guard state signal.
- 72 -
Guard lock state signal

GDL1 <QG1534>, GDL2 <DI+001#5>
[Function] This signal posts the guard lock state to the CNC and monitor with the
0: Guard unlocked state
1: Guard locked state
[Operation] This signal is usually not used, but please input same signal (GDL1)
both via PMC and via FSSB all time because dual-check for guard
lock state signal (GDL2) is executed by CNC and monitor.
MCC contact state signal

*SMC1 <QG1535>, *SMC2 <DI+001#6>
[Function] This signal posts the MCC state to the CNC and monitor with the dual
check safety function.
0: MCC-on state
1: MCC-off state
[Operation] When the MCC contact state signals (*SMC1 and *SMC2) are 1 in
the emergency stop state, the CNC sets the guard unlock signal
(*LGD to *LGD4) to 1 (to enable guard unlocking).
The MCC contact state signals (*SMC1/*SMC2) is used to check if
the MCC-on enable signals (MCF1/MCF2) operates normally in MCC
off Test mode.
Input this signal according to the MCC state.
Guard unlock signal

*LGD <IF1529>, *LGD2<IF2801 >, *LGD3<IF2802 >, *LGD4<IF2803 >
[Classification] Output signal
[Function] This signal notifies that guard unlocking is enabled with the dual
check safety function.
When guard unlock signal (*LGD to *LGD4) is 0, the guard is locked.
When *LGD to *LGD4 is 1, the guard is unlocked.
Guard unlock signal (*LGD to *LGD4) is not output via the FSSB.
[Output condition] In the following cases, this signal is set to 1 (to enable guard
unlocking):
• When the MCC contact state signals *SMC1 and *SMC2 are set
to 1 (MCC OFF state) in the emergency stop state, all of *LGD
to *LGD4 are set to 1.
• *LGD to *LGD4 are set to 1 when the guard open request signals
ORQ to ORQ4 are set to 1, the servo motor and spindle motor
are operating within the safety speed, the machine position is
within the same range, and the MCC off Test execution request
signal RQT is set to 0.
(The guard open request signal ORQ corresponds to the guard
unlock signal *LGD, ORQ2 corresponds to *LGD2, ORQ3
corresponds to *LGD3, and ORQ4 corresponds to *LGD4.)
In cases other than the above, this signal is set to 0 (to disable guard
unlocking).
13800.
- 73 -
MCC-on enable signal

MCF1 <IF1530>,MCF2 <DO+000#1>
[Function] This signal posts notification that the MCC can be turned on with the
When either of the MCC on-enable signals (MCF1 and MCF2) is 0,
the MCC is turned on. When both MCF1 and MCF2 are 1, the MCC is
tuned on.
[Output condition] In the following cases, this signal is set to 0 (to prevent the MCC from
being turned on):
• When a safety-related alarm is issued
• When the emergency stop state is issued
In cases other than above, this signal is state to 1 (to enable the MCC
to be turned on).
MCC off Test execution request signal

RQT <IF1531>
[Function] This signal requests that MCC off Test mode be set, and a check is
made to determine whether the safety output signals (MCC-on enable
signal (MCF)) operate normally. When MCC off Test execution
request signal (RQT) is set to 1, set MCC off Test mode and conduct a
safety output signal MCC off Test as soon as possible.
When MCC off Test execution request signal (RQT) is 1, guard
unlock signal (*LGD to *LGD4) is set to 0 to disable guard unlocking
even if safety signal mode B (state in which a guard open request is
input, and the guard is closed) is set and the conditions including
speed are satisfied.
When safety signal mode C (state where a guard open request is input,
and the guard is open) is set, and MCC off Test execution request
signal (RQT) is set to 1, guard unlock signal (*LGD to *LGD4) is 0 to
disable guard unlocking until MCC off Test execution request signal
(RQT) is set to 0 after the guard is closed once.
When MCC off Test execution request signal (RQT) is 1, the warning
"PLEASE EXECUTE SAFE TEST" is displayed on a screen such as a
parameter screen. (On some screens, no warning is displayed.)
MCC off Test execution request signal (RQT) is not output via the
FSSB.
[Output condition] In the following cases, this signal is set to 1:
• A MCC off Test is not completed after power-on (when bit 3 of
parameter No. 1902 is 0).
• Twenty-four hours have elapsed since the completion of the last
MCC off Test.
- 74 -
CAUTION
1 If the current date and time lags behind the date
and time of the previously completed MCC off Test
due to a clock change or the like, it is assumed that
24 hours have elapsed since the previous MCC off
Test.
2 From February 28 to March 1, the elapse of 24
hours may be assumed even if 24 hours has not
elapsed after the completion of the previous MCC
off Test.
In the following case, this signal is set to 0:

• A MCC off Test is completed.
- 75 -
Safety brake output signal

SA<IF0007>, *BRK<DO+000#3>
[Function] The CNC CPU and monitor CPU use these signals to control the
mechanical brake.
0: Applies the brake.
1: Releases the brake.
[Operation] The timing chart of these signals is shown below.
Timing chart of the safety brake signals

(a) When the signals *BRK and SA are set to 0
1 *ESP
0
1 *BRK/SA
0
Max. 32ms
1 Servo/spindle
alarm
0
1
0 *BRK/SA
Max. 32ms
1
Power-on
0
1
*BRK/SA
0
(b) When the signals *BRK and SA are set to 1

1
*ESP
0
1
MCF
0
1
0
*SMC
1 Approx.2500ms (parameter No.1950)
*BRK/SA
0
- 76 -
WARNING
When using the safety brake output signals, be
sure to set the VRDY OFF alarm ignore signals for
all axes (IGNVRY, QG0529 ) and the VRDY OFF
alarm ignore signal (IGVRYx, QG1537+) for each axis
to 0.
CAUTION
Be sure to inspect the brake periodically.
Programmable safe-related input signal

SDI00 to SDI15 <QG2673+, QG2681+> <DI+002, DI+003>
[Function] This function is used only by the CNC and monitor to monitor input
signals with the dual check safety function.
[Operation] These signals can be freely used by the machine tool builder.
CAUTION
These signals cannot be used with path 2 in 1-CPU
2-path control and path 3 in 2-CPU 3-path control,
because those paths do not use an FSSB I/O
module.
Programmable safe-related output signal

SDO00 to SDO07 <QG2649+> <DO+001>
[Function] This function is used only by the CNC and monitor to monitor output
signals with the dual check safety function.
[Operation] These signals can be freely used by the machine tool builder.
CAUTION
1 The term "output signal" means a signal not output
from the CNC but output as viewed from an
application created by the user. So, these signals
are G signals.
2 These signals cannot be used with path 2 in 1-CPU
2-path control and path 3 in 2-CPU 3-path control,
because those paths do not use an FSSB I/O
module.
- 77 -
Safety speed / safety position selection signal A

SVA1 to SVA8 <QG2689+><DI+004> (for each axis)
SPA1 to SPA4 <QG2705 to 3 ><DI+006#0 to #3> (for each spindle)
Safety speed / safety position selection signal B
SVB1 to SVB8 <QG2697+><DI+005> (for each axis)
SPB1 to SPB4 <QG2709 to 3 ><DI+006#4 to #7> (for each spindle)
[Function] When the Dual Check Safety Function is activated, it is possible to
select safety limit speed and safety machine position of each axis.
This signal is prepared for each axis and each spindle. The final
number in the signal name shows the number of the controlled axis
and spindle.
SVAx, SVBx
x 1: Select safety speed/safety machine position of the 1st axis
2: Select safety speed/safety machine position of the 2nd axis
3: Select safety speed/safety machine position of the 3rd axis
: :
SPAy, SPBy
y 1: Select safety speed of the 1st spindle
2: Select safety speed of the 2nd spindle
3: Select safety speed of the 3rd spindle
4: Select safety speed of the 4th spindle
[Operation] According to the combination of Safety Speed/Safety Machine

Position Selection signal, safety speed and safety machine position are
selected as the following table.
Safety speed 1 for a feed axis assumes the value of parameter No.
1942 when parameter No. 1942 is not set to 0. Safety speed 1 for a
feed axis assumes the value of parameter No. 13821 when parameter
No. 1942 is set to 0.
Similarly, safety machine position 1 assumes the value of parameter
No. 1943 (No. 1944) when parameter No. 1943 (No. 1944) is not set
to 0. Safety machine position 1 assumes the value of parameter No.
13831 (No. 13832) when parameter No. 1943 (No. 1944) is set to 0.
Safety Speed/
Safety Machine Position Safety limit speed Safety machine position
Selection signal
SVAn SVBn Parameter for Parameter + direction - direction
SPAn SPBn servo axis for spindle parameter parameter
Safety limit speed 1 Safety machine position 1
0 0 No.1942 / No.1943 / No.1944 /
No.4372
No.13821 No.13831 No.13832
1 0
No.13822 No.4438 No.13833 No.13834
0 1
No.13823 No.4440 No.13835 No.13836
1 1
No.13824 No.4442 No.13837 No.13838
- 78 -
CAUTION
1 The safety speed and safety position selection
signal are safety signals, so that these signals are
input via the two paths, namely, via the PMC and
FSSB. Each signal input via the two paths is
monitored for a mismatch by the CNC and monitor
in dual mode.
2 When a signal input via either of the two paths is
set to 0, the signal is assumed to be set to 0. Only
when a signal input via both paths is set to 1, the
signal is assumed to be set to 1.
3 With 1-CPU 2-path control and 2-CPU 3-path
control, the addresses of some signals input via the
FSSB are modified. For details, see Subsection
5.3.3 and Subsection 5.3.4.
4 Before switching these signals, stop the feed axis
and spindle.
Safety Position Switch signal

SPS01 to SPS32 <IF2689 to IF2720> <DO+002 to DO+005>
[Function] This signal notifies that the machine position of the axis specified by
the safety parameter (No.13880 to No.13911) is within the range
specified by the safety parameter (No.13920 to No.13951, No.13960
to No.13991). The table below indicates the maximum allowable
number of signal points for each tool post.
Tool Tool Tool
Applicable system
post 1 post 2 post 3
Series
1-path control 32 (8) - - 16i/18i/21i-TB/MB,
Series 18i-MB5
2-CPU 2-path Series 16i/18i-TB,
32 (8) 32 (8) -
control Series 16i-MB
1-CPU 2-path
16 (8) 16 (0) - Series 16i/18i-TB
control
2-CPU 3-path
32 (8) 16 (8) 16 (0) Series 16i-TB
control
NOTE
The parenthesized values are applicable when the
FSSB I/O module (extension) is not used.
[Output condition] In the following case, this signal is set to “1”.

• The machine position of the axis is within the specified range.
In the following case, this signal is set to “0”.
• The machine position of the axis is out of the specified range.
[Remarks] When the axis is just on the boundary of the range (machine position
is equal to parameter setting value), it is regarded that the machine
position is within the range.
- 79 -
If a mismatch between the state of the signals (IF2689+ to IF2713+) output

via the PMC and the signals (DO+002 to DO+005) output via the
FSSB lasts for a certain period of time, the CNC CPU and monitor
CPU assume the occurrence of an error and immediately shut off
power to the motor drive circuit independently of each other.
CAUTION
With 1-CPU 2-path control and 2-CPU 3-path
control, the addresses of some signals output via
the FSSB are modified. For details, see Subsection
5.3.3 and Subsection 5.3.4.
- 80 -
5.3 SIGNAL ADDRESSES
5.3.1 1-path Control
Via the PMC

#7 #6 #5 #4 #3 #2 #1 #0
I0065+ *ESP1
+
QG0521 *ESPG
QG1529+ *SMC1 GDL1 SGD1 ORQ OPT
QG2657+ SGD41 SGD31 SGD21
QG2673+ SDI07 SDI06 SDI05 SDI04 SDI03 SDI02 SDI01 SDI00
QG2689+ SVA8 SVA7 SVA6 SVA5 SVA4 SVA3 SVA2 SVA1
QG2697+ SVB8 SVB7 SVB6 SVB5 SVB4 SVB3 SVB2 SVB1
QG2705+ SPB4 SPB3 SPB2 SPB1 SPA4 SPA3 SPA2 SPA1
QG2801+ ORQ4 ORQ3 ORQ2
#7 #6 #5 #4 #3 #2 #1 #0
IF0001+ SA
IF1529+ RQT MCF1 *LGD
QG2649+ SDO07 SDO06 SDO05 SDO04 SDO03 SDO02 SDO01 SDO00
IF2689+ SPS08 SPS07 SPS06 SPS05 SPS04 SPS03 SPS02 SPS01
IF2801+ *LGD4 *LGD3 *LGD2
- 81 -
Via the FSSB

#7 #6 #5 #4 #3 #2 #1 #0
DI+000 SGD42 SGD32 SGD22 *ESP2
DI+001 *SMC2 GDL2 SGD2

Basic
DI+002 SDI07 SDI06 SDI05 SDI04 SDI03 SDI02 SDI01 SDI00
DI+004 SVA8 SVA7 SVA6 SVA5 SVA4 SVA3 SVA2 SVA1

Extension
DI+005 SVB8 SVB7 SVB6 SVB5 SVB4 SVB3 SVB2 SVB1
DI+006 SPB4 SPB3 SPB2 SPB1 SPA4 SPA3 SPA2 SPA1
DI+007
#7 #6 #5 #4 #3 #2 #1 #0
DO+000 *BRK MCF2
Basic
DO+001 SDO07 SDO06 SDO05 SDO04 SDO03 SDO02 SDO01 SDO00
DO+002 SPS08 SPS07 SPS06 SPS05 SPS04 SPS03 SPS02 SPS01

Extension
- 82 -
5.3.2 2-CPU 2-path Control (Series 16i/18i-TB, Series 16i-MB)

A signal symbol suffixed with #1 represents a signal dedicated to tool
post 1, and a signal symbol suffixed with #2 represents a signal
dedicated to tool post 2.
Via the PMC

#7 #6 #5 #4 #3 #2 #1 #0
I0065+ *ESP1
#7 #6 #5 #4 #3 #2 #1 #0
#1
QG0065+ *ESPG
#1 #1 #1 #1 #1
#1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1
#7 #6 #5 #4 #3 #2 #1 #0
#2
QG10065+ *ESPG
#2 #2 #2 #2 #2
#2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2
- 83 -
#7 #6 #5 #4 #3 #2 #1 #0
#1
IF0001+ SA
#1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1
#7 #6 #5 #4 #3 #2 #1 #0
#2
IF10001+ SA
#2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2
- 84 -
Via the FSSB

Signals input to the FSSB I/O module connected to tool post 1/signals output from the FSSB I/O module
#7 #6 #5 #4 #3 #2 #1 #0
#1 #1 #1 #1
#1 #1 #1
Basic
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
Extension
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
DI+007
#7 #6 #5 #4 #3 #2 #1 #0
#1 #1
DO+000 *BRK MCF2
Basic
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
Extension
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#7 #6 #5 #4 #3 #2 #1 #0
#2 #2 #2 #2
#2 #2 #2
Basic
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
Extension
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
DI+007
#7 #6 #5 #4 #3 #2 #1 #0
#2 #2
DO+000 *BRK MCF2
Basic
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
Extension
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
- 85 -
5.3.3 1-CPU 2-path Control (Series 16i/18i-TB)

post 1, and a signal symbol suffixed with #2 represents a signal
Via the PMC

#7 #6 #5 #4 #3 #2 #1 #0
I0065+ *ESP1
#7 #6 #5 #4 #3 #2 #1 #0
#1
QG0065+ *ESPG
#1 #1 #1 #1 #1
#1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1
QG2689+ SVA4 SVA3 SVA2 SVA1
#1 #1 #1 #1
QG2697+ SVB4 SVB3 SVB2 SVB1
#1 #1 #1 #1
QG2705+ SPB2 SPB1 SPA2 SPA1
#1 #1 #1
#7 #6 #5 #4 #3 #2 #1 #0
#2
QG10065+ *ESPG
#2 #2 #2 #2 #2
#2 #2 #2
#2 #2 #2 #2
#2 #2 #2 #2
#2 #2 #2 #2
#2 #2 #2
- 86 -
#7 #6 #5 #4 #3 #2 #1 #0
#1
IF0001+ SA
#1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1
#7 #6 #5 #4 #3 #2 #1 #0
#2
IF10001+ SA
#2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2
- 87 -
Via the FSSB

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

Basic
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#2 #2 #2 #2 #1 #1 #1 #1
Extension
#2 #2 #2 #2 #1 #1 #1 #1
#2 #2 #1 #1 #2 #2 #1 #1
DI+007
#7 #6 #5 #4 #3 #2 #1 #0
DO+000 *BRK MCF2
Basic
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
Extension
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
- 88 -
5.3.4 2-CPU 3-path Control (Series 16i-TB)

post 1, a signal symbol suffixed with #2 represents a signal dedicated
to tool post 2, and a signal symbol suffixed with #3 represents a signal
Via the PMC
#7 #6 #5 #4 #3 #2 #1 #0
I0065+ *ESP1
#7 #6 #5 #4 #3 #2 #1 #0
#1
QG0065+ *ESPG
#1 #1 #1 #1 #1
#1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1
#7 #6 #5 #4 #3 #2 #1 #0
#2
QG10065+ *ESPG
#2 #2 #2 #2 #2
#2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2
#2 #2 #2 #2
#2 #2 #2 #2
#2 #2 #2
#7 #6 #5 #4 #3 #2 #1 #0
#3
QG20065+ *ESPG
#3 #3 #3 #3 #3
#3 #3 #3
#3 #3 #3 #3
#3 #3 #3 #3
#3 #3 #3 #3
#3 #3 #3
- 89 -
#7 #6 #5 #4 #3 #2 #1 #0
#1
IF0001+ SA
#1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1
#7 #6 #5 #4 #3 #2 #1 #0
#2
IF10001+ SA
#2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2
#7 #6 #5 #4 #3 #2 #1 #0
#3
IF20001+ SA
#3 #3 #3
#3 #3 #3 #3 #3 #3 #3 #3
#3 #3 #3 #3 #3 #3 #3 #3
#3 #3 #3
- 90 -
Via the FSSB

#7 #6 #5 #4 #3 #2 #1 #0
#1 #1 #1 #1
#1 #1 #1
Basic
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
Extension
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
DI+007
#7 #6 #5 #4 #3 #2 #1 #0
#1 #1
DO+000 *BRK MCF2
Basic
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
Extension
#1 #1 #1 #1 #1 #1 #1 #1
#1 #1 #1 #1 #1 #1 #1 #1
- 91 -
#7 #6 #5 #4 #3 #2 #1 #0
(*) (*) (*) (*)
(*) (*) (*)

Basic
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#3 #3 #3 #3 #2 #2 #2 #2
Extension
#3 #3 #3 #3 #2 #2 #2 #2
#3 #3 #2 #2 #3 #3 #2 #2
DI+007
#7 #6 #5 #4 #3 #2 #1 #0
(*) (*)
DO+000 *BRK MCF2
Basic
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
#2 #2 #2 #2 #2 #2 #2 #2
Extension
#3 #3 #3 #3 #3 #3 #3 #3
#3 #3 #3 #3 #3 #3 #3 #3
CAUTION
1 Among the signals input to the FSSB I/O module
connected to tool post 2, the following signals are
common to tool post 2 and tool post 3:
⋅ *ESP2<DI+000#0>
⋅ *SMC2<DI+001#6>
⋅ GDL2<DI+001#5>
⋅ SGD2<DI+001#4>
⋅ SGD22<DI+000#3>
⋅ SGD32<DI+000#2>
⋅ SGD42<DI+000#1>
2 Among the signals output from the FSSB I/O
module connected to tool post 2, the following
signals are common to tool post 2 and tool post 3:
⋅ MCF2<DO+000#1>
⋅ BRK<DO+000#3>
- 92 -
5.3.5 Loader Control (Series 16i/18i/21i-TB, Series 16i/18i-MB)

All of the signals described in this subsection are dedicated to the
loader.
Via the PMC
#7 #6 #5 #4 #3 #2 #1 #0
I0001+ *ESP1
#7 #6 #5 #4 #3 #2 #1 #0
QG0065+ *ESPG
#7 #6 #5 #4 #3 #2 #1 #0
IF0001+ SA
Via the FSSB

Signals input to the FSSB I/O module connected to the loader
#7 #6 #5 #4 #3 #2 #1 #0
DI+000 *ESP2

Basic
DI+002
DI+003
DI+004
Extension
DI+005
DI+006
DI+007
#7 #6 #5 #4 #3 #2 #1 #0
DO+000 *BRK MCF2
Basic
DO+001
DO+002
DO+003
Extension
DO+004
DO+005
- 93 -
5.3.6 Caution (Common)
CAUTION
1 The shaded signals are dual signals. (An italic
signal is monitored in dual mode only when the
safety function that uses the signal is enabled.)
2 Emergency stop signals (*ESP) via the PMC
<I0069 > (<I0008 > for loader control) and via
the FSSB <DI+000#0> are checked each other
(dual-check for safety input signals), but *ESP via
the PMC <QG0069 > is not checked.
3 *ESP1 (<I0069 > or <I0008 > for loader control)
is directly checked by the CNC. All signals via the
FSSB are directly processed by the monitor CPU.
None of the signals is processed by the PMC.
4 The signals usable only with the FSSB I/O basic
module are 32 input points/24 output points,
namely, DI+000 to 003/DO+000 to 002.
When a safety function that requires the signals
DI+004 to 007/DO+003 to 005 is to be used, an
FSSB I/O extension module is needed.
- 94 -
5.4 SAFETY SIGNAL MODES
Depending on the safety input signal state, the CNC, monitor, and
spindle software internally have one of the six modes (safety signal
modes) indicated in the table below.
Safety signal mode Safety signal state Machine state

Emergency stop mode *ESP = 0 Emergency stop state
MCC off Test mode OPT = 1 State for conducting a MCC off Test
Safety signal mode A ORQn = 0, and SGDn = 1 Normal operation state
Safety signal mode B ORQn = 1, and SGDn = 1 State in which a guard open request
is input, and the guard is closed
Safety signal mode C ORQn = 1, and SGDn = 0 State in which a guard open request
is input, and the guard is open
Safety signal mode D ORQn = 0, and SGDn = 0 Abnormal state (state in which the
guard is open although no guard
open request is input.)
In general, safety signal mode transitions are made as described

below.
Usually, safety signal mode A is set. In safety signal mode A, guard
unlock signal (*LGD) is 0, and the guard is locked.
When an emergency stop is required, emergency stop mode is set. In
emergency stop mode, the MCC contact state signal (*SMC) is
checked. When *SMC = 0 (MCC-on state), guard unlock signal
(*LGD) is set to 0 (to disable guard unlocking). When *SMC = 1
(MCC-off state), guard unlock signal (*LGD) is set to 1 (to enable
guard unlocking).
When a MCC off Test is to be conducted, MCC off Test mode is set.
In MCC off Test mode, safety output signal MCC off Test processing
is performed. (MCC-on enable signal (MCF) are output in various
patterns, and a test is conducted to determine whether appropriate
MCC contact state signal (*SMC) patterns are input respectively.)
When the guard is to be opened, safety signal mode B is set. In safety
signal mode B, the CNC, monitor, and spindle software check the
machine position and the speed on each axis. If safety is assured,
guard unlock signal (*LGD) is set to 1 to enable the guard to be
opened.
When the guard is opened in safety signal mode B after guard unlock
signal (*LGD) is set to 1, safety signal mode C is set. In safety signal
mode C, the CNC, monitor, and spindle software check the machine
position and the speed on each axis. If an abnormality is detected, an
alarm is issued, MCC-on enable signal (MCF) is set to 0, and the
MCC is turned off.
Safety signal mode D represents an abnormal state in which the guard
is open although no guard open request is made. In safety signal mode
D, an alarm is issued, the MCC-on enable signal (MCF) is set to 0,
and the MCC is turned off.
- 95 -
CAUTION
When multiple doors (to be set using parameter
No. 13800) are used and a different mode is set for
each door, the safety signal mode for the entire
safety area is set in the priority order of mode D >
mode C > mode B > mode A.
For example, when safety signal mode D is used
for door 1 and safety signal mode B is used for
door 2, the safety mode of the entire safety area is
D.
- 96 -
5.5 NOTES ON MULTI-PATH CONTROL
This section describes cautions about safe-related I/O signals that

should be taken in multi-path control.
5.5.1 2-CPU 2-Path Control (without Axis Change between Paths)

If there is no axis change between paths under 2-CPU 2-path control,
a single independent group of safety areas can be provided for each
path (two groups of safety areas in total). Two FSSB I/O units, that is
one unit for each path, are required. (The two FSSB I/O units are
required even if just one group of safety areas is provided.)
Two groups of safety input signals are cross-checked. The first group
consists of a safety signal input to tool post 1 (DI1C: I0069 , QG1529+ in
the figure below) and a safety signal input to the FSSB I/O unit
connected to tool post 1 (DI1M). The second group consists of a safety
signal input to tool post 2 (DI2C: I0069 , QG11529+) and a safety signal
input to the FSSB I/O unit connected to tool post 2 (DI2M).
Safety output signals should be provided to the safety areas, as
follows: Provide a safety signal output from tool post 1 (DO1C: IF1529+)
and a safety signal output from the FSSB I/O unit connected to tool
post 1 (DO1M) to the safety area of tool post 1; Provide a safety signal
output from tool post 2 (DO2C: IF11529+) and a safety signal output from
the FSSB I/O unit connected to tool post 2 (DO2M) to the safety area
of tool post 2.
MAIN BOARD SUB BOARD
Path 1 Path 2
cross- cross-
DO1C check DO1M DO2C check DO2M
CNC Monitor CNC Monitor
DI1C
CPU CPU DI1M DI2C
CPU CPU DI2M
Safety
Safetyarea
area11 Safety
Safetyarea
area22
Guard
Guard Guard
Guard
MCC
MCC MCC
MCC
and
andsosoonon and
andsosoonon
- 97 -
5.5.2 2-CPU 2-Path Control (with Axis Change between Paths)

If there is an axis change between paths under 2-CPU 2-path control, a
single group of safety areas can be provided. Two FSSB I/O units, that
is one unit for each path, are required. (The two FSSB I/O units are
required although just one group of safety areas is provided.)
consists of a safety signal input to tool post 1 (DI1C: I0069 , QG1529+)
and a safety signal input to the FSSB I/O unit connected to tool post 1
(DI1M). The second group consists of a safety signal input to tool post
2 (DI2C: I0069 , QG11529+) and a safety signal input to the FSSB I/O
unit connected to tool post 2 (DI2M). Because just one group of safety
areas is provided, these four safety input signals (DI1C, DI1M, DI2C, and
DI2M) should be equal.
Safety output signals should be provided to the single group of safety
areas, as follows: Provide a safety signal output from tool post 1
(DO1C: IF1529+), safety signal output from tool post 2 (DO2C: IF11529+),
safety signal output from the FSSB I/O unit connected to tool post 1
(DO1M), and safety signal output from the FSSB I/O unit connected to
tool post 2 (DO2M) to the single group of safety areas.
Path 1 Path 2
cross- cross-
DO1C check DO1M DO2C check DO2M
DI1C
CPU CPU DI1M DI2C
CPU CPU DI2M
Safety
Safetyarea
area
Guard
Guard
MCC
MCC
and
andsosoonon
- 98 -
5.5.3 1-CPU 2-Path Control

A single group of safety areas can be provided under 1-CPU 2-path
control. A single FSSB I/O unit is required.
and a safety signal input to the FSSB I/O unit (DIM). The second
group consists of a safety signal input to tool post 2 (DI2C: I0069 ,
QG11529+) and a safety signal input to the FSSB I/O unit (DIM). Because
just a single group of safety areas is provided, these three safety input
signals (DI1C, DI2C, and DIM) should be equal.
The following three safety output signals should be provided to the
single group of safety areas: safety signal output from tool post 1
(DO1C: IF1529+), safety signal output from tool post 2 (DO2C: IF11529+),
and safety signal output from the FSSB I/O unit (DOM).
MAIN BOARD
DO1C Path 1
DI1C DOM
CNC cross- Monitor
DO2C check
CPU CPU DIM
Path 2
DI2C
Safety
Safetyarea
area
Guard
Guard
MCC
MCC
and
andsosoonon
- 99 -
5.5.4 2-CPU 3-Path Control

Under 2-CPU 3-path control, two groups of safety areas can be
provided: one group for tool post 1 and the other group for tool posts
2 and 3. Two FSSB I/O units are required: one unit for tool post 1 and
the other unit for tool posts 2 and 3. (The two FSSB I/O units are
required although just a single group of safety areas is provided.)
Three groups of safety input signals are cross-checked. The first group
and a safety signal input to the FSSB I/O unit connected to tool post 1
(DI1M). The second group consists of a safety signal input to tool post
2 (DI2C: I0069 , QG11537+ ) and a safety signal input to the FSSB I/O
unit connected to tool posts 2 and 3 (DI2M). The third group consists
of a safety signal input to tool post 3 (DI3C: I0069 , QG21529+ ) and a
safety signal input to the FSSB I/O unit connected to tool posts 2 and
3 (DI2M). Because the second and third groups share the same safety
area, the three safety input signals (DI2C, DI3C, and DI2M) should be
equal.
Safety output signals should be provided to the safety areas, as

follows: Provide a safety signal output from tool post 1 (DO1C: IF1529+)
and a safety signal output from the FSSB I/O unit connected to tool
post 1 (DO1M) to the safety area of tool post 1. Provide a safety signal
output from tool post 2 (DO2C: IF11529+), safety signal output from tool
post 3 (DO3C: IF21529+), and safety signal output from the FSSB I/O unit
connected to tool posts 2 and 3 (DO2M) to the single group of safety
areas of tool posts 2 and 3.
Path 1 DO2C Path 2

cross-
DO1C check DO1M DI2C DO2M
CNC Monitor CNC cross- Monitor
DO3C check
DI1C
CPU CPU DI1M
CPU CPU DI2M
Path 3
DI3C
Safety
Safetyarea
area11 Safety
Safetyarea
area22
Guard
Guard Guard
Guard
MCC
MCC MCC
MCC
and
andsosoonon and
andsosoonon
- 100 -
5.5.5 Loader Control

A single group of safety areas can be provided for loader control,
independently of that for the machine controlled with the main CPU
board and sub-CPU board. Besides the FSSB unit for the machine, a
single FSSB unit is required for the loader. (Even if the machine and
loader share a single safety area, the single FSSB I/O unit for the
loader is required.)
The following safety input signals are cross-checked by the loader: a
safety signal input to the loader (DILC: I0008 , QG1529+) and a safety
signal input to the FSSB I/O unit connected to the loader (DILM).
Provide the following safety output signals to the safety area of the
loader: a safety signal output from the loader (DOLC: IF1529+) and a
safety signal output from the FSSB I/O unit connected to the loader
(DOLM).
MAIN BOARD LOADER BOARD
cross- cross-
DO1C check DO1M DOLC check DOLM
DI1C
CPU CPU DI1M DILC
CPU CPU DILM
Safety
Safetyarea
area11 Safety
Safetyarea
area22
Guard
Guard Guard
Guard
MCC
MCC MCC
MCC
and
andsosoonon and
andsosoonon
- 101 -
6.PARAMETERS GFKE-0218-EN/02
6 PARAMETERS
- 102 -
GFKE-0218A-EN 6.PARAMETERS
6.1 OVERVIEW
The parameters related to the dual check safety function (safety

parameters) are protected by a code (No. 3225) for the safety
parameters. The value of a safety parameter cannot be modified unless
the same value as the code for the safety parameters is set as the key
(No. 3226) for the safety parameters.
The safety parameters are stored in two locations on the CNC. The
CNC, monitor, and spindle software check the matching of the
parameters stored at the two locations. If a mismatch is found, an
alarm is issued.
If the setting of a safety parameter is modified, the power must be

turned off then back on. The new setting of the parameter becomes
effective after the power is turned back on.
For information about emergency stop mode, MCC off Test mode,
and safety signal modes A/B/C/D described in this section, see Section
5.4.
Section 6.3 describes the parameters related to the use of the FSSB I/O
unit.
Section 6.4 describes the functions that require special parameter

settings.
- 103 -
6.2 PARAMETERS
1023 Servo axis number for each axis
[Data type] Byte axis

[Valid data range] 1, 2, 3, ..., number of controlled axes
Set which servo axis corresponds to each controlled axis. Usually, set
the same value for a controlled axis number and servo axis number.
A controlled axis number represents an array number for an axis type
parameter or axis type machine signal.
For details of the setting, refer to the description of FSSB setting in
the Connection Manual (Function).
CAUTION
To use the dual check safety function, the first servo
axis is required. To use the dual check safety
function under multi-path control, the first servo axis
cannot be changed between paths. Specific
requirements are as follows.
For 1-path control, 1-CPU 2-path control, and loader
control:
Tool post 1 (or loader) must have an axis for
which parameter No.1023 is set to 1.
For 2-CPU 2-path control and 2-CPU 3-path control:
Tool post 1 must have an axis for which
parameter No.1023 is set to 1, and tool post 2
must have an axis for which parameter No.1023
is set to 9.
1829 Positional deviation limit during a stop for each axis
[Data type] Word axis

[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set a positional deviation limit for each axis at stop time.
If a positional deviation limit during a stop is exceeded at stop time, a
servo alarm No.410 is issued, and an immediate stop (same as an
emergency stop) is performed.
In the dual check safety function, the CNC and monitor always check
the position deviation amount on each axis. If the monitor detects that
the position deviation limit is exceeded during a stop, a servo alarm
No.474 is issued only in safety signal mode C (state in which a guard
open request is input and the guard is open).
- 104 -
1838 Positional deviation limit during movement for each axis in safety signal mode C
[Data type] 2-word axis

[Unit of data] Detection unit
Set a positional deviation limit during movement for each axis in
safety signal mode C (state in which a guard open request is input, and
the guard is opened) when the dual check safety function is used.
If a positional deviation limit during movement is exceeded during
movement, a servo alarm No.411 is issued, and an immediate stop
(same as an emergency stop) is performed.
In the dual check safety function, the CNC and monitor always check
the position deviation amount on each axis. If the monitor detects that
the position deviation limit is exceeded during moving, a servo alarm
No.475 is issued only in safety signal mode C (state in which a guard
open request is input and the guard is open).
When the guard is open, axis movement is performed at a speed not
exceeding the safety speed. So, usually, set a value smaller than a
positional deviation limit during movement (parameter No. 1828).
#7 #6 #5 #4 #3 #2 #1 #0
1902 0 DCE 0 STP
[Data type] Bit

STP When the power is turned on, a MCC off test is:
0: Conducted. (The warning "PLEASE EXECUTE MCC OFF
TEST" is displayed at power-on, and MCC off Test execution
request signal (RQT) is output.)
1: Not conducted.
CAUTION
1 The STP parameter is used temporarily, for
example, when a MCC off Test is not to be made at
power-on as in the case of machine adjustment.
Usually, set STP = 0.
2 Even when STP = 1, a MCC off Test is required if
the power is turned 24 hours or more after the
completion of the previous MCC off Test.
WARNING
Set STP = 0 after the STP parameter is used
temporarily as in the case of machine adjustment.
DCE The dual check safety function is:

0: Disabled.
1: Enabled.
- 105 -
CAUTION
Usually set the DCE = 1 in the dual check safety
function. The system cannot start-up because
MCC-on enable signal (MCF) = 0 when the DCE =
0.
WARNING
Always set bits 5 and 7 of parameter No.1902 to 0. If
one of these bits is set "1", the safety functions may
be executed incorrectly.
#7 #6 #5 #4 #3 #2 #1 #0
1904 DCN
[Data type] Bit axis

DCN The checks of the target axis by the dual check safety function are:
0: Made.
1: Not made.
CAUTION
1 The DCN bit cannot disable the checks by the dual
check safety function for all the controlled axes.
2 Set the DCN bit to 1 for the slave axis under tandem
control or for the tool axis of a simple electronic gear
box or electronic gear box 2-pair.
WARNING
The checks by the dual check safety function are not
made on an axis for which the DCN bit is set to 1.
Set the DCN bit to 0 for normal axes.
#7 #6 #5 #4 #3 #2 #1 #0
1909 NIO
[Data type] Bit

NIO When a PMC ladder is stopped, safety-related I/O monitoring is:
0: Performed.
1: Not performed.
CAUTION
1 Set this parameter when a ladder must be stopped,
for example, to debug or edit the ladder.
2 This parameter is set to 0 when the power is turned
off then back on.
- 106 -
1942 Safety speed for each axis
13821 Safety speed 1 for each axis

[Unit of data]
[Valid data range]
Parameter Valid data range
Increment
TR2x Unit of data
system IS-A, IS-B IS-C
(No.13802#1)
Millimeter machine 1 mm/min 0 to 240000 0 to 100000
0 Inch machine 0.1 inch/min 0 to 96000 0 to 48000
Rotation axis 1 deg/min 0 to 240000 0 to 100000
1 Not applicable 1 min-1 0 to 32767
Set a safety speed for each axis.

The CNC and monitor always check the velocity command of each
axis in the dual check safety function. If the safety speed is exceeded
on one axis at least, the guard unlock signal (*LGD) is brought to 0, to
disable guard unlocking. The state in which the safety speed is not
exceeded on any axis is one condition for setting the guard unlock
signal (*LGD) to 1 (to enable guard unlocking).
If the safety speed is exceeded in safety signal mode C (state in which
a guard open request is input and the guard is open), a servo alarm
No.476 or No.494 is issued for the corresponding axis.
Up to four safety speeds can be set. Which safety speeds to choose

depends on the safety speed/safety position selection signal (safety
input signal). For details, see Section 5.2, "SIGNALS."
Safety speed 1 assumes the value of parameter No. 1942 if parameter
No. 1942 is not set to 0. Safety speed 1 assumes the value of
parameter No. 13821 if parameter No. 1942 is set to 0.
Parameter No.1942 (parameter No.1942 ≠ 0)

Safety speed 1 = 
Parameter No.13821 (parameter No.1942 = 0)
By setting bit 1 (TR2x) of parameter No. 13802 to 1, a safety speed

can be monitored not by mm/min, inch/min, and deg/min but by motor
speed (min-1).
- 107 -
CAUTION
1 When bit 1 (TR2x) of parameter No. 13802 is set to
0, a speed command check is made in terms of the
detection unit. So, a calculation error can result.
2 Safety speed parameter No. 1942, and No. 13821
through No. 13824 are safety parameters, so that
these parameters are protected using the key and
code of Dual Check Safety. To modify a safety
speed parameter, set a code for safety parameters
as the key for safety parameters (parameter No.
3226).
3 When the value of a safety speed parameter (No.
1942, No. 13821 through No. 13824) has been
changed, the power must be turned off before
operation is continued.
4 When motor speed is chosen to make a safety
speed check (by setting bit 1 (TR2x) of parameter
No. 13802 to 1), a setting must be made not to
make a safe machine position check (by setting bit
0 (NP2x) of parameter No. 13802 to 1).
5 When diameter specification is used, set a speed
based on diameter specification.
1943 Safe machine position of each axis (+ direction)
1944 Safe machine position of each axis (- direction)
13831 Safe machine position 1 of each axis (+ direction)
13832 Safe machine position 1 of each axis (- direction)

[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
- 108 -
[Valid data range] -99999999 to 99999999

Set a safe machine position for each axis.
The CNC and monitor always check the machine position on each
linear axis in the dual check safety function.
In safety signal mode B (state in which a guard open request is input,
and the guard is closed), if there is at least one linear axis whose
machine position is not in the safe machine position (safe machine
position (- direction) ≤ machine position ≤ safe machine position (+
direction)), the guard unlock signal (*LGD) is set to 0 to disable guard
unlocking. The state in which the machine positions of all linear axes
are within the safe machine positions is one condition for setting the
guard unlock signal (*LGD) to 1 (to enable guard unlocking). If the
machine position on a linear axis exceeds the safe machine position in
safety signal mode C (state in which a guard open request is input and
the guard is open), a servo alarm No.477 or No.495 is issued.
Up to four safe machine positions can be set. Which safe machine

positions to choose depends on the safety speed/safety position
selection signal (safety input signal). For details, see Section 5.2,
"SIGNALS."
Safe machine position 1 assumes the value of parameter No. 1943 (No.
1944) if parameter No. 1943 (No. 1944) is not set to 0. Safe machine
position 1 assumes the value of parameter No. 13831 (13832) if
parameter No. 1943 (No. 1944) is set to 0.
Parameter No.1943 (No.1943 ≠ 0)

Safe machine position 1 (+ direction) = 
Parameter No.13831 (No.1943 = 0)
Parameter No.1944 (No.1944 ≠ 0)

Safe machine position 1 (- direction) = 
Parameter No.13832 (No.1944 = 0)
- 109 -
CAUTION
1 The checks are made on the basis of the machine
position to the detection unit. Accordingly, a
calculation error may occur.
2 Safe machine position parameter No. 1943, No.
1944, and No. 13831 through No. 13836 are safety
parameters, so that these parameters are
protected using the key and code of Dual Check
Safety. To modify a safe machine position
parameter, set a code for safety parameters as the
key for safety parameters (parameter No. 3226).
3 When the value of a safe machine position
parameter (No. 1943, No. 1944, No. 13831 through
No. 13836) has been changed, the power must be
turned off before operation is continued.
4 For an axis with bit 0 (NP2x) of parameter No.
13802 set to 1, no machine position check is made.
WARNING
CNC and monitor check the machine position of
only each axis whose reference position is
established, and not check it of each axis whose
reference position is not established.
1945 Safety input signal check timer
[Data type] Word

[Unit of data] ms
For input signals related to the dual check safety function (safety input
signals), two paths are used: one path for input to the CNC via the
PMC, and the other for input to the monitor via the FSSB. The CNC
and monitor exchange the input signals with each other at all times to
check each other. If a mismatch greater than the time set in this
parameter is detected between an input signal via one path and the
same signal via the other path, a servo alarm No.479 or No.486 is
issued. If a value of less than 16 is specified, a specification of 16 ms
is assumed.
When a value greater than 1000 is set, the specification of 1000 ms is
assumed.
CAUTION
Set identical values in parameters No.1945 for the
following: two tool posts under 2-CPU 2-path control
with axis change between paths, two tool posts
under 1-CPU 2-path control, or tool posts 2 and 3
under 2-CPU 3-path control.
- 110 -
1946 MCC off Test timer
[Data type] Word

[Unit of data] ms
When MCC off Test mode is set with the dual check safety function,
the CNC conducts a safety output signal MCC off Test. If a MCC off
Test is not completed within the time set in this parameter, a servo
alarm No.488 is issued.
If a value of less than 0 is specified, a specification of 10000 ms is
assumed.
1947 MCC-off timer 1
1948 MCC-off timer 2
[Data type] Word

[Unit of data] ms
When the MCC-on enable signal (MCF) needs to be set to 0 (MCC
off) with the dual check safety function for a cause such as an alarm or
emergency stop, the CNC and monitor set MCC-on enable signal
(MCF) to 0 when an MCC-off timer value has elapsed after the alarm
or emergency stop state.
If a spindle alarm is issued, however, the timers are not used. Instead,
MCC-on enable signal (MCF) is set to 0 immediately.
If the MCC is cut off while the spindle motor is rotating, the spindle
motor will continue to rotate (free-run) and stop after time. When the
spindle motor should stop as quickly as possible, please use these
parameters and control the spindle motor to stop, and after that cut
MCC off.
State Timer used

When a spindle alarm is issued No timer is used.
When the guard is closed MCC-off timer 1 (No. 1947)
When the guard is open MCC-off timer 2 (No. 1948)
CAUTION
under 2-CPU 3-path control. Set identical values in
parameters No.1948 likewise.
- 111 -
1950 Brake signal timer
[Data type] Word

[Unit of data] ms
Set a time period from when the monitor in the dual check safety
function detects that the MCC contact state signal (*SMC2) is 0
(MCC on state) until the brake release signal (*BRK) goes 1 (brake
release enabled). If a value less than 0 is specified, 2500 ms is
assumed. Usually, specify 0.
CAUTION
under 2-CPU 3-path control.
#7 #6 #5 #4 #3 #2 #1 #0
1959 0 0 0 0 0 0 0 0
[Data type] Bit

Set all bits to 0.
WARNING
Always set all bits of parameter No.1959 to 0.
If 1 is set, a safety function is not worked normally.
#7 #6 #5 #4 #3 #2 #1 #0
1998 0 0 0 0 0 0 0 0
[Data type] Bit

Set all bits to 0.
WARNING
Always set all bits of parameter No.1998 to 0.
If 1 is set, a safety function is not worked normally.
- 112 -
2078 Monitor conversion factor (numerator) of each axis
2079 Monitor conversion factor (denominator) of each axis

Set the following values.
Number of position feedback pulses
per motor revolution
Conversion Numerator (Value multiplied by the feed gear)
factor ( ) =
Denominator 1 million
CAUTION
1 The monitor in the dual check safety function takes in
the feedback of the built-in pulse coder. Even if a
separate position detector is used, set parameters
No.2078 and No.2079 to the values calculated on the
basis of the feedback pulse count of the built-in pulse
coder.
2 Changing parameter No.2078 or No.2079 will not cause
a P/S000 alarm (PLEASE TURN OFF POWER).
However, when making this change, turn off the power.
The changed parameter value takes effect after the
power is turned on again.
3 Parameters No.2078 and No.2079 are cleared if the
standard servo parameter setting (turning on or off the
power when the DGPR bit (bit 1 of parameter No.2000)
is set to 0) is selected. After making the standard servo
parameter setting, set parameters No.2078 and
No.2079 again.
4 Set both parameters No.2078 and No.2079 to 0 for the
slave axis under tandem control.
5 Parameters No.2078 and No.2079 are used also for the
dual position feedback function.
- 113 -
3225 Code for safety parameters
[Data type] 2-word

Set a code (password) for protecting against modifications to
parameters related to the dual check safety function (safety
parameters). When a code for safety parameters is set, the parameters
are locked. At this time, the setting (code) is not displayed but is blank,
and safety parameter input is disabled. If an attempt is made to input
data in a locked safety parameter, the result indicated in the table
below is produced, depending on the method of input. No attempt is
successful.
Input method Result
MDI input Warning "WRITE PROTECT"
G10 (programmable parameter input) P/S231 FORMAT ERROR IN G10
L50
Input via the reader/puncher interface No alarm is issued, but parameter
input is disabled.
Input through a window Completion code 7 (write protect)
A code for safety parameters can be set when the safety parameters are
not locked, that is, when the code for safety parameters is 0, or when
the code for safety parameters is the same as the key for safety
parameters (No. 3226).
The following safety parameters are protected by a code for safety
parameters:
No.1023, No.1828, No.1829, No.1838, No.1902 #3, No.1902#5,
No.1902 #6, No.1904#1, No.1904#2, No.1904#3, No.1904#4,
No.1904#5, No1904#6, No.1942, No.1943, No.1944, No.1945,
No.1946, No.1947, No.1948, No.1950, No.1959, No.1998, No.3225,
No.4372, No.4438, No.4440, No.4442, No.13800, No.13802,
No.13810, No.13821 to No.13824, No.13831 to No.13838,
No.13880 to No.13911, No.13920 to No.13951,
No.13960 to No.13991
3226 Key for safety parameters
[Data type] 2-word

When the same value as the code for safety parameters is set in this
parameter, the key is opened to enable modifications to the safety
parameters. The value set in this parameter is not displayed. When the
power is turned off, the value set in this parameter is cleared, resulting
in the locked state.
CAUTION
Once a key is set, the key must be cancelled or
memory must be cleared before the safety
parameters can be modified. Moreover, the code for
the safety parameters cannot be modified. Be
careful when setting a code for safety parameters.
- 114 -
4372 Safe speed of each spindle
4438 Safe speed 2 of each spindle
[Data type] Word

[Unit of data] min-1
Set a safety speed for each spindle in terms of motor speed.
With the dual check safety function, the CNC and spindle software
always check the speed of each spindle motor.
In safety signal mode B (state in which a guard open request is input,
and the guard is closed), if there is at least one spindle whose speed is
greater than the safety speed, guard unlock signal (*LGD) is set to 0 to
disable guard unlocking. The state in which the speeds of all spindle
motors are within the safety speeds is one condition for setting guard
unlock signal (*LGD) to 1 (to enable guard unlocking).
In safety signal mode C (state in which a guard open request is input
and the guard is open), if a spindle speed exceeds the safety speed, a
spindle alarm No.757 (No.767) or spindle alarm 69 is issued for the
corresponding spindle.
Up to four safety speeds can be set. Which safety speeds to choose

depends on the safety speed/safety position selection signal (safety
input signal). For details, see Section 5.2, "SIGNALS".
CAUTION
1 Safety speed parameter No. 4372, No. 4438, No.
4440, and No. 4442 are safety parameters, so that
code of Dual Check Safety. To modify a safety
speed parameter, set a code for safety parameters
as the key for safety parameters (parameter No.
3226).
2 When the value of a safety speed parameter (No.
4372, No. 4438, No. 4440, and No. 4442) has been
changed, the power must be turned off before
operation is continued.
- 115 -
#7 #6 #5 #4 #3 #2 #1 #0
13800 NM2 NM1 SAP CIO
CAUTION
1 When these parameters are set, the power must
be turned off before operation is continued.
2 These parameters are safety parameters, so that
code of Dual Check Safety. To modify a
parameter, set a code for safety parameters as the
key for safety parameters (parameter No. 3226).
[Data type] Bit

CIO The programmable safe-related I/O signal function is:
0: Disabled.
1: Enabled.
CAUTION
1 When a multi-path system is used, set this
parameter for each path.
2 This parameter has no effect with path 2 in 1-CPU
2-path control, path 3 in 2-CPU 3-path control, and
the loader.
SAP If, in a multi-path system with the dual check safety function enabled,
a safety alarm is issued from another path, MCC off operation for the
other path(s) is:
0: Not performed.
1: Performed.
NM1,NM2 These parameters are used to set the number of protective doors.
NM2 NM1 Number of protective doors
0 0 1
0 1 2
1 0 3
1 1 4
#7 #6 #5 #4 #3 #2 #1 #0
13801 DCS
[Data type] Bit

DCS On the dual check safety diagnosis screen, the current machine
position and monitor status are:
0: Not displayed.
1: Displayed.
- 116 -
#7 #6 #5 #4 #3 #2 #1 #0
13802 TR2x NP2x
CAUTION
1 When these parameters are set, the power must be
turned off before operation is continued.
2 These parameters are safety parameters, so that
code of Dual Check Safety. To modify a parameter,
set a code for safety parameters as the key for
safety parameters (parameter No. 3226).

NP2x With Dual Check Safety, a machine position check is:
0: Made.
1: Not made.
TR2x When Dual Check Safety is used:

0: A speed check is made by "specified speed", and the amount of
positional deviation is also monitored.
1: A speed check is made by "actual speed", and the amount of
positional deviation is not monitored.
WARNING
When bit 1 (TR2x) of parameter No. 13802 is set to
1, be sure to set also bit 0 (NP2x) of parameter No.
13802 to 1.
I/O cross-check ignore timer at power-on time

13810 I/O cross-check ignore timer at ladder execution start time (only when bit 0
(NIO) of parameter No. 1909 is set to 1)
[Data type] Word

[Unit of data] ms
This parameter has the following effects:
for the period of time set in this parameter after the CNC is
started.
• No alarm is issued even if the operating mode is safety mode D
for the period of time set in this parameter after the CNC is
started.
for the period of time set in this parameter after the ladder is
restarted.
- 117 -
CAUTION
1 This parameter is a safety parameter, so that the
parameter is protected using the key and code of
Dual Check Safety. To modify the parameter, set a
code for safety parameters as the key for safety
parameters (parameter No. 3226).
2 When 0 is set in this parameter, the specification of
0 ms is assumed if bit 0 (CIO) of parameter No.
13800 (CIO) is set to 0, or the specification of 300
ms is assumed if bit 0 (CIO) of parameter No.
13800 (CIO) is set to 1.
3 When a value greater than 3000 (ms) is set in this
parameter, the specification of 3000 (ms) is
assumed.
13880 Axis corresponding to the 1st safe position switch
13881 Axis corresponding to the 2nd safe position switch

…
13911 Axis corresponding to the 32nd safe position switch
[Data type] Byte

[Valid data range] 1, 2, 3, …, Number of controlled axes
These parameters specify the control-axes numbers corresponding to

the 1st thorough 32nd safe position switch functions. If the machine
coordinate on the corresponding axis is within the parameter-set range,
the corresponding safe position switch signal is output via the PMC
and via the FSSB.
- 118 -
CAUTION
1 When 0 is set, the safety position switch function of
the corresponding number is not used. (The safe
position switch signal of the corresponding number
is not output.)
2 If an axis for which Dual Check Safety is disabled
by setting bit 6 of parameter No. 1904 to 1 is
specified, the safe position switch signal of the
corresponding number is not output.
3 With each tool post other than tool post 2 in 1-CPU
2-path control and tool post 3 in 2-CPU 3-path
control, the 9th to 32nd safe position switches are
enabled only when an FSSB I/O module
(extension) is used. When no FSSB I/O module
(extension) is used, set 0 in parameter No. 13888
through No. 13911. If a setting is made to use the
9th through 32nd safe position switches when no
FSSB I/O module (extension) is used, servo alarm
No. 493 is issued at power-on time.
With tool post 2 in 1-CPU 2-path control or tool
post 3 in 2-CPU 3-path control, the safe position
switches are enabled only when an extension
module is used for the FSSB I/O module connected
to tool post 1 (1-CPU 2-path control) or tool post 3
(2-CPU 3-path control). When no FSSB I/O module
(extension) is used, set 0 in parameter No. 13880
to No. 13911. If a setting is made to use the safe
position switches when no FSSB I/O module
(extension) is used, servo alarm No. 493 is issued
at power-on time.
4 Parameter No. 13880 through No. 13911 are safety
Safety. To modify a parameter, set a code for
safety parameters as the key for safety parameters
(parameter No. 3226).
5 After safety position switch parameters No.13880
to No.13911 have been set, the power must be
turned off then back on for the setting to become
effective
- 119 -
13920 Maximum operation range of the 1st safe position switch
13921 Maximum operation range of the 2nd safe position switch

…
13951 Maximum operation range of the 32nd safe position switch
[Data type] 2-word

[Unit of data]
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
These parameters set the maximum operation range of the 1st through
32nd safe position switches.
CAUTION
1 The operation range of a safe position switch signal
is checked in terms of the detection unit. So, a
calculation error can result.
2 When the machine position is on the boundary of
the specified ranges (machine position = parameter
setting value), it is considered within the specified
ranges.
3 When the setting of operation range is “maximum
operation range < minimum operation range”, the
safe position switch is not output.
5 If parameter No.13920 to No.13951 are changed,
please turn the power of the machine off once.
- 120 -
13960 Minimum operation range of the 1st safe position switch
13961 Minimum operation range of the 2nd safe position switch

…
13991 Minimum operation range of the 32nd safe position switch
[Data type] 2-word

[Unit of data]
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
These parameters set the minimum operation range of the 1st through
32nd safe position switches.
CAUTION
1 The operation range of a safe position switch signal
is checked in terms of the detection unit. So, a
calculation error can result.
2 When the machine position is on the boundary of
the specified ranges (machine position = parameter
setting value), it is considered within the specified
ranges.
3 When the setting of operation range is “maximum
operation range < minimum operation range”, the
safe position switch is not output.
5 If parameter No.13960 to No.13991 are changed,
please turn the power of the machine off once.
- 121 -
6.3 PARAMETERS RELATED TO THE USE OF FSSB I/O UNIT
#7 #6 #5 #4 #3 #2 #1 #0
1902 FMD
[Data type] Bit
FMD The FSSB setting mode is:

0: Automatic setting mode.
1: Manual setting 2 mode.
CAUTION
When using the dual check safety function, set the
FMD bit to 1, to select manual setting 2 mode.
- 122 -
#7 #6 #5 #4 #3 #2 #1 #0
1905 IO2 IO1

IO1 A first FSSB I/O unit is:
0: Not used.
1: Used.
IO2 A second FSSB I/O unit is:
0: Not used.
1: Used.
CAUTION
1 The FSSB I/O unit and separate detector interface
unit (pulse module) are handled as units of the same
type on the FSSB. The term "first unit" or "second
unit" used in the following description means that the
unit is the first or second one when counted
disregarding the difference between the FSSB I/O
unit and separate detector interface unit. If one
FSSB I/O unit and one separate detector interface
interface unit is closer to the CNC on the FSSB than
the FSSB I/O unit, for instance, the FSSB I/O unit is
referred to as the "second unit."
2 The FSSB I/O basic unit is controlled on the first
servo axis. Set IO1 (or IO2) to 1 for an axis for which
parameter No.1023 is set to 1 (to 9 for tool post 2
under 2-CPU 2-path control or 2-CPU 3-path
control). Set 0 in the parameter No. 1936 (or No.
1937) for the corresponding axis.
3 The FSSB I/O extension unit is controlled with 2nd
servo axis. With an axis for which parameter No.
1023 is set to 2 (for which parameter No. 1023 is set
to 10 when tool post 2 is used in 2-CPU 2-path
control or tool post 2 is used in 2-CPU 3-path
control), set IO1 (or IO2) = 1. Set 1 in parameter No.
1936 (or No. 1937) for the corresponding axis.
4 When using the 1st (9th) servo axis and FSSB I/O
extension unit, set IO1 = 0 and IO2 = 0 for those
axes other than the 2nd (10th) servo axis.
5 When using an FSSB I/O extension unit in a
configuration where the 2nd servo axis (axis for
which parameter No. 1023 is set to 2 or 10) is
missing, add an axis for which parameter No. 1023
is set to 2 or 10 as a dummy axis and set the serial
feedback dummy function (by setting bit 0 of
parameter No. 2009 to 1).
- 123 -
6.PARAMETERS GFKE-0218A-EN
1910 Address conversion table value for slave 1 of FSSB channel 1 (ATR)
:
:
[Data type] Byte

[Valid data range] 0 to 7, 16, 40, 48
Set the address conversion table values for slaves 1 to 10 of each
FSSB channel.
"Slave" is a generic term for the FSSB I/O unit, separate detector
interface unit, and servo amplifier connected to the CNC by an FSSB
optical cable. The slaves are numbered 1 to 10 in ascending order of
distance from the CNC. A two-axis amplifier has two slaves. A 3-axis
amplifier has three slaves.
If a slave is a separate detector interface unit or FSSB I/O unit, set 16
for the first unit and 48 for the second unit.
CAUTION
The FSSB I/O unit and separate detector interface
unit (pulse module) are handled as units of the same
type on the FSSB. The term "first unit" or "second
unit" used in the following description means that the
unit is the first or second one when counted
disregarding the difference between the FSSB I/O
unit and separate detector interface unit. If one
FSSB I/O unit and one separate detector interface
interface unit is closer to the CNC on the FSSB than
the FSSB I/O unit, for instance, the FSSB I/O unit is
referred to as the "second unit."
- 124 -
1936 Unit number of the 1st FSSB I/O unit
1937 Unit number of the 2nd FSSB I/O unit
CAUTION
1 When these parameters have been set, the power
must be turned off before operation is continued.
2 These parameters are shared for the connector
numbers of the first and second separate detector
interface units.

[Valid data range] 0, 1
When using the first FSSB I/O unit and the second FSSB I/O unit, set
the following values in parameter No. 1936 and No. 1937,
respectively:
• Axis with No. 1023 = 1: 0 (setting for using the FSSB I/O basic
unit)
(For tool post 2 in 2-CPU 2-path control and 2-CPU 3-path
control, the same setting needs to be made for an axis with No.
1023 = 9.)
• Axis with No. 1023 = 2: 1 (setting for using the FSSB I/O
extension unit)
(For tool post 2 in 2-CPU 2-path control and 2-CPU 3-path
control, the same setting needs to be made for an axis with No.
1023 = 10.)
• Other axes: 0
- 125 -
6.4 FUNCTIONS THAT REQUIRE SPECIAL PARAMETER

SETTINGS
6.4.1 Tandem Control

To use tandem control, set the following parameters.
• Master axis
No special parameter settings are required.
• Slave axis
No.1904#6(DCN)=1
No.2078=0
No.2079=0
6.4.2 Simple Electronic Gear Box and Electronic Gear Box 2-pair
To use a simple electronic gear box or electronic gear box 2-pair, set
the following parameters.
• Workpiece axis
• Tool axis (EGB axis)
No.1904#6(DCN)=1
6.4.3 Multi-path Control

To use multi-path control, set the following parameters.
• 2-CPU 2-path control (without axis change between paths)
• 2-CPU 2-path control (with axis change between paths)
No.1023
The first servo axis cannot be changed between paths.
Accordingly, set parameter No.1023 to 1 for the axis of tool
post 1 and to 9 for the axis of tool post 2.
When an FSSB I/O extension unit is used, the second servo
axis cannot be changed between paths. Accordingly, set
parameter No. 1023 to 2 for the axis of tool post 1, and set
parameter No. 1023 to 10 for the axis of tool post 2.
No.1945, No.1947, No.1948, No.1950
Set identical values for the two tool posts.
• 1-CPU 2-path control
No.1023
Set parameter No.1023 to 1 for the axis of tool post 1.
When an FSSB I/O extension unit is used, set parameter No.
1023 to 2 for the axis of tool post 1.
No.1945, No.1947, No.1948, No.1950
Set identical values for the two tool posts.
- 126 -
• 2-CPU 3-path control (No axis change can be made between tool
post 1 and tool post 2 or 3.)
No.1023
Set parameter No.1023 to 9 for the axis of tool post 2.
When an FSSB I/O extension unit is used, set parameter No.
1023 to 10 for the axis of tool post 2.
No.1945, No.1947, No.1948, No.1950
Set identical values for tool posts 2 and 3.
• Loader control
- 127 -
6.4.4 Closed Loop Control

When using a separate position detector, make the following
parameter settings:
(1) With the dual check safety function, the monitor reads feedback
information from the built-in pulse coder. So, the following
parameters need to be set for a machine that involves sliding
between the motor (built-in pulse coder) and separate position
detector or has such a mechanical structure that the gear ratio
between the motor and separate position detector is not constant:
• Bit 0 (NP2x) of parameter No. 13802 = 1 (setting for not

monitoring position in dual mode)
• Bit 1 (TR2x) of parameter No. 13802 = 1 (setting for
monitoring speed in dual mode by motor speed)
At this time, the increment system for the safety speed
parameters changes. See the settings of parameter No. 1942
and No. 13821 through No. 13824 in Section 6.2.
CAUTION
If the settings above are used with a linear axis, the
requirements for the safety function cannot be
satisfied. So, the parameters above can be used
with a rotation axis only.
(2) When backlash compensation is to be reflected in position

• Bit 4 (HBSF) of parameter No. 2206 = 1 (setting for adding
compensation pulses to the semi-closed loop and closed
loop at the same time)
With a closed-loop machine, backlash compensation is not
reflected in position usually. So, set bit 0 of parameter No.
2006 to 1. To reflect backlash compensation in position for
a reason, set bit 0 of parameter No. 2006 to 0 and also set
the bit mentioned above.
- 128 -
6.4.5 PMC Axis Control (Speed Command)

If a speed command (axis control command 10h) is specified in PMC
axis control, the machine position is lost. So, the following parameters
need to be set so that the machine position is not monitored in dual
mode:
• Bit 0 (NP2x) of parameter No. 13802 = 1 (setting for not

monitoring position in dual mode)
• Bit 1 (TR2x) of parameter No. 13802 = 1 (setting for monitoring
speed in dual mode by motor speed)
At this time, the increment system for the safety speed
parameters changes. See the settings of parameter No. 1942 and
No. 13821 through No. 13824 in Section 6.2.
CAUTION
When a speed command is specified in PMC axis
control by position specification (when bit 4 (EJG)
of parameter No. 8005 = 1), the machine position is
not lost. So, bit 0 (NP2x) and bit 1 (TR2x) of
parameter No. 13802 need not be set to 1.
- 129 -
7.START-UP GFKE-0218A-EN
7 START-UP
- 130 -
GFKE-0218A-EN 7.START-UP
7.1 START-UP OPERATION
The machine tool builder has to do tests for insulation and protective
bonding. Testing must be performed according to Chapter 19.2 and
19.3 of the standard IEC 60204-1 by an appropriately authorized
person and recorded.
Continuity of the protective bonding circuit

When the machine is installed and the electrical connections are
complete, including those to the power supply, the continuity of the
protective bonding circuit can be verified by a loop impedance test in
accordance with 612.6.3 of IEC 60364-6-61. For further details,
please refer to Chapter 19.2 of IEC 60204-1.
Insulation resistance tests

The insulation resistance measured at 500 V d.c. between the power
circuit conductors and the protective bonding circuit is to be not less
than 1MΩ. For further details, please refer to Chapter 19.3 of IEC
60204-1.
7.1.1 Acceptance Test and Report for Safety Functions
Acceptance test for Safety function

The machine tool builder is to conduct a dual check safety function
check test during machine start-up operation.
In this test, limits need to be exceeded to check that the dual check
safety function operates normally.
Acceptance report
A qualified person is to check each dual check safety function and
record the test results in a check report.
MOTE
When modifying dual check safety function data,
conduct an additional check test on the modified
dual check safety function and record the test results
in a check report.
Safe-related I/O monitoring test

Data cross-check operation is tested with the I/O device connector
detached.
MCC off Test check

The test mode signal is used to check that a MCC off Test is
conducted.
Negative test:
Conduct a MCC off Test by disconnecting the MCC contact
signal (input). Check that an alarm is issued and the MCC
remains to be shut off.
- 131 -
Safe speed monitoring test

This test checks that when the actual speed exceeds a speed limit,
safety stop state is set by a stop response. When multiple safety speeds
are set, all safety speeds need to be checked.
Safe machine position monitoring test

A positional limit test is conducted by making many different
movements.
A positional limit is placed at the center of an axis, and the position is
moved at many different speeds in a rapid traverse mode. Thus, the
distance traveled on the axis until stop state is set by a stop response is
measured. The machine tool builder is to determine a safety limit stop
position including a safety margin.
When multiple safe machine positions are set, all safe machine
positions need to be checked.
Data modification
The user needs to enter the correct password before setting safety
parameters with the system. After a safety parameter is modified, a
check test needs to be conducted on the related safety function, and
the test results need to be recorded in a report.
- 132 -
7.2 START-UP OF THE DUAL CHECK SAFETY FUNCTION
7.2.1 Initial Start-up
Main flow
Disable dual check FSSB I/O setting Safety parameter
safety function input
Machine start-up
Step 1
Initial state
First, check that the machine starts up normally when the dual check
safety function is disabled.
Preparation 1 Disable the dual check Bit 6 of PRM No. 1902 = 0

safety function.
Preparation 2 Disable output (MCF), from Connect the relay for
I/O, that indicates MCC is driving based on I/O output
turned off.
CAUTION
When the dual check safety function is disabled, the
MCC on enable signal (MCF) is not output. So,
make a connection to temporarily disable MCF. To
enable the dual check safety function, reset the
temporary connection.
Step 2
FSSB I/O setting
Make the same settings as for the pulse module.
Example: When a two-axis amplifier is set as slave 1, and FSSB I/O
unit is set as slave 2
Make the settings indicated in the table below.
Parameter setting Meaning
Bit 0 of No. 1902 = 1 Manually sets the FSSB setting mode.
Bit 4 of No. 1905 = 1 Uses the first FSSB I/O unit.
No. 1910 = 0 Sets the value of parameter No. 1023 less 1
when the slave is an amplifier
No. 1911 = 1 Sets the value of parameter No. 1023 less 1
when the slave is an amplifier
No. 1912 = 16 16 when the slave is a FSSB I/O unit
Nos. 1913 to 1919 = 40 40 when there is no slave
- 133 -
Step 3
Safety parameter input
Enable the dual check safety function, and enter the safety parameters.
Enable the dual check safety Bit 6 of PRM No. 1902
Preparation 1
function. =1
Enables output (MCF), from I/O,
Preparation 2 Enable I/O output.
that indicates MCC is turned off.
Set the safety parameters indicated in the table below.

Parameter Meaning
setting
1942 Safety speed on each axis
13822 Safety speed 2 on each axis (*1)
1943 Safe machine position (+ direction) on each axis
1944 Safe machine position (- direction) on each axis
13833 Safe machine position 2 (+ direction) on each axis (*1)
13834 Safe machine position 2 (- direction) on each axis (*1)
1945 Timer for safety input signal check
1946 Timer for MCC off Test
1947 Timer 1 for MCC off
1948 Timer 2 for MCC off
1838 Positional deviation limit value in mode C
2078 Dual position feedback conversion coefficient (numerator)
2079 Dual position feedback conversion coefficient (denominator)
4372 Safety speed on each spindle
4438 Safety speed 2 on each spindle (*1)
(*1) To be set only when necessary
Step 4
If alarm 478 or 496 occurs, set the bit 4 of parameter No.2212 to 1,
and reset this bit to 0. Then turn off the power of the entire system
(included servo amplifier).
Step 5
Execution of general machine tests
Axis and spindle optimization
Dual check safety function adjustment (safety speed, safe machine
position)
Step 6
Test for checking the safety function
Check test execution and report creation
- 134 -
Step 7
Parameter preservation
Save all parameters including the safety parameters. The parameters
are used to start up the series.
Step 8
Set a password.
A password is used to disable unauthorized persons from modifying
safety parameters. Before safety parameters of the equipment for
which a password (No. 3225) is set can be modified, the password
value must be set as the keyword (No. 3226). Only those persons
authorized to conduct a check test should know the password value.
7.2.2 Series Start-up

The parameters for the safety monitoring function are transferred
together with other parameters to the CNC as in the case of normal
series start-up. Perform a safety function check test in addition to the
normal start-up procedure.
7.2.3 Troubleshooting
Alarms related to the safety function are output on the ALARM
screen.
Correct the cause of trouble according to the chapter describing alarms
and messages in this manual. When a component related to the safety
function is to be replaced, an authorized person must conduct a safety
function check test.
The dual check safety diagnosis screen is also available. Check the
diagnosis screen if an alarm is issued. For referencing the diagnosis
screen, see Section 9.3 "DUAL CHECK SAFETY DIAGNOSIS
SCREEN."
- 135 -
8.MAINTENANCE GFKE-0218A-EN
8 MAINTENANCE
- 136 -
GFKE-0218A-EN 8.MAINTENANCE
8.1 SAFETY PRECAUTIONS
This section describes the safety precautions related to the use of CNC
units. It is essential that these precautions be observed by users to
ensure the safe operation of machines equipped with a CNC unit (all
descriptions in this section assume this configuration).
CNC maintenance involves various dangers. CNC maintenance must
be undertaken only by a qualified technician.
Users must also observe the safety precautions related to the machine,
as described in the relevant manual supplied by the machine tool
builder.
Before checking the operation of the machine, take time to become
familiar with the manuals provided by the machine tool builder and
FANUC.
CAUTION
Maintenance on a live system requires careful
planning, adherence to operating and maintenance
procedures, and the appropriate permits and
permissions.
These matters are the responsibility of the
owner/operator of the system and are outside the
scope of this document.
TRAINING
FANUC Training Center provides versatile training course for the
person who is concerned with hardware and software installation,
maintenance and operation. FANUC recommend studying and
learning how efficiently operate FANUC products.
QUALIFIED PERSONNEL
Only qualified personnel should be allowed to specify, apply, install,
commissioning, operate, maintain, or perform any other function
related to the products described in the product manuals. Examples of
such qualified persons are defined as follows:
• System application and design engineers who are familiar with
the safety concepts of machine tool.
• Installation, startup, and service personnel who are trained to
install and maintain such machine tool.
• Operating personnel trained to operate machine tool and trained
on the specific safety issues and requirements of the particular
equipment.
- 137 -
MAINTENANCE PARTS TO BE MAINTAINED PERIODICALLY
• Memory backup battery replacement
WARNING
When replacing the memory backup batteries, keep the power to the
machine (CNC) turned on, and apply an emergency stop to the
machine. Because this work is performed with the power on and the
cabinet open, only those personnel who have received approved safety
and maintenance training may perform this work.
When replacing the batteries, be careful not to touch the high-voltage
circuits (marked and fitted with an insulating cover).
Touching the uncovered high-voltage circuits presents an extremely
dangerous electric shock hazard.
NOTE
The CNC uses batteries to preserve the contents of
its memory, because it must retain data such as
programs, offsets, and parameters even while
external power is not applied.
If the battery voltage drops, a low battery voltage
alarm is displayed on the machine operator's panel
or CRT screen.
When a low battery voltage alarm is displayed,
replace the batteries within a week. Otherwise, the
contents of the CNC's memory will be lost.
To replace the battery, see the procedure described
in Section 2.10 of the maintenance manual
B-63005EN.
WARNINGS RELATED TO CHECK OPERATION
WARNING
1. When checking the operation of the machine with the cover
removed
(1) The user's clothing could become caught in the spindle or
other components, thus presenting a danger of injury. When
checking the operation, stand away from the machine to
ensure that your clothing does not become tangled in the
spindle or other components.
(2) When checking the operation, perform idle operation
without workpiece. When a workpiece is mounted in the
machine, a malfunction could cause the workpiece to be
dropped or destroy the tool tip, possibly scattering
fragments throughout the area. This presents a serious
danger of injury. Therefore, stand in a safe location when
checking the operation.
- 138 -
2. When checking the machine operation with the power magnetics

cabinet door opened.
(1) The power magnetics cabinet has a high-voltage section
(carrying a mark). Never touch the high-voltage section.
The high-voltage section presents a severe risk of electric
shock. Before starting any check of the operation, confirm
that the cover is mounted on the high-voltage section. When
the high-voltage section itself must be checked, note that
touching a terminal presents a severe danger of electric
shock.
(2) Within the power magnetics cabinet, internal units present
potentially injurious corners and projections. Be careful
when working inside the power magnetics cabinet.
3. Never attempt to machine a workpiece without first checking the

operation of the machine.
Before starting a production run, ensure that the machine is
operating correctly by performing a trial run using, for example,
the single block, feedrate override, or machine lock function or
by operating the machine with neither a tool nor workpiece
mounted. Failure to confirm the correct operation of the machine
may result in the machine behaving unexpectedly, possibly
causing damage to the workpiece and/or machine itself, or injury
to the user.
4. Before operating the machine, thoroughly check the entered data.

Operating the machine with incorrectly specified data may result
in the machine behaving unexpectedly, possibly causing damage
to the workpiece and/or machine itself, or injury to the user.
5. Ensure that the specified feedrate is appropriate for the intended

operation. Generally, for each machine, there is a maximum
allowable feedrate. The appropriate feedrate varies with the
intended operation. Refer to the manual provided with the
machine to determine the maximum allowable feedrate. If a
machine is run at other than the correct speed, it may behave
unexpectedly, possibly causing damage to the workpiece and/or
machine itself, or injury to the user.
6. When using a tool compensation function, thoroughly check the

direction and amount of compensation.
Operating the machine with incorrectly specified data may result
in the machine behaving unexpectedly, possibly causing damage
to the workpiece and/or machine itself, or injury to the user.
- 139 -
WARNINGS RELATED TO REPLACEMENT
WARNING
1. Always turn off the power to the CNC and the main power to the
power magnetics cabinet. If only the power to the CNC is turned
off, power may continue to be supplied to the serve section.
In such a case, replacing a unit may damage the unit, while also
presenting a danger of electric shock.
2. When a heavy unit is to be replaced, the task must be undertaken

by two persons or more. If the replacement is attempted by only
one person, the replacement unit could slip and fall, possibly
causing injury.
3. After the power is turned off, the servo amplifier and spindle
amplifier may retain voltages for a while, such that there is a
danger of electric shock even while the amplifier is turned off.
Allow at least twenty minutes after turning off the power for
these residual voltages to dissipate.
4. When replacing a unit, ensure that the new unit has the same
parameter and other settings as the old unit. (For details, refer to
the manual provided with the machine.) Otherwise, unpredictable
machine movement could damage the workpiece or the machine
itself, and present a danger of injury.
5. After replacing a safety related unit such as encoder and I/O

module, conduct a check test on the safety related and record the
test results in a check report.
WARNINGS RELATED TO PARAMETERS
WARNING
1. When machining a workpiece for the first time after modifying a
parameter, close the machine cover. Never use the automatic
operation function immediately after such a modification.
Instead, confirm normal machine operation by using functions
such as the single block function, feedrate override function, and
machine lock function, or by operating the machine without
mounting a tool and workpiece. If the machine is used before
confirming that it operates normally, the machine may move
unpredictably, possibly damaging the machine or workpiece, and
presenting a risk of injury.
2. The CNC and PMC parameters are set to their optimal values, so
that those parameters usually need not be modified. When a
parameter must be modified for some reason, ensure that you
fully understand the function of that parameter before attempting
to modify it. If a parameter is set incorrectly, the machine may
move unpredictably, possibly damaging the machine or
workpiece, and presenting a risk of injury.
- 140 -
8.2 ALARMS AND MESSAGES
8.2.1 Overview
Alarms related to the dual check safety function cannot be cancelled
by a reset. To cancel the alarms, turn off the power, remove the causes
of the alarms, then turn on the power again.
and safety signal modes A/B/C/D, see Section 5.4.
- 141 -
8.2.2 Servo Alarms
No. Meaning Description Servo axis

operation when
alarm is issued
364 n AXIS: SOFT PHASE The servo control software detected an abnormal data Immediate stop
ALARM(INT) skip in a velocity feedback signal on axis n (axis 1 to axis (same as
8). emergency stop)
Replace the α pulse coder, or take measures to correct
noise on the feedback cable.
402 SERVO ALARM: SV CARD The axis control card is not provided.
NOT EXIST This alarm will be issued also if the eight-axis control card
dedicated to dual check safety function (5DSP card) is
mounted on a machine without the dual check safety
function.
403 SERVO ALARM : CARD/SOFT For the axis control card, the correct servo software is not
MISMATCH installed in flash memory.
When the dual check safety function is used:
• An incorrect axis control card is mounted.
• Incorrect servo software is installed in flash memory.
• Monitor software is not installed in flash memory.
Mount the correct axis control card, and install the correct
servo software and monitor software in flash memory.
410 SERVO ALARM : n AXIS The CNC detected that the positional deviation during a Immediate stop
EXCESS ERR stop on axis n (axis 1 to axis 8) exceeded the setting
Confirm a proper value is set to parameter No. 1829.
This alarm can not released by reset function at dual
check safety.
411 SERVO ALARM : n AXIS The CNC detected that the positional deviation during Immediate stop
EXCESS ERR movement on axis n (axis 1 to axis 8) exceeded the
setting in parameter No. 1828 (parameter No. 1838 when
the safety signal mode C (state where a guard open
request is input, and the guard is open) is set with the
dual check safety function).
Confirm a proper value is set to parameter No. 1828 or
No. 1838.
This alarm can not released by reset function at dual
check safety.
453 n AXIS:SPC SOFT The servo control software detected an α pulse coder Immediate stop
DISCONNECT ALARM signal error on axis n (axis 1 to axis 8).
Replace the α pulse coder.
470 n AXIS:ILLEGAL RAM (MNT) An error occurred in a monitor RAM check. Immediate stop
Replace the axis control card.
471 n AXIS:SPC SOFT The monitor detected an alpha pulse coder signal error on Immediate stop
DISCONNECT (MNT) axis n (axis 1 to axis 8).
Replace the α pulse coder.
473 n AXIS:SOFT PHASE The monitor detected an abnormal data skip in a velocity Immediate stop
ALARM(INT/MNT) feedback signal on axis n (axis 1 to axis 8).
Replace the α pulse coder, or take measures to correct
noise on the feedback cable.
- 142 -

operation when
alarm is issued
474 n AXIS:EXCESS ERROR The monitor detected that the positional deviation during Immediate stop
(STOP:MNT) a stop on axis n (axis 1 to axis 8) exceeded the setting
(parameter No. 1829) in safety signal mode C (state in
which a guard open request is input, and the guard is
open).
475 n AXIS:EXCESS ERROR The monitor detected that the positional deviation during Immediate stop
(MOVE:MNT) movement on axis n (axis 1 to axis 8) exceeded the
setting (parameter No. 1838) in safety signal mode C
(state in which a guard open request is input, and the
guard is open).
476 n AXIS:SAFETY SPEED The monitor detected that the specified speed on axis n Immediate stop
EXCEEDED (MNT) (axis 1 to axis 8) exceeded the safety speed (parameter
No. 1942 / No. 13821 to No. 13824) in safety signal mode
C (state in which a guard open request is input, and the
guard is open).
When the guard is open, confirm a proper value is set to
parameter No. 1942, and the operation is done within the
safety speed.
If an alarm is issued in safety signal mode C, the
movement of the machine immediately stops, and a pulse
for adjusting the coordinates is generated. Accordingly,
this alarm can be issued.
477 n AXIS:ILLEGAL MACHINE The monitor detected that the machine position on axis n Immediate stop
POS.(MNT) (axis 1 to axis 8) is not in the safety area (parameter No.
1943 and No. 1944 / No. 13831 to No. 13838) in safety
signal mode C (state in which a guard open request is
input, and the guard is open).
When the guard is open, confirm proper values is set to
parameter No. 1943 and No. 1944, and operation is done
in the safety area.
A machine position check is carried out just on an axis on
which the reference position has already been
established. No machine position check is made on an
axis on which the reference position has not yet been
established.
478 n AXIS:ILLEGAL AXIS DATA The monitor detected that an error occurred on axis n Immediate stop
(MNT) (axis 1 to axis 8) during axis data transfer.
If the alarm occurs after performing axis number setting
for the servo amplifier, set parameter No.2212#4 to 1, and
reset the bit to 0, and then turn off the power of the entire
system.
In the other case, replace the servo amplifier the alarm
occurred.
479 ILLEGAL SAFETY DI (MNT) The monitor detected a mismatch exceeding the set time Immediate stop
(parameter No. 1945) between a safety input signal via
the PMC and the same signal via the FSSB.
Check the safety input signals via the PMC and via the
FSSB are equal.
- 143 -

operation when
alarm is issued
480 n AXIS:ILLEGAL SAFETY The monitor detected that safety signal mode D (state in Immediate stop
MODE (MNT) which the guard is open although no guard open request
is input) was set, or the guard is open when guard unlock
signal (*LGD) is not output.
In the former, the alarm is issued for all axes. In the
latter, the alarm is issued only for the first servo axis (axis
for which parameter No.1023 is set to 1 or, for tool post 2
under 2-CPU 2-path control or 2-CPU 3-path control, an
axis for which parameter No.1023 is set to 9). Check if the
guard state signal(SGD) is correctly connected.
If an alarm is issued in safety mode C (state in which a
guard open request is input and the guard is open), guard
unlocking is disabled. Accordingly, this alarm may be
issued.
481 n AXIS:SAFETY PARAM The monitor detected that a safety parameter error Immediate stop
ERROR (MNT) occurred with axis n (axis 1 to axis 8).
Set the safety parameters again.
Relative parameters are as follows.
No.1023, No.1829, No.1838, No.1942, No.1943, No.1944,
No.1945, No.1947, No.1948, No.1950
482 n AXIS:AXIS NUMBER NOT The monitor detected that the axis number of axis n (axis Immediate stop
SET (MNT) 1 to axis 8) is not set with the servo amplifier.
Turn off the power of the entire system. Then an axis
number is automatically set.
483 MONITOR SAFETY An error occurred in safety functions of monitor: Immediate stop
FUNCTION ERROR 1 Monitor or CNC detected the in execution of monitor
safety functions.
2 A mismatch between the monitor results of the safety
functions and the servo software or CNC results of
them occurred.
3 An error occurred in a monitor CPU test.
484 n AXIS:SERVO SAFETY An error occurred in safety functions of servo software: Immediate stop
FUNCTION ERR 1 Servo software or CNC detected the inexecution of
servo software safety functions.
2 A mismatch between the servo software results of the
safety functions and the monitor results of them
occurred.
3 An error occurred in a servo RAM test.
4 An error occurred in a servo CPU test.
485 SAFETY DO SIGNAL ERROR The monitor detected that a mismatch between a safety Immediate stop
(MONITOR)) position switch signal or programmable safe-related
output signal output via the PMC and the same signal
output via the FSSB has lasted for the period of time set
in parameter No. 1945 or more.
Check the safety output signal.
486 ILLEGAL SAFETY DI (CNC) The CNC detected a mismatch exceeding the set time Immediate stop
(parameter No. 1945) between a safety input signal input
via the PMC and the same signal input via the FSSB.
Check the safety input signals via the PMC and via the
FSSB are equal.
- 144 -

operation when
alarm is issued
487 ILLEGAL SAFETY MODE The CNC detected that safety signal mode D (state in Immediate stop
(CNC) which the guard is open although no guard open request
is input) was set, or the guard is open when guard unlock
signal (*LGD) is not output.
Check if the guard state signal(SGD) is correctly
connected.
If an alarm is issued in safety mode C (state in which a
guard open request is input and the guard is open), guard
unlocking is disabled. Accordingly, this alarm may be
issued.
488 SAFE TEST OVER TIME A MCC off Test was not completed within the set time Immediate stop
Check the MCC contact.
489 SAFETY PARAM ERROR The CNC detected a safety parameter error. Immediate stop
(CNC) Set the safety parameters again.
No.1023, No.1829, No.1838, No.1904, No.1942, No.1943,
No.1944, No.1945, No.1946, No.1947, No.1948, No.1950,
No.1998, No.4372, No.4438, No.4440, No.4442,
No.13800, No.13802, No.13810, No.13821 to No.13824,
No.13831 to No.13838, No.13880 to No.13911, No.13920
to No.13951, No.13960 to No.13991
490 CNC SAFETY FUNCTION An error occurred in safety functions of CNC: Immediate stop
ERROR 1 CNC or monitor detected the inexecution of CNC
safety functions.
2 A mismatch between the CNC results of the safety
functions and the monitor or spindle results of them
occurred.
3 An error occurred in a CNC RAM test.
4 An error occurred in a CNC CPU test.
5 Test at power-up was not executed.
Replace the CPU card.
491 LOCAL BUS TEST ERROR An error occurred in a local bus test. The mother board Immediate stop
may be faulty.
Replace the mother board.
492 F-BUS TEST ERROR An error occurred in an F-BUS test. The mother board or Immediate stop
option board may be faulty.
The F-BUS test is carried out if a sub-CPU board or
loader board is used.
493 SAFETY DO SIGNAL ERROR The CNC detected that a mismatch between a safety Immediate stop
(CNC) position switch signal or programmable safe-related
output signal output via the PMC and the same signal
output via the FSSB has lasted for the period of time set
in parameter No. 1945 or more.
Check the safety output signal.
Alternatively, when no FSSB I/O module (extension) is
used, a setting is made to use a safety position switch
output from the extension module. Use the FSSB I/O
module (extension) or set the corresponding parameter
(No. 13880 to No. 13911) to 0.
- 145 -

operation when
alarm is issued
494 n AXIS:SAFTY SPEED The CNC detected that the specified speed on axis n Immediate stop
EXCEEDED (CNC) (axis 1 to axis 8) exceeded the setting (parameter No.
1942 / No. 13821 to No. 13824) in safety signal mode C
(state in which a guard open request is input, and the
guard is open).
When the guard is open, confirm a proper value is set to
parameter No. 1942, and the operation is done within the
safety speed.
If an alarm is issued in safety signal mode C, the
movement of the machine immediately stops, and a pulse
for adjusting the coordinates is generated. Accordingly,
this alarm can be issued.
495 n AXIS:ILLEGAL MACHINE The CNC detected that the machine position on axis n Immediate stop
POS.(CNC) (axis 1 to axis 8) is not in the safety area (parameter No.
1943 and No. 1944 / No. 13831 to No. 13838) in safety
signal mode C (state in which a guard open request is
input, and the guard is open).
When the guard is open, confirm proper values is set to
parameter No. 1943 and No. 1944, and operation is done
in the safety area.
A machine position check is carried out just on an axis on
which the reference position has already been
established. No machine position check is made on an
axis on which the reference position has not yet been
established.
496 n AXIS:ILLEGAL AXIS DATA The CNC detected that an error occurred on axis n (axis 1 Immediate stop
(CNC) to axis 8) during axis data transfer.
If the alarm occurs after performing axis number setting
for the servo amplifier, set parameter No.2212#4 to 1, and
reset the bit to 0, and then turn off the power of the entire
system.
In the other case, replace the servo amplifier the alarm
occurred.
497 n AXIS:SAFETY PARAM A safety parameter transfer error occurred on axis n (axis Immediate stop
TRANS ERROR 1 to axis 8).
Replace the CPU card or the axis control card.
498 n AXIS:AXIS NUMBER NOT The CNC detected that the axis number of axis n (axis 1 Immediate stop
SET (CNC) to axis 8) is not set with the servo amplifier.
Turn off the power of the entire system. Then an axis
number is automatically set.
- 146 -
8.2.3 Serial Spindle Alarms

operation when
alarm is issued
749 S-SPINDLE LSI It is serial communication error while system is executing after power Immediate stop
ERROR supply on.
Check optical cable connection between main CPU board and
spindle amplifier printed board.
Replace optical cable, main CPU board, option 2 board or spindle
amplifier printed board.
If this alarm occurs when CNC power supply is turned on or when
this alarm can not be cleared even if CNC is reset, turn off the power
supply also turn off the power supply in spindle side.
755 SPINDLE-1 SAFETY An error occurred in any spindle safety functions on the first spindle. Immediate stop
FUNCTION ERROR 1 CNC detected that some spindle safety functions were not
executed.
2 A safety parameter transfer error occurred.
Replace the CPU card or spindle amplifier module.
756 SPINDLE-1 ILLEGAL For the first spindle, the CNC detected a mismatch between the Immediate stop
AXIS DATA spindle amplifier connection state and spindle amplifier hardware
setting.
Check the spindle amplifier connection state and spindle amplifier
hardware setting.
If this alarm is issued because the spindle amplifier configuration is
changed, correct the setting on the spindle amplifier side.
757 SPINDLE-1 SAFETY For the first spindle, the CNC detected that the speed of the spindle Immediate stop
SPEED OVER motor exceeded the safety speed (parameter No.
4372/4438/4440/4442) in safety signal mode C (state in which a
guard open request is input, and the guard is open).
Alternatively, for the first spindle, the CNC detected a mismatch
between the CNC and spindle software, as to which of the speed of
the spindle motor and the safety speed (parameter No.
4372/4438/4440/4442) is greater.
When the guard is open, perform operation at a speed not
exceeding the safety speed.
Check the safety speed parameter(parameter
No.4372/4438/4440/4442).
765 SPINDLE-2 SAFETY Same as alarm No. 755. (For the second spindle) Immediate stop
FUNCTION ERROR
766 SPINDLE-2 ILLEGAL Same as alarm No. 756. (For the second spindle) Immediate stop
AXIS DATA
SPEED OVER
FUNCTION ERROR
AXIS DATA
SPEED OVER
FUNCTION ERROR
- 147 -

operation when
alarm is issued
AXIS DATA
SPEED OVER
7n16 SPN n :S-SPINDLE See the description of alarm 16 in Subsection 8.2.4. (For the n-th Immediate stop
ERROR (AL-16) spindle)
9016 SPN n :S-SPINDLE See the description of alarm 16 in Subsection 8.2.4. (For the n-th Immediate stop
- 148 -
8.2.4 Alarms Displayed on the Spindle Unit
No. Meaning Description

16 RAM Alarm An error occurred in a spindle RAM test.
Replace spindle amplifier module.
69 Safety speed over The spindle software detected that the speed of the spindle motor exceeded the safety
speed (parameter No. 4372/4438/4440/4442) in safety signal mode C (state in which a
guard open request is input, and the guard is open).
When the guard is open, perform operation at a speed not exceeding the safety speed.
Check the safety speed parameter(parameter No.4372/4438/4440/4442).
70 Illegal axis data The spindle software detected a mismatch between the spindle amplifier connection
state and spindle amplifier hardware setting.
If this alarm is issued because the spindle amplifier configuration is changed, correct the
setting on the spindle amplifier side.
Check the spindle amplifier connection state and spindle amplifier hardware setting.
If this alarm is issued because the spindle amplifier configuration is changed, correct the
setting on the spindle amplifier side.
71 Safety parameter error The spindle software detected a safety parameter error.
Set the safety parameter again.
No.4372, No.4438, No.4440, No.4442
72 Mismatch the results of The spindle software detected a mismatch between the CNC result of the motor speed
motor speed check check and the spindle result of it.
74 CPU test alarm An error occurred in a spindle amplifier CPU test.
75 CRC alarm An error occurred in a spindle ROM CRC test.
76 Inexecution of safety Any safety function was not executed.
functions Replace spindle amplifier module.
77 Mismatch the results of The spindle software detected a mismatch between the CNC result of the axis number
axis number check check and the spindle result of it.
78 Mismatch the results of The spindle software detected a mismatch between the CNC result of the safety
safety parameters parameters check and the spindle result of it.
check Replace the CPU card or spindle amplifier module.
79 Inexecution of safety The safety functions at power-up for spindle were not executed. Replace the spindle
functions at power-up amplifier.
- 149 -
8.2.5 System Alarms
No. Meaning Description

900 ROM PARITY Parity error of the CNC, macro, or servo ROM.
When the dual check safety function is used:
1 Parity error of the CNC, macro, or servo ROM
2 CRC error of the CNC, servo, or monitor ROM
Reinstall the indicated ROM in flash memory.
920 SERVO ALARM (1-4 Servo alarm (first to fourth axis). A watchdog alarm condition occurred, or a RAM parity
AXIS) error occurred in the axis control card.
In the dual check safety function with 4-axes control card, servo alarm (first/second axis,
or monitor).
921 SERVO ALARM (5-8 Servo alarm (fifth to eighth axis). A watchdog alarm condition occurred, or a RAM parity
AXIS) error occurred in the axis control card.
In the dual check safety function with 6-axes control card, servo alarm (monitor).
In the dual check safety function with 8-axes control card, servo alarm (fifth/sixth axis, or
monitor).
If the 8-axes control card dedicated to dual check safety function (5DSP card) is used
with the dual check safety function, a servo alarm (fifth to eight axis) is issued.
973 NON MASK An NMI of an unknown cause occurred.
INTERRUPT If the 8-axes control card dedicated to dual check safety function (5DSP card) is used
with the dual check safety function, this alarm is issued, even when a servo alarm
(monitor) is issued.
8.2.6 Boot System Alarms
Message Description
ROM PARITY ERROR: Parity error of the CNC basic ROM.
NC BASIC. HIT SELECT. When the dual check safety function is used:
1. Parity error of the CNC basic ROM
2. CRC error of the CNC basic ROM
Reinstall the CNC basic ROM in flash memory.
- 150 -
GFKE-0218A-EN 9.DIAGNOSIS
9 DIAGNOSIS
- 151 -
9.DIAGNOSIS GFKE-0218A-EN
9.1 OVERVIEW
The information of safety signal mode and safety input signal of the
dual check safety function is displayed.
and safety signal modes A/B/C/D, see Chapter 5.
- 152 -
9.2 DIAGNOSIS
#7 #6 #5 #4 #3 #2 #1 #0
Diagnosis No. 376 FMC FGL FGD
The current states of safety signals input via the FSSB are displayed.
FGD The state of the guard state signal (SGD2) is displayed.
FGL The state of the guard lock state signal (GDL2) is displayed.
FMC The state of the MCC contact state signal (*SMC2) is displayed.
#7 #6 #5 #4 #3 #2 #1 #0
Diagnosis No. 377 PMC PGL PGD PRQ PTS
The current states of safety signals input via the PMC are displayed.
PTS The state of the test mode signal (OPT) is displayed.
PRQ The state of the guard open request signal (ORQ) is displayed.
PGD The state of the guard state signal (SGD1) is displayed.
PGL The state of the guard lock state signal (GDL1) is displayed.
PMC The state of the MCC contact state signal (*SMC1) is displayed.
#7 #6 #5 #4 #3 #2 #1 #0
Diagnosis No. 378 ESP TST MDD MDC MDB MDA
The current safety signal mode is displayed.
MDA Safety signal mode A
MDB Safety signal mode B
MDC Safety signal mode C
MDD Safety signal mode D
TST MCC off test mode
ESP Emergency stop mode
Diagnosis No. 379 Test number of MCC off test

The test number of the MCC off test is displayed.
Zero is displayed if the system is not in the MCC off test mode.
After the MCC off test mode is selected by the input of the test mode
signal (OPT), the test number increases by 1 from 0 as the MCC off
test proceeds. When the MCC off test is completed, the test number is
128. When the test mode signal (OPT) is set to 0 to clear the MCC off
test mode, the test number is cleared to 0.
- 153 -
9.3 DUAL CHECK SAFETY DIAGNOSIS SCREEN
9.3.1 Overview
The screen dedicated to dual check safety maintenance is displayed in
the <SYS> screen. This screen displays the current machine state
(state of safety-related signals input/output via the two paths
(PMC/FSSB)) and the machine state present when a safety-related
alarm is issued (parameter No. when a safety-related parameter error
alarm, and a positional deviation and machine position recognized by
the two CPUs (CNC/monitor) in addition to the machine state above).
9.3.2 Method of Displaying the Dual Check Safety Diagnosis

Screen
• On the <SYS> screen, press until the [DCSDGN] soft key

is displayed.
• When [DCSDGN] is selected, the screen for the current machine
state is displayed. At this time, the [PRESNT] and [ALARM]
soft keys are displayed.
• Even if the dual check safety diagnosis screen is selected again
after another function is selected, the previously displayed screen
is displayed.
- 154 -
9.3.3 Screen Display
(1) Current machine state display

<1> General
[Page 1]
• The safety signal mode (SAFE MODE) is displayed.
The table below indicates safety signal modes and their priorities.
Priority Mode
High EMERGENCY STOP
MCC OFF TEST
A) NORMAL MODE
B) GUARD OPEN REQ
C) GUARD OPEN
Low D) ILLEGAL MODE
A) to D) have the same priority.
• The last MCC OFF test execution date (LAST MCC OFF TEST)
is displayed.
If no MCC OFF test has been conducted yet, "NO TEST" is
displayed.
• The reason for LGD = 0 is displayed. The table below indicates
the display items.
Display item
ORQ = 0 (NO OPEN REQUEST)
RQT = 1 (MCC OFF TEST REQUEST)
ILLEGAL MACHINE POSITION
ILLEGAL SPEED
ILLEGAL SPINDLE SPEED
ALARM STATES
When LGD = 1, 0 is displayed for all items.
Screen layout
- 155 -
<2> DI/DO-related data

[Page 2] (Safety DI)
• The states of input signals transferred via the PMC and FSSB are
displayed.
• For a mismatching signal, "#" is prefixed to the address.
(However, "#" is not displayed for bit 0 of QG2657+/DI+000 and bits
2 and 3 of QG1529+/DI+001 even if a mismatch is detected.)
Screen layout
[Page 3] (Safety DO)

• The states of output signals transferred via the PMC and FSSB
are displayed.
(However, "#" is not displayed for bits 0, 2, and 3 of
IF1529+ /DO+000 even if a mismatch is detected.)
Screen layout
- 156 -
[Pages 4 and 5] (Safety area)

The states of *ESP, *BRK, and DI/DO are displayed.
Screen layout
- 157 -
<3> Machine information (displayed only when bit 0 (DCS) of parameter No. 13801
= 1)
[Page 6] (Machine position)
• The machine position (detection unit) on the CNC/monitor side
is displayed.
• A blank is displayed for all axes with dual check safety disabled.
• For an axis not within the safety machine position, the data is
suffixed with "#".
Screen layout
[Page 7] (Positional deviation)

• The positional deviation (detection unit) on the CNC/monitor
side is displayed.
Screen layout
- 158 -
[Page 8] (Feed axis speed)

• The speed (detection unit/interpolation cycle(NOTE)) on the
CNC/monitor side is displayed.
• For an axis exceeding the safety speed, the data is suffixed with
"#".
NOTE
When bit 1 (TR2x) of parameter No. 13802 is set to
1, the unit of speed on the CNC/monitor side is not
"detection unit/interpolation cycle" but "the number
of revolutions per minute."
Screen layout
[Page 9] (Spindle speed)

• The speed (motor speed) on the CNC/spindle side is displayed.
"#".
Screen layout
- 159 -
<4> Monitoring state (displayed only when bit 0 (DCS) of parameter No. 13801 = 1)
[Page 10] (Feed axis monitoring)
• The monitoring state (cross-check data) on the CNC/monitor side
is displayed.
• When five or more axes are involved, the screen display is
divided into two screens.
• If a mismatch is detected between the monitoring states
(cross-check data) on the CNC and monitor sides for an axis, "#"
is displayed to the left of the axis.
Screen layout
[Page 11] (Spindle monitoring)

• The monitoring state (cross-check data) on the CNC/spindle side
is displayed.
(cross-check data) on the CNC and spindle sides for an axis, "#"
Screen layout
- 160 -
(2) Data when an alarm is issued

<1> General
[Page 1]
• For the first detected alarm related to dual check safety, the date
and time of alarm issue, alarm number, and message are
displayed.
• If no alarm is issued yet, "NO ALARM" is displayed, and "0" is
displayed for the other data items.
• The alarm display targets are:
SV410, SV411, SV470-SV498
SP755/765/775/785-SP757/767/777/787
Alarm 69, Alarm 72, Alarm 76, Alarm 77, Alarm 78
• The alarms related to display safety function error causes are:
SV483, SV484, SV490, SP755/765/775/785
• PRM, PWO, and so on display safety function error causes.
FM1 : It was detected that part of the safety function was not
executed. (Flow monitoring alarm).
FM2 : The other CPU detected that part of the safety function
was not executed. (Flow monitoring alarm)
CC1 : The result of a safety function check does not match the
result of a safety function check made by the other CPU.
(Cross-check alarm)
CC2 : The result of a safety function check does not match the
result of a safety function check made by the other CPU.
(Cross-check alarm)
CPU : An error occurred in a CPU self-test.
RAM : An error occurred in a RAM test.
PWO : An error occurred in a self-test at power-on time.
PRM : An error occurred in safety parameter transfer.
• DATA1-4 indicate flow counters and parameter numbers. (The
display data depends on the alarm.)
• The alarms related to the display of DATA1-4 are:
SV488, SV489, SV490, SV497, SP755, Spindle alarm 76
When spindle alarm 76 is issued, "-" is displayed if the spindle
does not support the diagnosis screen.
Screen layout
- 161 -
<2> DI/DO-related data

[Page 2]
• The states of input signals transferred via the PMC and FSSB are
displayed when a dual check safety alarm is issued. If no alarm
is issued yet, "0" is displayed for all data items.
• The screen layout is the same as for page 2 of (1) current
machine state display.
• The related alarms are:
SV486 (CNC detection), SV479 (monitor detection)
[Page 3]
• The states of output signals transferred via the CNC and FSSB
are displayed when a dual check safety alarm is issued. If no
alarm is issued yet, "0" is displayed for all data items.
SV493 (CNC detection), SV485 (monitor detection)
<3> Machine information

[Page 4] (Machine coordinates)
• The machine coordinates (detection unit) on the CNC and
monitor sides are displayed when a dual check safety alarm is
issued. If no alarm is issued yet, "0" is displayed for all data
items.
• For an axis not within the safety area, the data is suffixed with
"#".
CNC→ SV495
Monitor → SV477
[Page 5] (Positional deviation)

• The positional deviations (detection unit) on the CNC and
items.
• For an axis exceeding the positional deviation, the data is
suffixed with "#".
CNC→ SV410, SV411
Monitor → SV474, SV475
- 162 -
[Page 6] (Feed axis speed)

• The speeds (detection unit/interpolation period) on the CNC and
items.
• For an axis exceeding the feedrate, the data is suffixed with "#".
CNC→ SV494
Monitor → SV476
[Page 7] (Spindle speed)

• The speeds (motor speeds) on the CNC and spindle sides are
displayed when a dual check safety alarm is issued. If no alarm
is issued yet, "0" is displayed for all data items.
"#".
CNC→ SP757, 7n69, 9069
Spindle → Spindle alarm 69
When spindle alarm 69 is issued, "-" is displayed if the spindle
does not support the diagnosis screen.
<4> Monitoring state

[Page 8] (Feed axis monitoring)
• The monitoring states (cross-check data) on the CNC and
items.
• When five or more axes are involved, the screen display is
divided into two screens.
(cross-check data) on the CNC and monitor sides for an axis, "#"
CNC→ SV483, SV490
Monitor → SV483, SV490
- 163 -
[Page 9] (Spindle monitoring)

• The monitoring states (cross-check data) on the CNC and spindle
sides are displayed when a dual check safety alarm is issued. If
no alarm is issued yet, "0" is displayed for all data items.
(cross-check data) on the CNC and spindle sides for an axis, "#"
CNC→ 755, 490, 7n72, 7n77, 7n78, 9072, 9077, 9078
Spindle → Spindle alarms 72, 77, 78
When spindle alarms 72, 77, or 78 is issued, "-" is displayed if
the spindle does not support the diagnosis screen.
- 164 -
GFKE-0218A-EN 10.SAMPLE SYSTEM CONFIGURATION
10 SAMPLE SYSTEM CONFIGURATION
- 165 -
10.SAMPLE SYSTEM CONFIGURATION GFKE-0218A-EN
10.1 SAMPLE CONFIGURATION
10.1.1 For 1-path (When One PSM Is Used)
- 166 -
10.1.2 For 1-path (When One PSM Is Used)
- 167 -
10.1.3 For 2-path (When the main side and sub side use a common
MCC)
QG1532
QG11532
QG1531
QG11531
I0069)
QG0069
QG10069
QG1534
QG11534
IF1531
IF11531
QG1533
QG11533
QG1535
QG11535
: IF1529
IF11529
IF1530
IF11530
- 168 -
10.1.4 For 2-path (When the main side and sub side use
independent MCCs and protection doors)
QG1532
QG11532
QG1531
QG11531
(I0069)
QG0069
QG10069
QG1534
QG11534
IF1531
IF11531
QG1533
QG11533
QG1535
QG11535
IF1529
IF11529
IF1530
IF11530
- 169 -
10.2 SAMPLE CONNECTIONS
10.2.1 Emergency Stop Signal (*ESP1, *ESP2)
+24V I/O-Link I/O UNIT
*ESP1
(I0069 )
FSSB I/O UNIT
*ESP2
(DI+000#0)
0V
PSM
CX4
ESP
NOTES
Use a two-contact emergency stop button with a forced dissociation
mechanism.
Connect the emergency stop button to the PSM, as illustrated in the
figure. When the signal is input, the spindle slows down and stops.
Input a power-down factor to [QG0069 ] other than the signal from the
emergency stop button.
- 170 -
10.2.2 Guard Open Request Signal (ORQ)
NOTES
Create a Ladder program of conditions for making a guard open
request and then input the program to the PMC side [QG1532 ].
When the guard open request signal (ORQ) is input and when CNC
safety has been confirmed, the guard unlock signal (*LGD) is output.
If the CNC is not safe, ORQ input will not result in output of *LGD.
If the input of ORQ is canceled while the guard is open, the CNC
enters a safely stopped status (state in which the guard is open
although the guard open request signal is not input). Close the guard
(SGD is set to 1), then cancel this signal.
10.2.3 Test Mode Signal (OPT)

Test start button
+24V
I/O-Link I/O UNIT PMC
X00n#n Ladder program
OPT
(QG1531 )
NOTES
Create a Ladder program for performing a MCC off Test, then input
the program to the PMC side [QG1531 ].
- 171 -
10.2.4 Guard Unlock Signal (*LGD), Guard Lock State Signal (GDL),
Guard State Signal (SGD)
When one protective door is used

The following figure shows the example which combined the safety
guard switch with safety relay.
+24V
Guard closed
SW1 SW2
Guard-monitoring Safety relay

limit switch
SW3 RY1
RY1
RY3
RY2
RY2
RY3
0V RY3
RY1 RY2
0V
[Sample control components] I/O Link I/O UNIT PMC

SW1/SW2: X00n#n SGD
(QG1533 )
Guard state monitoring
switch with forced *LGD
(IF1529 )
dissociation mechanism
Y00n#n Ladder
SW3:
program
Guard lock switch
RY1, RY2, RY3:
Safety relay FSSB I/O UNIT
SGD
(DI+001#4)
- 172 -
When one protective door is used

The following figure shows the example which combined the safety
guard switch without safety relay.
+24V
Guard closed
SW1 SW2
Guard-monitoring
limit switch
SW3
SW4
0V
[Sample control components] I/O Link I/O UNIT PMC

SW1/SW2: X00n#n SGD
(QG1533 )
Guard state monitoring
switch with forced *LGD
(IF1529 )
dissociation mechanism
Y00n#n Ladder
SW3/SW4:
program
Guard lock switch with
forced dissociation
mechanism FSSB I/O UNIT
SGD
(DI+001#4)
- 173 -
When one protection area has two protective doors

When one protection area has two protective doors, for example, a
limit switch for guard monitoring with a lock can be installed on each
protective door together with a safety relay as shown below.
+24V
Guard 1 is closed. Guard 2 is closed.
SW11 SW12 SW21 SW22
Guard lock 1 Guard lock 2

Limit switch 1 for guard Limit switch 2 for guard
monitoring monitoring
SW13 SW23
0V 0V
Safety relay
RY1
RY1
RY3
RY2
RY2
RY3
RY3 RY1 RY2
0V
I/O Link I/O UNIT PMC
X00n#n SGD
(QG1533
) *LGD
(IF1529 )
Y00n#n
Ladder
program
Y00m#m
[Sample control components]
SW11/SW12,SW21/SW22:
Guard state monitor switch with a forcible release mechanism FSSB I/O UNIT
SW13, SW23: Guard lock switch
RY1, RY2, RY3: Safety relay SGD
(DI+001#4)
- 174 -
Operating principle
- When one protective door is used
The table below indicates the states of each component.
States of each component

Guard Guard lock SW1 SW2 SW3 RY1 RY2 RY3 SGD
１ CLOSE LOCKED CLOSE CLOSE CLOSE ON ON OFF 1
２ CLOSE UNLOCKED CLOSE CLOSE OPEN OFF ON OFF 0
３ OPEN UNLOCKED OPEN OPEN OPEN OFF OFF ON 0
If the closed protective door is opened then is closed when the safety
relay contact has not melted, transitions are made from 1 to 2 to 3 to 2
to 1.
RY3 detects the melted contacts of RY1 and RY2, and turns off SGD
input if an error is detected.
- When one protection area uses two protective doors

The configuration of this example is such that a limit switch for guard
monitoring is added to the example for using one protective door.
The guard state monitor switches for two limit switches for guard
monitoring are connected in series. When even one guard is opened,
SGD is set to 0, assuming that the guard is open.
To release each of the two guard lock switches independently, two
signals are output from the I/O Link I/O UNIT. With these signals,
SGD is set to 0, assuming that the guard is open, when even one guard
lock is unlocked.
The table below indicates the states of each component.
States of each component

Guard 1 Guard lock 1 Guard Guard lock 2 SW1 SW12 SW13 SW21 SW22 SW23 RY1 RY2 RY3 SGD
2
１ CLOSE LOCKED CLOSE LOCKED CLOSE CLOSE CLOSE CLOSE CLOSE CLOSE ON ON OFF 1
２ CLOSE UNLOCKED CLOSE LOCKED CLOSE CLOSE OPEN CLOSE CLOSE CLOSE OFF ON OFF ０
３ OPEN UNLOCKED CLOSE LOCKED OPEN OPEN OPEN CLOSE CLOSE CLOSE OFF OFF ON ０
４ CLOSE LOCKED CLOSE UNLOCKED CLOSE CLOSE CLOSE CLOSE CLOSE OPEN OFF ON OFF ０
５ CLOSE UNLOCKED CLOSE UNLOCKED CLOSE CLOSE OPEN CLOSE CLOSE OPEN OFF ON OFF ０
６ OPEN UNLOCKED CLOSE UNLOCKED OPEN OPEN OPEN CLOSE CLOSE OPEN OFF OFF ON ０
７ CLOSED LOCKED OPEN UNLOCKED CLOSE CLOSE CLOSE OPEN OPEN OPEN OFF OFF ON ０
８ CLOSED UNLOCKED OPEN UNLOCKED CLOSE CLOSE OPEN OPEN OPEN OPEN OFF OFF ON ０
９ OPEN UNLOCKED OPEN UNLOCKED OPEN OPEN OPEN OPEN OPEN OPEN OFF OFF ON ０
If guard 2 is opened then is closed with guard 1 closed when the safety
relay contact has not melted, for example, transitions are made from 1
to 4 to 7 to 4 to 1.
As in a case where one protective door is used, RY3 detects the
melted contacts of RY1 and RY2, and turns off SGD input if an error
is detected.
Notes
This example does not use the guard lock state signal (GDL). If GDL
is not used, as in this example, tie [QG1534 and [DI+001#5] to 1.
- 175 -
The guard state is monitored, and the guard state signal (SGD) affects
the dual check safety function. The guard lock state signal (GDL) only
indicates whether an input mismatch is found. The state of the GDL
signal does not affect the dual check safety function.
In the example where only one protective door is used, the guard is
assumed to be open (SGD = 0) when the guard lock is unlocked. In
the example where one protection area uses two protective doors, the
guar is assumed to be open (SGD = 0) when even one guard lock is
unlocked.
When the guard open request signal (ORQ) is accepted and when it
has been confirmed that the CNC is in a safe state, the guard unlock
signal (*LGD) is output. Based on this signal, use a Ladder program
to create a guard unlock signal.
- 176 -
10.2.5 MCC On Enable Signal (MCF), MCC Contact State Signal

(*SMC)
+24V I/O Link I/O UNIT PMC
*SMC1
X00n#n
(QG1535 )
MCF1(IF1530)h
Y00n#n
0V
FSSB I/O UNIT
*SMC2
(DI+001#6)
MCF
(DO+000#1)
0V
PSM
200A
200B
CX3
MCC
U
V
W
Electromagnetic contactor (MAIN MCC)
Notes
With the MCF signal of the PMC side, allocate [IF1530 ] to
general-purpose output.
On the FSSB side, directly connect [DO+000#1].
Also connect MCF to PSM, as illustrated in the figure. If an error
occurs in the PSM, the PSM turns off the MCC.
- 177 -
11.APPLYCATION OF OTHER FUNCTIONS GFKE-0218A-EN
11 APPLYCATION OF OTHER FUNCTIONS
- 178 -
GFKE-0218A-EN 11.APPLYCATION OF OTHER FUNCTIONS
11.1 OVERVIEW
The dual check safety function becomes easier to use when combined
with various other functions. This section describes the functions.
Part of the section assumes the use of the dual check safety function.
Therefore, if the function is not used, the specifications described in
the chapter may differ.
Since only a summary is provided for each function, refer to the

Connection Manual (Function) or other documents for detailed
specifications.
Section 11.2 describes combination with external deceleration, Section

11.3 describes combination with spindle output control with PCM,
Section 11.4 describes combination with spindle positioning, Section
11.5 describes combination with Cs, and Section 11.6 describes
combination with spindle orientation.
- 179 -
11.2 EXTERNAL DECELERATION
11.2.1 Overview
The dual check safety function uses the CNC CPU and monitor DSP
to separately monitor the specified speed of the feed axis (safe speed
monitoring function). When one or more axes have a speed greater
than or equal to the safe speed in safe signal mode B (in a state where
a guard open request is input and the guard is closed), the guard lock
cancellation signal *LGD is set to 0 to disallow the cancellation of
guard lock. When one or more axes have a speed greater than or equal
to the safe speed in safe signal mode C (in a state where a guard open
request is input and the guard is open), servo alarm 476 or 494 occurs
and power to the motor driving circuit is interrupted.
The external deceleration function decelerates the speed of the feed

axis to the external deceleration speed specified in the parameter by
inputting the external deceleration signal. A maximum of three
external deceleration speeds can be set.
The dual check safety function and external deceleration function can
be used to construct a machine that operates as shown below.
• Automatically reduces the speed of the feed axis to the safe speed
or below in safe signal mode B to allow the opening of the guard.
• Limits the speed of the feed axis within the safe speed in safe
signal mode C to prevent an alarm from being issued by the safe
speed monitoring function.
The external deceleration function is optional.
For speed control of the spindle, see Section 11.3, "SPINDLE

OUTPUT CONTROL BY THE PMC."
- 180 -
11.2.2 Specifications
External deceleration speed

The external deceleration speed is set for each of rapid traverse and
cutting feed. Three sets of external deceleration speeds and external
deceleration signals are provided as external deceleration settings 1, 2,
and 3, which can be selected depending on the operator's skill or
machine condition. When multiple cutting conditions are provided, the
lowest deceleration speed is selected. External deceleration settings 2
and 3 can be disabled by the parameters EXD2 and EXD3.
Since the dual check safety function monitors the safe speed for both
rapid traverse and cutting feed, the external deceleration speed of the
cutting feed must be set according to the axis having the lowest safe
speed.
External deceleration signal

For safety, external deceleration is enabled when the external
deceleration speed signal is 0, and disabled when the signal is 1. Two
signals in the positive and negative directions are provided for each
axis to select a deceleration direction. For manual handle feed,
however, when either the signal in the positive direction or the signal
in the negative direction is 0, external decelerations in both directions
are enabled (it is impossible to select one direction).
JOG feed
For JOB feed, the external deceleration speed of rapid traverse is
enabled.
Manual handle feed

The maximum speed of manual handle freed is normally the manual
rapid traverse rate, but can be the maximum speed set in the parameter
with the maximum speed switching signal. However, another speed
can be selected by the external deceleration function depending on the
external deceleration signal.
Relationships between signals and parameters

For cutting feed, rapid traverse, and JOG feed, the relationships
between external deceleration settings, external signals, and
parameters are shown in the table below.
Signal Parameter
External Valid/Invalid External deceleration speed
Settings
deceleration Positive Negative Rapid traverse
Cutting feed
signal direction direction JOG feed
1 QG0945+, QG0961+ No.1005#4(*1) No.1005#5(*1) No.1426 No.1427
2 QG0809+, QG0825+ No.1406#0 No.1440 No.1441
3 QG0857+, QG0873+ No.1406#1 No.1443 No.1444
(*1) Only when external deceleration is enabled in cutting feed, bits 4
and 5 of parameter No. 1005 must be set to 1. (In rapid traverse
and JOG feed, external deceleration is enabled regardless of this
setting.)
- 181 -
In manual handle feed, the relationships between external deceleration

settings, external signals, and parameters are shown in the table below.
Signal Parameter
Settings External Manual handle feed External
deceleration maximum speed Valid/Invalid deceleration
signal switching signal speed
1 － (*2) QG0188 － No.1434
2 QG0809+, QG0825+ QG0188 3) No.1406#0 No.1442
3 QG0857+, QG0873+ QG0188 3) No.1406#1 No.1445
(*2) The external deceleration signal (QG0945+, QG0961+) of external
deceleration setting 1 has no effect on the maximum speed of
manual handle feed.
(*3) To enable external deceleration settings 2 and 3 in manual handle
feed, operate QG0188 , QG0809+, and QG0825+(or QG0188 , QG0857+, and
QG0873+).
- 182 -
11.2.3 Signals
11.2.3.1 Details on signals

Manual handle feed maximum feedrate change signal
HNDLF <QG188>
[Function] This signal switches to or from the maximum manual handle feedrate.
[Operation] When this signal is 1, the speed set in parameter No. 1434 is assumed
as the manual handle feed maximum speed. When external
deceleration setting 2 or 3 is used, the speed set in parameter No. 1442
or 1445 can also be enabled.
External deceleration signals

*+ED1 to *+ED8 <QG0945+>
*-ED1 to *-ED8 <QG0961+>
*+ED21 to *+ED28 <QG0809+>
*-ED21 to *-ED28 <QG0825+>
*+ED31 to *+ED38 <QG0857+>
*-ED31 to *-ED38 <QG0873+>
[Function] This signal selects which external deceleration to apply for each
direction of the control axes with the external deceleration function. In
a signal name, "+" and "-" indicate a direction, the second number
from the end indicates the target setting, and the last number indicates
the control axis number.
*xEDyz
z 1: External deceleration for 1st axis

2: External deceleration for 2nd axis
3: External deceleration for 3rd axis
: :
: :
y 1: External deceleration setting 1
2: External deceleration setting 2
3: External deceleration setting 3
x +: Feed in the positive direction
-: Feed in the negative direction
[Operation] When this signal is 0, the feedrate of the corresponding axis in the
corresponding direction is decreased to the corresponding speed.
In manual handle feed, however, when the external deceleration signal
in either the positive direction or the negative direction is 0, external
decelerations in both directions are enabled (it is impossible to select
one direction). The external deceleration signal (QG0945+, QG0961+) of
external deceleration setting 1 has no effect on the maximum speed of
manual handle feed.
- 183 -
11.2.3.2 Signal address

#7 #6 #5 #4 #3 #2 #1 #0
QG0185+ HNDLF
#7 #6 #5 #4 #3 #2 #1 #0
QG0809+ *+ED28 *+ED27 *+ED26 *+ED25 *+ED24 *+ED23 *+ED22 *+ED21
QG0825+ *-ED28 *-ED27 *-ED26 *-ED25 *-ED24 *-ED23 *-ED22 *-ED21
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
11.2.4 Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1005 EDM EDP

EDP The external deceleration signal in the positive direction of each axis
is:
0: Invalid for cutting feed
1: Valid for cutting feed
EDM The external deceleration signal in the negative direction of each axis
is:
0: Invalid for cutting feed
1: Valid for cutting feed
CAUTION
In rapid traverse, JOG feed, and manual handle
feed, external deceleration is enabled regardless of
the settings of bits 4 (EDP) and 5 (EDM) of
parameter No. 1005.
#7 #6 #5 #4 #3 #2 #1 #0
1406 EXD3 EXD2
[Data type] Bit

EXD2 External deceleration function setting 2 is:
0: Invalid
1: Valid
EXD3 External deceleration function setting 3 is:
0: Invalid
1: Valid
- 184 -
1426 External deceleration rate setting 1 in cutting feed
[Data type] Word

[Unit of data]
[Valid data range]
Increment Valid data range
Unit of data
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Set external deceleration rate for cutting feed.
1427 External deceleration rate setting 1 for each axis in rapid traverse

[Unit of data]
[Valid data range]
Unit of data
Set external deceleration rate for each axis in rapid traverse.
1434 Maximum manual handle feedrate setting 1 for each axis

[Unit of data]
[Valid data range]
Unit of data
Set a maximum manual handle feedrate for each axis.
- 185 -
11.3 SPINDLE OUTPUT CONTROL BY THE PMC
11.3.1 Overview
The dual check safety function uses the CNC CPU and spindle DSP to
separately monitor the spindle speed (safe speed monitoring function).
When one or more spindles have a speed greater than or equal to the
safe speed in safe signal mode B (in a state where a guard open
request is input and the guard is closed), the guard lock cancellation
signal *LGD is set to 0 to disallow the cancellation of guard lock.
When one or more axes have a speed greater than or equal to the safe
speed in safe signal mode C (in a state where a guard open request is
input and the guard is open), spindle alarm 757 (767) or 9069 (or
7n69) occurs and power to the motor driving circuit is interrupted.
Spindle output control by PMC is a function for controlling the speed

and polarity of spindle motor rotation of each spindle connected by
the spindle serial output/spindle analog output option.
The dual check safety function and spindle output control by PMC can
be used to construct a machine that operates as shown below.
• Automatically reduces the spindle speed to less than or equal to
the safe speed in safe signal mode B to allow the opening of the
guard.
• Limits the spindle speed within the safe speed in safe signal
mode C to prevent an alarm from being issued by the safe speed
monitoring function.
For speed control of the feed axis, see Section 11.2, "EXTERNAL
DECELERATION."
- 186 -
Switching control
Spindle output control function by the PMC can be used to specify the
following:
• Spindle motor speed (number of rotations)
• Output polarity for each spindle motor (direction of rotation)
Usually, the CNC is used to control the speed and polarity of the first
spindle motor. If a multi-spindle control function is added, the CNC
can also control the second spindle motor.
Spindle output control by the PMC can be used to specify that either
the CNC or the PMC is used to set each of the spindle motor speed
and output polarity.
If TYPE-A is specified (bit 2 of parameter No. 3709 is 0) when
multi-spindle control is used, signals for the second spindle cannot be
used.
Specifying the spindle motor speed

The PMC can be used to specify the spindle motor speed upon
executing the following:
• Switching the controller from the CNC to the PMC, by issuing
SINDx signal
• Setting the spindle motor speed data, calculated by the PMC, in
spindle control signals R01Ix to R12Ix
When controlled by the PMC, the spindle motor speed is not affected
by any signal (for example, the spindle speed override signal) or
parameter settings (for example, the maximum speed clamp
parameter) related to the spindle speed command of the CNC spindle
control function. However, the individual spindle stop signals
(*SSTPx <QG220,+1) during use of multi-spindle control are
enabled.
The spindle motor speed data is obtained from the following
expression. Its value can range from 0 to 4095:
Spindle motor speed data =
(Spindle motor speed/Maximum spindle motor speed)×4095
Normally, the speed of the spindle is actually 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/Maximum spindle speed)×4095
By using this expression, the spindle motor speed data can easily be
obtained.
Specifying the output polarity for the spindle motor

The PMC can specify the spindle motor output polarity when the
following are executed:
• Switching the controller from the CNC to the PMC, by issuing an
SSINx signal
• Specifying the output polarity to the SGNx signal
- 187 -
11.3.3 Signals

Signals used to select the spindle motor speed command
SIND <QG0272> (for 1st spindle)
SIND2 <QG0288 > (for 2nd spindle)
[Function] This signal specifies that either the CNC or PMC is used to control the
spindle motor speed command.
[Operation] When this signal is 0, the spindle motor speed command is controlled
by the CNC.
When this signal is 1, the spindle motor speed command is controlled
by the PMC.
Signals used to input the spindle motor speed command issued by the PMC
R01I to R12I <QG0257 to QG0268 > (for 1st spindle)
R01I2 to R12I2 <QG0273 to QG0284 > (for 2nd spindle)
[Function] When the spindle motor speed command is controlled by the PMC, set
the value obtained from the following expression for this signal in
binary.
(Spindle motor speed/Maximum spindle motor speed)×4095
Signals used to select the polarity of the spindle motor speed command
SSIN <QG0271 > (for 1st spindle)
SSIN2 <GQG0287 (for 2nd spindle)
[Function] This signal specifies that either the CNC or PMC is used to control the
output polarity of the spindle motor speed command.
[Operation] When this signal is 0, the output polarity of the spindle motor speed
command is controlled by the CNC.
When this signal is 1, the output polarity of the spindle motor speed
command is controlled by the PMC.
Signals used to specify the polarity of the spindle motor selected by the PMC
SGN <QG0270 > (for 1st spindle)
SGN2 <QG0286 > (for 2nd spindle)
[Function] This signal sets the output polarity of the spindle motor speed
command.
[Operation] When this signal is 0, the output polarity of spindle is the positive
direction. When this signal is 1, the output polarity of spindle is the
negative direction.
- 188 -

#7 #6 #5 #4 #3 #2 #1 #0
QG0257+ R08I R07I R06I R05I R04I R03I R02I R01I
QG0265+ SIND SSIN SGN R12I R11I R10I R09I
#7 #6 #5 #4 #3 #2 #1 #0
QG0273+ R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
QG0281+ SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2
11.3.4 Parameters
#7 #6 #5 #4 #3 #2 #1 #0
3709 MSI
[Data type] Bit

MSI In multi-spindle control, the SIND signal is valid
0: Only when the first spindle is valid (SIND signal for the 2nd, 3rd
spindle becomes ineffective) (The SIND signal for the second
spindle is invalid.)
1: For each spindle irrespective of whether the spindle is selected
(Each spindle has its own SIND signal).
- 189 -
11.4 SPINDLE POSITIONING (T SERIES)
11.4.1 Overview
separately monitor the actual speed of the spindle (safe speed
monitoring function). When the stop status of the spindle is monitored
by the safe speed monitoring function, set the safe speed parameter to
a value including a margin appropriate for the machine instead of 0
because the actual speed cannot be assumed to be 0. Since the spindle
may rotate at a speed less than the set safe speed in this case, it is
necessary to position the spindle with a position control loop formed
at the same time.
The spindle positioning function positions the spindle using the

spindle motor and position coder.
The spindle positioning function is optional, which cannot be used

together with the Cs contour control function. When options of both
functions are specified, the spindle positioning function is given a
higher priority.
- 190 -
Spindle positioning
Spindle positioning is performed as follows.
• Cancel the spindle rotation mode, which is used for turning with
the spindle rotating, and enter the spindle positioning mode.
• Position the spindle in the spindle positioning mode.
• Cancel the spindle positioning mode and enter the spindle
rotation mode.
Selecting a spindle positioning axis

The axis targeted for spindle positioning is the C-axis. The C-axis can
be in any ordinal position in control axes (parameter No. 1020), but
set the C-axis servo axis number (parameter No. 1023) to -1.
There is only one spindle positioning axis for each control path.
The spindle targeted for spindle positioning is the first spindle.
Switching to spindle positioning mode

Orientation is required when spindle positioning is performed for the
first time after the spindle motor is used as a normal spindle or when
spindle positioning is resumed after the spindle positioning is
suspended.
Orientation is the function for stopping the spindle at a fixed position.
The grid shift function can be used to shift the orientation position
from 0 to 360 degrees (parameter No. 4073).
Orientation can be specified by the M code set in parameter No. 4960.
The direction of orientation is set in RETSV (bit 4 of parameter No.
4000).
The position where orientation is completed is assumed as the
program zero point. However, the coordinate system setting (G50) or
automatic coordinate system setting can be used to change the
program zero point.
Positioning command
There are two types of spindle positioning: semi-fixed angle
positioning and optional angle positioning.
- 191 -
Semi-fixed angle positioning

Semi-fixed angle positioning is specified by a two-digit value that
follows address M. The six values from Mx to M(x+5) can be
specified. (For extended specifications, 256 values from MX to
M(X+255) can be specified.) The value of x is set in parameter No.
4962. The positioning angles corresponding to the values are shown in
the table below. The value of base rotation angle y is set in parameter
No. 4963. The rotation direction is set in bit 1 (IDM) of parameter No.
4950. Incremental specification is always assumed.
(Example)
M code Indexing angle
y=30deg
Mx y 30 deg
M(x+1) 2y 60 deg
M(x+2) 3y 90 deg
M(x+3) 4y 120 deg
M(x+4) 5y 150 deg
M(x+5) 6y 180 deg
: :
M(x+n-1) ny
Optional angle positioning

Optional angle positioning is specified address C (absolute
specification) or H (incremental specification) and a subsequent
signed value for G code system A, or address C and a subsequent
signed value for G code system B or C. Specify the command in the
G00 mode.
Example) C-1000
H4500
The minimum setting unit is 0.001 degrees and the allowable
specification range is between -9999.999 degrees and 9999.999
degrees.
A command with a decimal point is also allowed. The position of the
decimal point denotes the degree position.
Example) C35.0 = C35 deg
Feedrate and acceleration/deceleration type

The feedrate used in positioning is the rapid traverse rate set in
parameter No. 1420. An override of 100%, 50%, 25%, or F0
(parameter No. 1421) can be applied to the rapid traverse rate. Liner
acceleration/deceleration is used as the acceleration/deceleration type.
Spindle positioning reset

Switching from the spindle positioning mode to the spindle rotation
mode is specified by the M code set in parameter No. 4961.
- 192 -
11.4.3 Signals

Spindle stop complete signal
SPSTP <QG231>
[Function] The CNC checks that this signal is 1 and then performs orientation
before spindle positioning or spindle positioning.
Spindle unclamp signal

SUCLP <IF306>
[Function] This signal specifies that spindle mechanical clamping be released in a
spindle positioning sequence.
When the signal is output, release spindle clamping on the machine
side (release the brake or draw the pin).
[Output condition] For details, refer to the sequence (time chart) in the Connection
Manual (Function).
Spindle unclamp completion signal

*SUCPF <QG229>
[Function] This signal indicates that unclamping the spindle is complete in
response to the spindle unclamp signal SUCLP.
Spindle clamp signal

SCLP <IF305>
[Function] This signal specifies that the spindle be clamped mechanically in a
spindle positioning sequence.
When the signal is output, perform spindle clamping on the machine
side (insert the brake or pin).
[Output condition] For details, refer to the sequence (time chart) in the Connection
Manual (Function).
Spindle clamp completion signal

*SCPF <QG230>
[Function] This signal indicates that clamping the spindle is complete in response
to the spindle clamp signal SCLP.
Spindle orientation completion signal

ZPx <IF753+>
[Function] This signal indicates that spindle orientation of the spindle positioning
is completed.
[Output condition] When the orientation of spindle positioning is completed, this signal is
1. When spindle positioning is performed or released, this signal is 0.
- 193 -

#7 #6 #5 #4 #3 #2 #1 #0
QG0225+ SPSTP *SCPF *SUCPF
#7 #6 #5 #4 #3 #2 #1 #0
IF0305+ SUCLP SCLP
IF0753+ ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1
11.4.4 Parameters
1020 Program axis name for each axis

Set a value of 67 (C-axis) targeted for spindle positioning.
1023 Number of the servo axis for each axis

This parameter sets the relationships between the individual axes and
the servo axis numbers.
Set -1 for the axis targeted for spindle positioning.
#7 #6 #5 #4 #3 #2 #1 #0
1816 DM3x DM2x DM1x

Set (DM3x, DM2x, DM1x) = (1, 1, 1) for the axis targeted for spindle
positioning.
1820 Command multiplier for each axis (CMR)

Set a value of 2 targeted for spindle positioning.
1821 Reference counter size for each axis

Set a value of 10000 targeted for spindle positioning.
#7 #6 #5 #4 #3 #2 #1 #0
3405 CCR
[Data type] Bit

CCR This parameter selects an address used for chamfering and corner
rounding.
Set this parameter to 0 when spindle positioning is performed.
- 194 -
#7 #6 #5 #4 #3 #2 #1 #0
4000 RETSV
[Data type] Bit

RETSV Reference position return direction of spindle.
0: CCW (Counter clockwise)
1: CW (Clockwise)
4044 Proportional gain of the velocity loop in servo mode (HIGH gear)
4045 Proportional gain of the velocity loop in servo mode (LOW gear)
[Data type] Word

[Unit of data]
Set a proportional gain for the velocity loop on spindle positioning.
4052 Integral gain of the velocity loop in the servo mode (HIGH gear)
4053 Integral gain of the velocity loop in the servo mode (LOW gear)
[Data type] Word

[Unit of data]
Set an integral gain of the velocity loop on spindle positioning.
4056 Gear ratio (HIGH gear)
4057 Gear ratio (MEDIUM HIGH gear)
4058 Gear ratio (MEDIUM LOW gear)
4059 Gear ratio (LOW gear)
[Data type] Word

[Unit of data] Motor speed per spindle rotation × 100
These parameters set the gear ration between the spindle and spindle
motor.
4065 Position gain in servo mode (HIGH gear)
4066 Position gain in servo mode (MEDIUM HIGH gear)
4067 Position gain in servo mode (MEDIUM LOW gear)
4068 Position gain in servo mode (LOW gear)
[Data type] Word

[Unit of data] 0.01 sec-1
These parameters set a servo loop gain on spindle positioning.
- 195 -
4073 Grid shift amount on servo mode
[Data type] Word

[Unit of data] 1 pulse (=360deg/4096)
The reference position is shifted counterclockwise by the set number
of pulses.
#7 #6 #5 #4 #3 #2 #1 #0
4950 IMB ESI TRV ISZ IDM IOR
[Data type] Bit

IOR Resetting the system in the spindle positioning mode
0: Does not releases the mode.
1: Releases the mode
IDM The direction of half-fixed angle spindle is:
0: Plus direction.
1: Minus direction.
ISZ When the M code specifying orientation is specified in spindle
positioning, the spindle rotation mode is switched to the spindle
positioning mode and then orientation is:
0: Performed.
1: Not performed.
TRV The rotation direction of spindle positioning is:
0: The same as the normal direction.
1: Reversed.
ESI Spindle positioning conforms to:
0: The conventional specifications.
• The number of M codes used for the semi-fixed angle
spindle positioning command is fixed to six.
• The upper limit of spindle positioning feedrate setting
(parameter No. 1420) is 240000 (10 deg/min).
1: The extended specifications.
• The number of M codes used for the semi-fixed angle
spindle positioning command can be selected from 1 to 256
by setting parameter No. 4964.
• The upper limit of spindle positioning feedrate setting
(parameter No. 1420) is 269000 (10 deg/min).
IMB The semi-fixed angle spindle positioning command conforms to:
0: The A specification.
1: The B specification.
Spindle positioning after execution of the semi-fixed angle command
consists of the following three operations.
1) Release the spindle rotation mode and enter the spindle
positioning mode.
2) Perform spindle positioning.
3) Release the spindle positioning mode and enter the spindle
rotation mode.
For the A specification, specify a separate M code for each operation.
1) Specify an operation with the M code (parameter No. 4960) for
specifying orientation.
- 196 -

specifying the spindle positioning angle.
releasing spindle positioning.
For the B specification, when the M code (parameter No. 4962) for
specifying the spindle positioning angle is specified, the above three
operations are performed in sequence.
4960 M code for specifying orientation
[Data type] Word

[Unit of data] Integer
Set the M code for shifting from the spindle rotation mode to the
spindle positioning mode. Orientation is performed by this M code.
4961 M code releasing the spindle positioning
[Data type] Word

Set the M code for releasing the spindle positioning mode and then
shifting to the spindle rotation mode.
4962 M code for specifying a spindle positioning angle
[Data type] Word

Set the first M code of the semi-fixed angle spindle positioning
command.
If the setting of the parameter is x, when bit 6 (ESI) of parameter No.
4950 is 0, the six M codes from Mx to M(x+5) are used. When ESI is
1, the specified number of M codes in parameter No. 4964, beginning
with Mx, are used. If the base rotation angle (parameter No. 4963) is y
and the number (parameter No. 4964) of M codes is n, the
relationships between M codes and positioning angles are shown in
the table below.
Positioning (Example)
M code
angle y=30deg
Mx y 30 deg
M(x+1) 2y 60 deg
M(x+2) 3y 90 deg
M(x+3) 4y 120 deg
M(x+4) 5y 150 deg
M(x+5) 6y 180 deg
: :
M(x+n-1) ny
- 197 -
CAUTION
Set this parameter even when the semi-fixed angle
spindle positioning command is not executed.
Otherwise, the M codes from M00 to M05 do not
function normally.
4963 Basic rotation angle of spindle positioning
[Data type] Word

[Unit of data] deg
Set the basic rotation angle of the semi-fixed angle spindle positioning
command.
4964 Number of M codes for specifying a spindle positioning angle
[Data type] Byte

[Valid data range] 0, 1 to 255
Set the number of M codes of the semi-fixed angle spindle positioning
command.
CAUTION
1 Make sure that the M code used for the semi-fixed
angle spindle positioning command does not
duplicate any other M codes.
2 This parameter is valid when bit 6 (ESI) of
parameter No. 4950 is 1.
3 When the setting of this parameter is 0, a setting of
6 is assumed.
- 198 -
11.5 Cs CONTOUR CONTROL
11.5.1 Overview
at the same time.
The Cs contour control function makes spindle positioning control

(spindle contour control).
When Cs contour control is performed, the configuration of the

spindle detector is restricted. For details, refer to the FANUC AC
SPINDLE MOTOR αi series Parameter Manual or other documents.
The Cs contour control function is optional, which cannot be used

together with the spindle positioning function. When options of both
functions are specified, the spindle positioning function is given a
higher priority.
- 199 -
Cs contour control mode

The Cs contour control change signal is used to switch between
spindle rotation control (method of controlling the rotation of the
spindle with the velocity command) and spindle contour control
(method of controlling the rotation of the spindle with the move
command). The mode for spindle contour control is called the Cs
contour control mode. The manual and automatic operation of the
spindle in the Cs contour control mode can be performed as with
normal servo axes.
Although interpolation is enabled for the spindle and servo axis in the
Cs contour control mode, this subsection describes only spindle
positioning, not interpolation of the spindle and servo axis.
Setting the Cs contour control axis

The axis targeted for Cs contour control is placed as one axis of CNC
control axes. Any of the control axes can be selected as the Cs contour
control axis, but one of -1, -2, -3, and -4 ("-n" indicates that the n-th
spindle is used as the Cs axis) must be set for specifying the servo axis
number (parameter No. 1023).
The Cs contour control axis must be set as a rotation axis (bit 0
(ROTx) of parameter No. 1006 is 1 and parameter No. 1022 is 0).
The axis name (parameter No. 1020) of the Cs contour control axis
can be arbitrarily selected.
When the second to fourth spindles are selected as Cs axes, bit 7
(CSS) of parameter No. 3704 must be set to 1.
Shifting to Cs contour control

To shift from the spindle rotation control mode to the Cs contour
control mode, set the Cs contour control change signal CON to 1. This
immediately stops the spindle and then executes mode switching.
Shifting to spindle rotation control

To shift from the Cs contour control mode to the spindle rotation
control mode, set the Cs contour control change signal CON to 0.
Before switching, make sure that the move command for the spindle
during automatic or manual operation is fully completed. If the
switching is made while the spindle is rotating, the interlock state is
entered or an alarm indicating a too large positional deviation occurs.
- 200 -
11.5.3 Signals

Cs contour control change signal
CON <QG0224 >
[Function] This signal specifies for the first spindle to switch between the spindle
rotation control mode and the Cs contour control mode in the Cs
contour control function.
When this signal is set to 1, the spindle is switched from the spindle
rotation mode to the Cs contour control mode. When this signal is set
to 1 while the spindle is rotating, the spindle stops immediately and
then enters the Cs contour control mode.
When this signal is set to 0, the spindle is switched from the Cs
contour control mode to the spindle rotation mode.
CAUTION
This signal is enabled only when bit 7 (CSS) of
When bit 7 (CSS) of parameter No. 3704 is 1
(when Cs-axis contour control by the individual
spindles is used), use the Cs contour change
signals (QG2193 (CONS1) to +3 (CONS4)) of the
individual spindles.
Cs contour control change completion signal

FSCSL <IF354>
[Function] This signal indicates that the Cs contour control mode is entered.
[Output condition] In the spindle rotation control mode, this signal is 0.
In the Cs contour control mode, this signal is 1.
CAUTION
This signal is enabled only when bit 7 (CSS) of
When bit 7 (CSS) of parameter No. 3704 is 1
(when Cs-axis contour control by the individual
spindles is used), use the Cs contour change
completion signals (IF2193 (FCCS1) to
+3(FCCS4)) of the individual spindles.
- 201 -
Cs contour control change signals in each axis

CONS1 to CONS4 <QG2193 to QG2196 >
[Function] This signal specifies the switching of the first to fourth spindles
between the spindle rotation control mode and the Cs contour control
mode in the Cs contour control function.
When this signal is set to 1, the spindles are switched from the spindle
rotation mode to the Cs contour control mode. When this signal is set
to 1 while the spindles are rotating, the spindles stop immediately and
then enter the Cs contour control mode.
When these signals are set to 0, the spindles are switched from the Cs
contour control mode to the spindle rotation mode.
CAUTION
These signals are enabled only when bit 7 (CSS) of
parameter No. 3704 is 1 (when Cs-axis contour
control by the individual spindles is used).
When bit 7 (CSS) of parameter No. 3704 is 0, use
the Cs contour change signal (QG224 (CON)).
Cs contour control change completion signals in each axis

FCCS1 to FCCS4 <IF2193 to IF2196 >
[Function] These signals indicate that the first to fourth spindles are switched to
the Cs contour control mode.
[Output condition] In the spindle rotation control mode, these signals are 0.
In the Cs contour control mode, these signals are 1.
CAUTION
These signals are enabled only when bit 7 (CSS) of
parameter No. 3704 is 1 (when Cs-axis contour
control by the individual spindles is used).
When bit 7 (CSS) of parameter No. 3704 is 0, use
the Cs contour change completion signal (IF354
(FSCSL)).

#7 #6 #5 #4 #3 #2 #1 #0
QG0217+ CON
QG2193+ CONS4 CONS3 CONS2 CONS1
#7 #6 #5 #4 #3 #2 #1 #0
IF0353+ FSCSL
IF2193+ FCCS4 FCCS3 FCCS2 FCCS1
- 202 -
11.5.4 Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROTx

ROTx Controlled axis is:
0: Linear axis.
1: Rotation axis.
Set 1 for the Cs contour control axis.
1022 Setting of each axis in the basic coordinate system

Specify whether each axis is one of the three basic axes (X, Y, Z) or
one of their parallel axes.
Set 0 for the Cs contour control axis.
1023 Number of the servo axis for each axis

Set relationships between the individual axes and the servo axis
numbers.
Set one of -1, -2, -3, and -4 for the Cs contour control axis.
(Setting value)
-1 : Cs contour control axis by the first spindle
-2 : Cs contour control axis by the second spindle
-3 : Cs contour control axis by the third spindle
-4 : Cs contour control axis by the fourth spindle
CAUTION
1 When Cs contour control is performed by the
second to fourth spindles, bit 7 (CSS) of parameter
No. 3704 must be set to 1.
2 One spindle cannot be set as multiple Cs contour
control axes.
3 In multipath control, the spindle of another path
cannot be assigned.
#7 #6 #5 #4 #3 #2 #1 #0
3704 CSS
[Data type] Bit

CSS On the each spindle, Cs contour control is:
0: Not performed.
1: Performed.
Set 1 when Cs contour control is performed by the second to fourth
spindles.
- 203 -
[Data type] Word

motor.
4069 Position gain in Cs contour control (HIGH gear)
4070 Position gain in Cs contour control (MEDIUM HIGH gear)
4071 Position gain in Cs contour control (MEDIUM LOW gear)
4072 Position gain in Cs contour control (LOW gear)
[Data type] Word

Set the servo loop gain in Cs contour control.
- 204 -
11.6 SPINDLE ORIENTATION
11.6.1 Overview
at the same time.
The spindle orientation function stops the spindle at a fixed position

using the position coder mounted on the spindle. For details, refer to
the FANUC AC SPINDLE MOTOR αi series Parameter Manual or
other documents.
The spindle orientation function is optional.
Orientation
The orientation command (ORCMA) can be used to stop the spindle at
a fixed position.
When the orientation command is entered while the spindle is rotating,
the spindle decelerates immediately and stops at the fixed position.
Switching to the orientation mode

When the orientation command signal ORCMA is set to 1, spindle
rotation control (method of controlling the rotation of the spindle with
the velocity command) is switched to the orientation mode.
Switching to spindle rotation control

When the orientation command signal ORCMA is set to 0, the
orientation mode is switched to the spindle rotation control mode.
As soon as the orientation command signal is set to 0, the velocity
command for spindle rotation control becomes valid and the spindle
rotates. For safety, set the forward/reverse spindle rotation commands
(SFRA/SRVA) and the velocity command to 0.
- 205 -
11.6.3 Signals

Orientation command signal
ORCMA <QG567>
[Function] This signal specifies spindle orientation.
When this signal is set to 1, the spindle immediately decelerates
during rotation and stops at a fixed position.
Be sure to set the signal to 0 before power-on.
Emergency stop signal

*ESPA <QG570>
[Function] This signal specifies an emergency stop.
When the signal is set to 1, the spindle motor and spindle amplifier
module become ready to operate.
When the signal is set to 0, the spindle motor immediately decelerates
and then stops.
By monitoring the orientation completion signal (ORARA), set the
signal to 0 if there is a deviation from the stop position.
Since the spindle motor becomes ready to rotate when the signal is set
to 1, the spindle motor immediately rotates upon receiving the rotation
command. Therefore, immediately after setting this signal to 0, reset
the command signals (velocity command, forward command, and
reverse command) for the spindle amplifier module.
Power interruption signal

MPOFA <QG587>
[Function] This signal turns off the excitation of the motor.
By setting the signal to 1, the excitation of the spindle motor can be
turned off to enable free running.
By monitoring the orientation completion signal (ORARA), set the
signal to 1 if there is a deviation from the stop position.
The excitation of the motor can be turned on again after the motor
stops (zero speed signal SSTA = 1). Even if this signal is set to 0,
excitation cannot be turned on while the motor is rotating (SSTA = 0).
After turning off the excitation of the motor, reset the command
signals (velocity command, forward command, and reverse command)
for the spindle amplifier module.
- 206 -
Orientation completion signal

ORARA <IF368>
[Function] This signal is set to 1 when the orientation command is entered and
the spindle stops near the specified fixed position.
[Output condition] This signal is set to 1 when all conditions below are satisfied.
• ORCMA (orientation command) = 1
• SSTA (zero speed detection signal) = 1
• The spindle is present near the fixed position.
The conditions of proximity to the fixed position are set by the
parameter (orientation completion signal detection level: No. 4075).
This signal is set to 0 when the spindle deviates from the fixed
position due to application of an external force or other causes. To
monitor the stop status of the spindle by setting a spindle positioning
loop with the spindle orientation function, set a sequence that
interrupts the power of the spindle motor if there is deviation from the
stop position by monitoring the signal.
Zero speed detection signal

SSTA <IF362>
[Function] This signal is set to 1 when the rotation speed of the actual spindle
motor becomes equal to or less than the zero speed detection level.

#7 #6 #5 #4 #3 #2 #1 #0
QG0561+ MRDYA ORCMA SFRA SRVA
QG0569+ *ESPA
QG0585+ MPOFA
#7 #6 #5 #4 #3 #2 #1 #0
IF0361+ ORARA SSTA
11.6.4 Parameters
#7 #6 #5 #4 #3 #2 #1 #0
4003 DIRCT2 DIRCT1
[Data type] Bit

DIRCT2, DIRCT1 Setting of rotation direction at spindle orientation
DIRCT2 DIRCT1 Rotation direction at spindle orientation
0 0 By rotation direction immediately before (It is CCW at the power on.)
0 1 By rotation direction immediately before (It is CW at the power on.)
1 0 CCW (counterclockwise) direction looking from shaft of motor
1 1 CW (clockwise) direction looking from shaft of motor
- 207 -
4031 Position coder method orientation stop position
[Data type] Word

[Unit of data] 1 pulse unit (360°/4096)
Set the position coder method orientation stop position.
4038 Spindle orientation speed
[Data type] Word

[Unit of data] 1min-1
This parameter sets the orientation speed at the end of the spindle.
4042 Velocity loop proportional gain on orientation (HIGH gear)
4043 Velocity loop proportional gain on orientation (LOW gear)
[Data type] Word

[Unit of data]
This parameter sets the velocity loop proportional gain for spindle
orientation.
4050 Velocity loop integral gain on orientation (HIGH gear)
4051 Velocity loop integral gain on orientation (LOW gear)
[Data type] Word

[Unit of data]
This parameter sets the velocity loop integral gain for spindle
orientation.
[Data type] Word

motor.
- 208 -
4060 Position gain on orientation (HIGH gear)
4061 Position gain on orientation (MEDIUM HIGH gear)
4062 Position gain on orientation (MEDIUM LOW gear)
4063 Position gain on orientation (LOW gear)
[Data type] Word

These parameters set the position gain for orientation.
4064 Modification rate of position gain on orientation completion
[Data type] Word

[Unit of data] 1%
This data is used to set the modification rate of position gain on
spindle orientation completion.
4075 Orientation completion signal detection level (limits of in-position)
[Data type] Word

This data is used to set the detecting level of orientation completion
signal (ORARA).
When the spindle position is located within the setting data on
orientation completion, the bit of orientation completion signal
(ORARA) in the spindle control signals is set to "1".
4076 Motor speed limit ratio on orientation
[Data type] Word

[Unit of data] 1%
This data is used to set motor speed limit ratio on orientation.
4077 Orientation stop position shift value
[Data type] Word

In the position coder method orientation, set this data to shift stop
position.
4084 Motor voltage setting on orientation
[Data type] Word

[Unit of data] 1%
This parameter sets the motor voltage for orientation.
- 209 -
11.6.5 Sequence
The following is a sample sequence in which orientation is specified
during rotation of the spindle and work is conducted with the spindle
stopped.
M otor speed
ORCMA
Speed com m and
SFRA
(S RVA )
ORARA
S afe speed
Level sw itching
O pen
D oor
C lose
To monitor the stop status of the spindle, use a sequence as shown

below.
By monitoring the orientation completion signal (ORARA), interrupt
the power of the spindle motor with the power interruption signal
(MPOFA) and emergency stop signal (*ESPA) if there is a deviation
from the stop position.
ORCMA
ORARA
M P O FA
*E S PA
CAUTION
This sequence uses the spindle orientation function to monitor the stop status of
the spindle. If there is a deviation from the stop position since an excessive load is
applied to the spindle, a large reaction force is generated. When the deviation is
greater than or equal to the orientation completion level, excitation is turned off and
the output torque is immediately reduced to zero.
- 210 -
GFKE-0218A-EN 12.COMPONENTS LIST
12 COMPONENTS LIST
- 211 -
12.COMPONENTS LIST GFKE-0218A-EN
12.1 HARDWARE COMPONENTS

16i/18i/21i/160i/180i/210i/160is/180is/210is-MODEL A
Specification number Specification number

No. Description Remarks
Of primary component of secondary component
1 Main board A20B-8100-0130 A20B-8100-013X A16B-3200-032X
A20B-8100-054X
2 CPU card A20B-3300-0170 A20B-3300-0050 A20B-3300-0070
A20B-3300-0260
3 Servo card A17B-3300-0200 A20B-3300-012X A17B-3300-020X
A20B-3300-0244 A20B-3300-024X
4 DRAM MODULE A20B-3900-0131 A20B-3900-003X A20B-3900-004X
A20B-3900-013X
5 SRAM MODULE A20B-3900-0060 A20B-3900-005X A20B-3900-006X
A20B-3900-002X
6 FROM MODULE A20B-3900-0011 A20B-3900-001X A20B-3900-007X

16i/18i/21i/160i/180i/210i/160is/180is/210is-MODEL B

1 Main board A20B-8100-0660 A20B-8100-066X A16B-3200-042X
A20B-8100-079X
2 CPU card A20B-3300-0311 A20B-3300-031X A20B-3300-029X
3 Servo card A20B-3300-0244 A20B-3300-024X A20B-3300-039X
A17B-3300-0500
4 FROM/SRAM MODULE A20B-3900-0160 A20B-3900-016X
A20B-3900-018X
5 Power supply module A20B-8100-0720 A20B-8100-0851
6 Sub CPU board A20B-8002-0190 A16B-2203-0751
7 Loader control board A20B-8100-0830 A16B-2203-0741
- 212 -
12.1.3 Hardware Components for Other Units

1 FSSB ADDITIONAL A20B-2100-0270
DETECTOR INTERFACE
2 I/O module A20B-2100-0150 A20B-2002-0400
A20B-2100-0410 A20B-2002-0401
A20B-2100-0411 A20B-2100-0320
A20B-2002-0470 A20B-2002-0520
A20B-2002-0521
3 I/O Unit base module A20B-9001-0020 A20B-9001-0040 A20B-2000-0550
A20B-2000-0510
4 I/O Unit interface module A20B-8000-0410 A20B-8000-0420 A20B-8000-0710
A20B-8000-0820
5 DC digital input module A20B-9000-0901 A20B-9000-0970 A20B-9000-0971
A20B-9000-0902 A20B-9001-0011 A20B-9001-0010
A20B-9001-0281 A20B-8000-0341
A20B-9000-0972 A20B-9001-0280
A20B-9001-0490 A20B-8000-0510
6 DC digital output module A20B-9000-0921 A20B-9001-0220 A20B-8002-0070
A20B-8000-0440 A20B-8000-0510
A20B-9001-0490 A20B-8000-0740
A20B-8000-0741 A20B-9001-0680
A20B-9001-0681 A20B-8000-0760
A20B-8000-0780
7 DC digital input/output A20B-8000-0750 A20B-8000-0751
module A20B-8000-0730 A20B-8000-0731
8 AC digital input module A20B-8000-0341 A20B-9001-0940
9 AC digital output module A20B-8000-0470 A20B-8000-0480
A20B-8000-0321 A20B-8000-0880
10 Relay output module A20B-9001-0200 A20B-8000-0101
A20B-8000-0500
11 FSSB I/O module A20B-2100-0390
- 213 -
12.2 SOFTWARE COMPONENTS
[CNC software]
Series / Version Functions
Series 16i-TB
CNC functions for lathe with up to 8 servo
Series 160i-TB B1H1
axes and up to 2 spindle axes.
Series 160is-TB
Series 18i-TB
Series 180i-TB BEH1
Series 180is-TB
Series 21i-TB
Series 210i-TB DEH1
Series 210is-TB
Series 16i-MB
CNC functions for machining center with up
Series 160i-MB B0H1
to 8 servo axes and up to 2 spindle axes.
Series 160is-MB
Series 18i-MB5 CNC functions for machining center with up
Series 180i-MB5 BDH5 to 6 servo axes and up to 2 spindle axes.
Series 180is-MB5 Simultaneously controlled axes : max 5 axes
Series 18i-MB CNC functions for machining center with up
Series 180i-MB BDH1 to 6 servo axes and up to 2 spindle axes.
Series 180is-MB Simultaneously controlled axes : max 4 axes
Series 21i-MB
CNC functions for machining center with up
Series 210i-MB DDH1
to 4 servo axes and up to 2 spindle axes.
Series 210is-MB
[Monitor software]
Monitor 90A9 / 03 Monitor functions
Monitor 90B9 / 01 Monitor functions
[Servo control software]

Servo 90A5 / 01 Servo functions
90B0 / 09
Servo 90B1 / 01 Servo functions
90B6 / 01
Servo 90B7 / 04 Learning control
[Spindle software]
Spindle 9D20 / 10 Spindle functions
Spindle 9D50 / 04 Spindle functions
- 214 -
12.3 SERVO AMPLIFIER
No. Description Module Name Specification number Remarks

1 Power Supply Module PSM-5.5 A06B-6077-H106
(Standard, 200V input) PSM-11 A06B-6077-H111
PSM-15 A06B-6087-H115
PSM-26 A06B-6087-H126
PSM-30 A06B-6087-H130
PSM-37 A06B-6087-H137
PSM-45 A06B-6087-H145
PSM-55 A06B-6087-H155
PSM-5.5i A06B-6110-H006
PSM-11i A06B-6110-H011
PSM-15i A06B-6110-H015
PSM-26i A06B-6110-H026
PSM-30i A06B-6110-H030
PSM-37i A06B-6110-H037
PSM-55i A06B-6110-H055
2 Power Supply Module PSM-11HVi A06B-6120-H011
(Standard, 400V input) PSM-18HVi A06B-6120-H018
PSM-30HVi A06B-6120-H030
PSM-45HVi A06B-6120-H045
PSM-75HVi A06B-6120-H075
PSM-100HVi A06B-6120-H100
3 Power Supply Module PSMR-1 A06B-6081-H101
(Resister Discharge type, 200V input） PSMR-3 A06B-6081-H103
PSMR-5.5 A06B-6081-H106
PSMR-1i A06B-6115-H001
PSMR-3i A06B-6115-H003
PSMR-5.5i A06B-6115-H006
4 Servo Amplifier Module SVM1-2 A06B-6096-H121
(1 axis type, 200V input) SVM1-4 A06B-6096-H122
SVM1-12 A06B-6096-H101
SVM1-20 A06B-6096-H102
SVM1-40S A06B-6096-H103
SVM1-40L A06B-6096-H104
SVM1-80 A06B-6096-H105
SVM1-130 A06B-6096-H106
SVM1-130S A06B-6096-H116
SVM1-240 A06B-6096-H107
SVM1-360 A06B-6096-H108
SVM1-20i A06B-6114-H103
4 Servo Amplifier Module SVM1-40i A06B-6114-H104
(1 axis type, 200V input) SVM1-80i A06B-6114-H105
SVM1-160i A06B-6114-H106
SVM1-160Li A06B-6114-H107
SVM1-360i A06B-6114-H109
5 Servo Amplifier Module SVM1-10HVi A06B-6124-H102
(1 axis type, 400V input) SVM1-20HVi A06B-6124-H103
SVM1-40HVi A06B-6124-H104
SVM1-80HVi A06B-6124-H105
- 215 -

(1 axis type, 400V input) SVM1-360HVi A06B-6124-H109
6 Servo Amplifier Module SVM1-4i A06B-6130-H001
(βi series, 200V input) SVM1-20i A06B-6130-H002
SVM1-40i A06B-6130-H003
SVM1-80i A06B-6130-H004
(βHVi series, 400V input) SVM1-40HVi A06B-6131-H003
8 Servo Amplifier Module SVM2-12/12 A06B-6096-H201
(2 axes type, 200V input) SVM2-12/20 A06B-6096-H202
SVM2-20/20 A06B-6096-H203
SVM2-12/40 A06B-6096-H204
SVM2-20/40 A06B-6096-H205
SVM2-40/40 A06B-6096-H206
SVM2-40/80 A06B-6096-H207
SVM2-80/80 A06B-6096-H208
SVM2-40L/40L A06B-6096-H209
SVM2-4/4i A06B-6114-H201
SVM2-20/20i A06B-6114-H205
SVM2-20/40i A06B-6114-H206
SVM2-40/40i A06B-6114-H207
SVM2-40/80i A06B-6114-H208
SVM2-80/80i A06B-6114-H209
SVM2-80/160i A06B-6114-H210
SVM2-160/160i A06B-6114-H211
9 Servo Amplifier Module SVM2-10/10HVi A06B-6124-H202
(2 axes type, 400V input) SVM2-20/20HVi A06B-6124-H205
SVM2-20/40HVi A06B-6124-H206
SVM2-40/40HVi A06B-6124-H207
SVM2-40/80HVi A06B-6124-H208
SVM2-80/80HVi A06B-6124-H209
10 Servo Amplifier Module SVM3-12/12/12 A06B-6096-H301
(3 axes type, 200V input) SVM3-12/12/20 A06B-6096-H302
10 Servo Amplifier Module SVM3-12/20/20 A06B-6096-H303
(3 axes type, 200V input) SVM3-20/20/20 A06B-6096-H304
SVM3-12/12/40 A06B-6096-H305
SVM3-12/20/40 A06B-6096-H306
SVM3-20/20/40 A06B-6096-H307
SVM3-4/4/4i A06B-6114-H301
SVM3-20/20/20i A06B-6114-H303
SVM3-20/20/40i A06B-6114-H304
11 Spindle Amplifier Module SPM-2.2-1 A06B-6102-H202#H520
(SPM HRV Type I, 200V input) SPM-5.5-1 A06B-6102-H206#H520
SPM-11-1 A06B-6102-H211#H520
SPM-15-1 A06B-6102-H215#H520
SPM-22-1 A06B-6102-H222#H520
SPM-26-1 A06B-6102-H226#H520
SPM-30-1 A06B-6102-H230#H520
SPM-45-1 A06B-6102-H245#H520
SPM-55-1 A06B-6102-H255#H520
12 Spindle Amplifier Module SPM-2.2-4 A06B-6102-H102#H520
(SPM HRV Type IV, 200V input) SPM-5.5-4 A06B-6102-H106#H520
- 216 -

12 Spindle Amplifier Module SPM-11-4 A06B-6102-H111#H520
(SPM HRV Type IV, 200V input) SPM-15-4 A06B-6102-H115#H520
SPM-22-4 A06B-6102-H122#H520
SPM-26-4 A06B-6102-H126#H520
SPM-30-4 A06B-6102-H130#H520
SPM-45-4 A06B-6102-H145#H520
SPM-55-4 A06B-6102-H155#H520
13 Spindle Amplifier Module SPM-2.2i A06B-6111-H002#H550
(SPM HRV Type A, 200V input) SPM-5.5i A06B-6111-H006#H550
SPM-11i A06B-6111-H011#H550
SPM-15i A06B-6111-H015#H550
SPM-22i A06B-6111-H022#H550
SPM-26i A06B-6111-H026#H550
SPM-30i A06B-6111-H030#H550
14 Spindle Amplifier Module SPM-5.5HVi A06B-6121-H006#H550
(SPM HRV Type A, 400V input) SPM-11HVi A06B-6121-H011#H550
SPM-15HVi A06B-6121-H015#H550
SPM-30HVi A06B-6121-H030#H550
SPM-45HVi A06B-6121-H045#H550
SPM-75HVi A06B-6121-H075#H550
SPM-100HVi A06B-6121-H100#H550
15 Spindle Amplifier Module SPM-2.2i A06B-6112-H002#H550
(SPM HRV Type B, 200V input) SPM-5.5i A06B-6112-H006#H550
SPM-11i A06B-6112-H011#H550
SPM-15i A06B-6112-H015#H550
SPM-22i A06B-6112-H022#H550
SPM-26i A06B-6112-H026#H550
SPM-30i A06B-6112-H030#H550
16 Spindle Amplifier Module SPM-5.5HVi A06B-6122-H006#H550
(SPM HRV Type B, 400V input) SPM-11HVi A06B-6122-H011#H550
SPM-15HVi A06B-6122-H015#H550
SPM-30HVi A06B-6122-H030#H550
SPM-45HVi A06B-6122-H045#H550
SPM-75HVi A06B-6122-H075#H550
SPM-100HVi A06B-6122-H100#H550
- 217 -
B-63494EN/02 INDEX
INDEX
Directives ..........................................................................2
<Number>
DUAL CHECK SAFETY DIAGNOSIS SCREEN .......154
1-CPU 2-Path Control ..................................................... 99
1-CPU 2-path Control (Series 16i/18i-TB) ..................... 86 <E>
1-path Control ................................................................. 81 EMERGENCY STOP .....................................................29
2-CPU 2-path Control (Series 16i/18i-TB, Emergency Stop Signal (*ESP1, *ESP2) ......................170
Series 16i-MB) ................................................................ 83 Error analysis ....................................................................7
2-CPU 2-Path Control (with Axis Change between EXTERNAL DECELERATION...................................180
Paths)............................................................................... 98
<F>
2-CPU 2-Path Control (without Axis Change between
Features of Dual Check Safety..........................................4
Paths)............................................................................... 97
For 1-path........................................................................47
2-CPU 3-Path Control ................................................... 100
For 1-path (When One PSM Is Used) ................... 166, 167
2-CPU 3-path Control (Series 16i-TB)............................ 89
For 2-path........................................................................49
<A> For 2-path (When the main side and sub side use a
Acceptance Test and Report for Safety Functions ........ 131 common MCC)..............................................................168
ALARMS AND MESSAGES....................................... 141 For 2-path (When the main side and sub side use
Alarms Displayed on the Spindle Unit.......................... 149 independent MCCs and protection doors) .....................169
APPLICATION RANGE ................................................ 15 FSSB I/O Attachment......................................................61
APPLYCATION OF OTHER FUNCTIONS................ 178 FSSB I/O Connection......................................................54
FSSB I/O Specification List ............................................66
<B>
FUNCTIONS THAT REQUIRE SPECIAL
BASIC PRINCIPLE OF DUAL CHECK SAFETY..........4
PARAMETER SETTINGS ...........................................126
BEFORE USING THE SAFETY FUNCTION............... 19
Boot System Alarms ..................................................... 150 <G>
General Definition of Terms .............................................3
<C>
GENERAL INFORMATION .........................................10
C Language Executor...................................................... 38
Guard Open Request Signal (ORQ) ..............................171
Caution (Common).......................................................... 94
Guard Unlock Signal (*LGD), Guard Lock State
Closed Loop Control ..................................................... 128
Signal (GDL), Guard State Signal (SGD) .....................172
Compliance with the Safety Standard (EN954-1,
Category 3)........................................................................5 <H>
COMPONENTS LIST .................................................. 211 HARDWARE COMPONENTS ....................................212
CS CONTOUR CONTROL .......................................... 199 Hardware Components for Other Units.........................213
Hardware Components for Series
<D>
16i/18i/21i/160i/180i/210i/160is/180is/210is-
DEFINITION OF TERMS................................................3
MODEL A.....................................................................212
Definition of Terms Related to the Safety Function..........3
Hardware Components for Series
DEFINITION OF WARNING, CAUTION, AND
16i/18i/21i/160i/180i/210i/160is/180is/210is-
NOTE............................................................................. s-1
MODEL B.....................................................................212
Details on signals .......................... 183, 188, 193, 201, 206
I/O SIGNALS..................................................................67
DI/DO CONNECTION (VIA THE FSSB) ..................... 54
DI/DO CONNECTION (VIA THE PMC) ...................... 53 <I>
DIAGNOSIS ......................................................... 151, 153 Important Items to Check Before Using the Safety
DIRECTIVE AND STANDARDS ...................................2 Function ..........................................................................19
i-1
INDEX B-63494EN/02
Initial Start-up ............................................................... 133 SAMPLE CONNECTIONS ..........................................170

INSTALLATION............................................................ 45 SAMPLE SYSTEM CONFIGURATION .....................165
Screen Display ..............................................................155
<L>
Sequence .......................................................................210
Latent error detection and cross-check..............................6
Sequence of the Programmable Safe-Related I/O
Loader Control ........................................................ 52, 101
Signal Function ...............................................................36
Loader Control (Series 16i/18i/21i-TB,
Serial Spindle Alarms....................................................147
Series 16i/18i-MB).......................................................... 93
Series Start-up ...............................................................135
<M> Servo Alarms.................................................................142
MAINTENANCE ......................................................... 136 SERVO AMPLIFIER....................................................214
MCC off Test ....................................................................7 Signal address................................ 184, 189, 194, 202, 207
MCC OFF TEST ............................................................. 34 SIGNAL ADDRESSES ..................................................81
MCC off Test of the Safe Stop Function......................... 19 SIGNALS........................................................................69
MCC On Enable Signal (MCF), MCC Contact State Signals........................................... 183, 188, 193, 201, 206
Signal (*SMC) .............................................................. 177 Simple Electronic Gear Box and Electronic Gear Box
Method of Displaying the Dual Check Safety 2-pair .............................................................................126
Diagnosis Screen........................................................... 154 SOFTWARE COMPONENTS......................................214
Multi-path Control ........................................................ 126 Specifications ................................ 181, 187, 191, 200, 205
SPINDLE ORIENTATION...........................................205
<N>
SPINDLE OUTPUT CONTROL BY THE PMC..........186
NOTES ON MULTI-PATH CONTROL ........................ 97
SPINDLE POSITIONING (T SERIES) ........................190
<O> START-UP.................................................................... 130
OVERALL CONNECTION DIAGRAM........................ 47 START-UP OF THE DUAL CHECK SAFETY
FUNCTION................................................................... 133
<P>
START-UP OPERATION ............................................131
PARAMETERS ............ 102, 104, 183, 188, 193, 202, 206
STOP...............................................................................20
PARAMETERS RELATED TO THE USE OF FSSB I/O
Stop States.......................................................................21
UNIT ............................................................................. 122
Stopping the Servo Motor ...............................................21
PMC Axis Control (Speed Command).......................... 129
Stopping the Spindle Motor ............................................20
PROGRAMMABLE SAFE-RELATED I/O SIGNALS . 36
System Alarms ..............................................................150
<R> SYSTEM CONFIGURATION........................................12
Related Safety Standards...................................................2
<T>
Remaining risks.................................................................8
Tandem Control ............................................................126
Risk Analysis and Evaluation ...........................................2
Test Mode Signal (OPT) ...............................................171
<S> Troubleshooting ............................................................135
SAFE MACHINE POSITION MONITORING .............. 32
SAFE SPEED MONITORING ....................................... 30
SAFE-RELATED I/O SIGNAL MONITORING ........... 23
SAFETY FUNCTIONS .................................................. 14
Safety monitoring cycle and cross-check cycle ................6
SAFETY POSITION SWITCH SIGNAL ....................... 43
SAFETY PRECAUTIONS ........................................... 137
SAFETY SIGNAL MODES ........................................... 95
SAMPLE CONFIGURATION ..................................... 166
i-2
Revision Record
FANUC Series 16i/160i/160is/18i/180i/180is/21i/210i/210is-MODEL B Dual Check Safety

OPERATOR’S MANUAL (B-63494EN)
Addition of following items

• Programmable safe-related i/o signals
• Safety position switch signal
• Overall connection diagram (loader control)
02 Nov., 2004 • Functions that require special parameter settings
• Dual check safety diagnosis screen
• Applycation of other functions
Correction of errors
01 Feb., 2002
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What safety precautions should be taken when using this equipment?

What safety precautions should be taken when using this equipment?

What are the basic principles of dual check safety?

What are the basic principles of dual check safety?

FANUC Series 16*/160*/160*s-MODEL B

FANUC Series 18*/180*/180*s-MODEL B

Dual Check Safety

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

- Read this manual carefully, and store it in a safe place.

'%I1234' => 'I1234'

DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1

3.9.1 Sequence of the Programmable Safe-Related I/O Signal Function........................36

5 I/O SIGNALS ......................................................................................... 67

8 MAINTENANCE .................................................................................. 136

10 SAMPLE SYSTEM CONFIGURATION............................................... 165

10.2.2 Guard Open Request Signal (ORQ) .....................................................................171

11 APPLYCATION OF OTHER FUNCTIONS.......................................... 178

11.6.3 Signals ..................................................................................................................206

12 COMPONENTS LIST .......................................................................... 211

1.1 DIRECTIVE AND STANDARDS

1.1.2 Related Safety Standards

Important safety standards

1.1.3 Risk Analysis and Evaluation

1.2 DEFINITION OF TERMS

1.2.1 General Definition of Terms

Reliability and safety

1.2.2 Definition of Terms Related to the Safety Function

Safe-related I/O signal

Safety limitation speed

Safe machine position

1.3 BASIC PRINCIPLE OF DUAL CHECK SAFETY

1.3.1 Features of Dual Check Safety

1.3.2 Compliance with the Safety Standard (EN954-1, Category 3)

Category 3 requires the following:

To satisfy these requirements, the dual check safety function is

CNC Shut off power

Monitoring of servo motor and spindle motor movement

Cross-monitoring using 2 CPUs

Power shutoff via two paths

Input signal safety

Output signal safety

1.3.2.1 Latent error detection and cross-check

Detection of latent errors

1.3.2.2 Safety monitoring cycle and cross-check cycle

The cross-check cycle represents a cycle at which all data subject to

1.3.2.3 MCC off Test

1.3.2.4 Error analysis

Error analysis when the protection door is open

Error analysis when the protection door is closed

1.3.2.5 Remaining risks

• Amplifiers (drive power modules) and motors must always be

1.4 GENERAL INFORMATION

The following requirements must be fulfilled for the Dual-Check

[CNC ELEMENTARY COURSE]

MAIN ITEMS OF TRAINING

[CNC MAINTENANCE COURSE]

MAIN ITEMS OF TRAINING

[CNC SE INTERFACE COURSE]

MAIN ITEMS OF TRAINING

FANUC Series 16/160/160*s-MODEL B

FANUC Series 18/180/180*s-MODEL B