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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 24

1. AXIS CONTROL

B-64693EN-1/01

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Reference item

Manual name

Item name

CONNECTION MANUAL (HARDWARE)
(B-64693EN)

Connection to the amplifiers

CONNECTION MANUAL (FUNCTION)
(this manual)

Spindle serial output

Diagnosis data

3510

FSSB alarm number

[Data type] Word

Information is output for identifying the location (parameter) and cause of an

FSSB-related alarm which has been issued. For the displayed detail numbers and

corresponding causes and actions, see the table below.

Detail

alarm No.

Parameter

number

Cause

Action

120
451
452

The FSSB internal status did not
change to open.

Check the connection between the CNC
and each amplifier. Alternatively, the
servo card may be faulty.

140
450

24000 to 24095

The ATR value is inconsistent with the
connected slave (servo, spindle, or
separate detector).

Set the ATR value corresponding to the
connected slave.

271

3717

24000 to 24095

The spindle amplifier number
corresponding to the ATR value
setting is not set.

Make the spindle amplifier number
consistent with the ATR value setting.

272

24000 to 24031
24064 to 24095

The fifth to eighth separate detector is
set for the first FSSB line (third FSSB
line).

Do not set the fifth to eighth separate
detectors for the first FSSB line (third
FSSB line).

273

24032 to 24063

The first to fourth (ninth to twelfth)
separate detector is set for the second
FSSB line.

Do not set the first to fourth (ninth to
twelfth) separate detectors for the
second FSSB line.

276

24000 to 24095

The setting for a separate detector is
made more than once.

Make the setting for each separate
detector only once in the servo card.

290

24000 to 24095

The maximum number of slaves per
FSSB line is exceeded for an FSSB
line of servo HRV2 control.

Reduce the number of slaves to 32
(maximum number of slaves per FSSB
line of servo HRV2 control) or less.

291

24000 to 24095

The maximum number of slaves per
FSSB line is exceeded for an FSSB
line of servo HRV3 control.

Reduce the number of slaves to 15
(maximum number of slaves per FSSB
line of servo HRV3 control) or less.

310

1023

24104 to 24199

The servo axis number corresponding
to the ATR value setting of a separate
detector is not set for parameter No.
1023.

Set the value corresponding to the ATR
value setting for parameter No. 1023.

313

1023

14476#5

24104 to 24199

The servo axis number corresponding
to the ATR value setting of a separate
detector is not set for parameter No.
1023.

Set the value corresponding to the ATR
value setting for parameter No. 1023.

314

1023

14476#5

24104 to 24199

The ATR value setting of a separate
detector is invalid.

Correct the settings of parameters Nos.
24104 to 24199.

383

Manual setting 1 cannot be performed
when a separate detector is used.

Disconnect the separate detector.
Alternatively, perform manual setting or
automatic setting.

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Detail

alarm No.

Parameter

number

Cause

Action

453

Servo initialization has not completed
successfully.

An optical cable may be faulty or the
connection between the amplifier and
another module may be incorrect.

454

Alarm No. 550 to 556 of diagnosis
data No. 3511 occurred.

Check diagnosis data No. 3511.

460

24000 to 24095

The ATR value of a spindle or
separate detector is set for a slave
which is not connected.

Set the ATR value corresponding to the
connected slave.

471

24000 to 24095

Although a separate detector is
connected, the separate detector
setting is not made.

Set the value for the separate detector in
the corresponding parameter.

480

24000 to 24095

In ATR value setting, a servo axis
number exceeds 80.

Make settings so that any servo axis
number does not exceed 80.

3511

FSSB alarm number

[Data type] Word axis

Information is output for identifying the location (parameter) and cause of an

FSSB-related alarm which has been issued. For the displayed detail numbers and

corresponding causes and actions, see the table below.

Detail

alarm No.

Parameter

number

Cause

Action

210

24096 to 24103

Although a separate detector is not
set, a value is set in parameter No.
24096 to 24103.

Set parameter Nos. 24096 to 24103 to
all 0.

220

1023

An unavailable servo axis number is
set.

Change the servo axis number.

221

1023

A servo axis number is set more than
once.

Change the servo axis number.

250

24096 to 24103

For a specific servo axis, two or more
separate detectors are used and the
paired separate detectors are two of
the first, third, fifth, and seventh units
or the second, fourth, sixth, and eighth
units.

To use two separate detectors for a
specific servo axis, one separate
detector must have an odd number and
the other must have an even number.
Three or more separate detectors cannot
be used.

270

1023

24000 to 24095

・

The servo axis number
corresponding to the ATR value
setting is not set for parameter No.
1023.

・

An unavailable servo axis number is

set.

・

A servo axis number is set more
than once.

Check the conditions on the left.

292

1023

2013#0

For an FSSB line of servo HRV3
control, only the following servo axis
numbers can be used:
(1 + 8n, 2 + 8n, 3 + 8n, 4 + 8n (n = 0,

…

, 9))

For the FSSB line of servo HRV3 control,
set the servo axis numbers on the left.

311

24096 to 24103 A connector number is invalid.

Specify a value between 0 and 8.

314

24096 to 24103

A connector number is set more than
once.

Make setting so that each connector
number is used only once for one
separate detector.

350

2013#0
2014#0

Different current loops (HRV) are used
for FSSB lines.

Set the same current loop (HRV) for the
FSSB lines.

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Detail

alarm No.

Parameter

number

Cause

Action

360

1023

2013#0
2014#0

Different current loops (HRV) are set
for the first and second FSSB lines
and parameter No. 1023 setting is
invalid.

Set servo axis numbers so that each set
of (1 to 6), (9 to 14), (17 to 22), (25 to
30), (33 to 38), and (41 to 46) is set for
the same FSSB line.

370

1902#0
1902#1
2013#0
2014#0

When servo HRV3 control is set,
manual setting 1 cannot be performed.

To set servo HRV3 control, perform
manual setting or automatic setting.

380

1023

When a servo axis number is skipped,
manual setting 1 cannot be performed.

Set servo axis numbers without skipping
any number.

382

1023

An attempt was made to perform
manual setting 1 though the maximum
number of controlled axes per FSSB
line is exceeded.

Reduce the number of connected servo
axes to the maximum number of
controlled axes or less.

470

24000 to 24095 An ATR value is set more than once.

Set each ATR value only once.

481

1023

24000 to 24095

A servo axis number is inconsistent
with the ATR value setting or the servo
motor having a servo axis number is
not connected.

Check whether the value set in
parameter No. 1023 is consistent with
ATR value setting and whether the servo
motor corresponding to each servo axis
number is connected.

520

2165

At power-on, amplifier ID information
could not be read.

Check the connection between the CNC
and each amplifier.
Alternatively, an amplifier may be faulty.

550

1023

24000 to 24095

The ATR value setting is inconsistent
with the servo axis number setting.

Make the value set in parameter No.
1023 consistent with the ATR value
setting.

551

24000 to 24095

The number of ATR value settings
exceeds the number of slaves
connected to the CNC.

Make as many settings as the number of
slaves connected to the CNC.

552

1023

An unavailable servo axis number is
set.

Change the servo axis number.

553

1023

A servo axis number is set more than
once.

Change the servo axis number.

554

24096 to 24103

A value is set in parameters Nos.
24096 to 24103 though no separate
detector is connected.

Set parameters Nos. 24096 to 24103 to
all 0.

555
557
558

2165

The maximum current of an amplifier
(parameter No. 2165) differs from that
of a motor.

Set the maximum current of the amplifier
(parameter No. 2165) to that of the
motor.

1023

An invalid servo axis number is set.

Set a correct servo axis number.

3513

FSSB alarm number (spindle axis)

[Data type] Word spindle

Information is output for identifying the location (parameter) and cause of an

FSSB-related alarm which has been issued.

For the displayed detail numbers and corresponding causes and actions, see the table

below.

Detail

alarm No.

Parameter

number

Cause

Action

271

3717

24000 to 24095

An ATR value is set more than once.

Make each spindle amplifier consistent
with the ATR value setting.

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Detail

alarm No.

Parameter

number

Cause

Action

381

3717

When a spindle amplifier number is
skipped, manual setting 1 cannot be
performed.

Set spindle amplifier numbers without
skipping any number.

1.4.4

Temporary Absolute Coordinate Setting

Overview

In the full closed system with an inner absolute position Pulsecoder (serial Pulsecoder) and an

incremental scale, the position is set by using absolute position data from the inner absolute position

Pulsecoder at the power on sequence. After that, the position is controlled with incremental data from the

incremental scale. The position just after power on sequence is rough, and the manual reference position

return is required to get the accurate position.

With this function, the position at the power on is rough, but the following functions are available before

the reference position return.

- Stroke limit check

- Position switch

Please be careful this function does not make an incremental scale work as an absolute position detector.

Also in using the linear-scale with distance-coded reference marks (serial), these function are not

available.

Absolute Serial

Pulse Coder

Incremental

Scale

General position control

Absolute position detection

at power on

CNC

Fig. 1.4.4 (a) The system with the Temporary Absolute Coordinate Setting

In using the temporary absolute coordinate, the coordinate is same as the reference position return has not

been performed.

The reference position return is required to get the accurate position after the power on sequence.

The reference position establishment signals ZRF1 to ZRF8<Fn120> are not set to 1 until the manual

reference point return is performed.

The diagnosis data No.304 (reference counter value) are also not displayed until the manual reference

point return is performed.

Parameter setting

1 Please set the following parameters to the axis that uses this function.

The bit 1 (OPTx) of parameter No. 1815 = 1.

The bit 5 (APCx) of parameter No. 1815 = 1.

The bit 7 (XIAx) of parameter No. 2011 = 1.

2 Please set the flexible feed gear for the built-in position detector (parameters Nos. 1874 and 1875).

Setting of the temporary absolute coordinate

Please set the temporary absolute coordinate according to the following procedures.

1 Perform the reference position return and move the reference position.

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2 Turn off the power then turn on the power.

3 In MDI mode, bit 4 (APZx) of parameter No. 1815 is set to 1.

NOTE

In the above operations from 1 to 3, please do not move the axis from the

reference position. If the axis is moved from the reference position, the temporary

absolute coordinate is not correctly set.

- On the Difference of specifications with FS16

FS18

FS21

With the FS16

/FS18

/FS21

, when bit 1 (XZF) of parameter No. 1807 is set to 0, the coordinate system is

established.

At this time, the reference position establishment signals <Fn120> are set to 1, which indicates that the

reference position has been established.

Diagnosis data No. 304 (reference counter value) is also displayed.

With the FS0

, the built-in absolute Pulsecoder is used to roughly determine the coordinate position

without establishing the coordinate system.

At this time, the reference position establishment signals <Fn120> are set to 0, which indicates that the

reference position has not been established.

Diagnosis data No. 304 (reference counter value) is not also displayed.

When manual reference position return by the scale of the full closed system is completed, the accurate

coordinate system is established.

At this time, the reference position establishment signals <Fn120> are set to 1, which indicates that the

reference position has been established.

Diagnosis data No. 304 (reference counter value) is also displayed.

With the FS0

, bit 1 (XZF) of parameter No. 1807 is not provided.

Axis synchronous control

In case of the synchronization establishment of the axis synchronous control, when the position is set by

this function, the synchronization establishment is executed.

Signal

Reference position establishment signal ZRF1 to ZRF8<Fn120>

[Classification] Output signal

[Function] Notify the system that the reference position has been established.

A reference position establishment signal is provided for each axis. The number appended

to each signal indicates the number of the controlled axis.

ZRFx

x : 1 : 1st-axis reference position establishment signal

2 : 2nd-axis reference position establishment signal

3 : 3rd-axis reference position establishment signal

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

When the reference position is established after manual reference position return

When the reference position is established using the absolute-position detector at

initial power-on

When the reference position is lost, the signals are set to “0”.

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Signal address

Fn120

ZRF8

ZRF7

ZRF6

ZRF5

ZRF4

ZRF3

ZRF2

ZRF1

Parameters

1815

APCx

APZx

OPTx

[Input type] Parameter input

[Data type] Bit axis

NOTE

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

turned off before operation is continued.

#1 OPTx

The separate position detector is:

0: Not to be used (semi-closed system)

1: To be used (full-closed system)

NOTE

1 In case of using the absolute position detector (bit 5 (APCx) of

parameter No.1815 is set to 1), please set the following parameters

that correspond to the absolute position detector which is actually

used.

- parameter No.1815#6, No.1815#0, No.1817#3, No.1868,

No.2275#1, No.2394

If these parameters are not set correctly, the machine coordinates

are not correctly established at power-on.

2 In case of using this function, this parameter is set to 1.

#4 APZx

Machine position and position on absolute position detector when the absolute position

detector is used

0 : Not corresponding

1 : Corresponding

NOTE

1 If the following parameters are modified, the bit 4 (APZ) of

parameter No. 1815 will be changed to 0.

No. 1803#7, No. 1815#1, No. 1820, No. 1821, No. 1822, No. 1823,

No. 1874, No. 1875, No. 2022, No. 2084, No. 2085

2 The bit 4 (APZ) of parameter No. 1815 is kept value 1 even if the

grid shift value is modified.

#5 APCx

Position detector is

0 : Other than an absolute position detector.

1 : An absolute position detector (absolute Pulsecoder).

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NOTE

1 In case of using this function, this parameter is set to 1.

2 When the servo axis is disabled (bit 4 (KSVx) of parameter No.

11802 is set to 1), an absolute position detector cannot be used (bit

5 (APCx) of parameter No. 1815 cannot be set to 1). If an absolute

position detector is used, alarm SV0301, "APC ALARM;

COMMUNICATION ERROR" is issued.

1874

Numerator of the flexible feed gear for the built-in position detector

1875

Denominator of the flexible feed gear for the built-in position detector

NOTE

When these parameters are set, the power must be turned off before

operation is continued.

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 1 to 32767

When using temporary absolute coordinate setting, set the flexible feed gear for the

built-in position detector on each axis. The settings are as follows:

No.1874

No.1875

Number of position feedback pulses per motor revolution

1,000,000

NOTE

When parameter No. 1874 or 1875 is set to 0, both parameters are

assumed to be 1.

2011

XIAx

[Input type] Parameter input

[Data type] Bit axis

#7 XIAx

Temporary absolute coordinate setting is:

0: Not used.

1: Used.

NOTE

1 When temporary absolute coordinate setting is used, bit 1 (OPTx) of

parameter No. 1815, bit 5 (APCx) of parameter No. 1815,

parameter No. 1874, and parameter No. 1875 must be set.

2 The setting of this parameter becomes effective after the power is

turned off then back on.

1.4.5

Diagnosis data display of detection unit

Explanation

Diagnosis data No.3740 displays detection unit of each axis. Diagnosis data No.3741 displays machine

unit of each axis.

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(Example 1)

If detection unit of X axis which is linear axis (metric system machine) is 0.0001[mm], diagnosis data

No.3740 displays 0.0001.

Bit 0 (MM) of diagnosis data No.3741 is set to 1 because machine unit of X axis is [mm] (Fig. 1.4.5 (a)).

(Example 2)

If detection unit of C axis which is rotary axis is 0.001[degree], diagnosis data No.3740 displays 0.001.

Bit 2 (DEG) of diagnosis data No.3741 is set to 1 because machine unit of C axis is [degree] (Fig. 1.4.5

(a)).

Fig. 1.4.5 (a) Diagnosis screen (metric system machine) (10.4” display unit)

(Example 3)

If detection unit of X axis which is linear axis (inch system machine) is 0.00001[inch], diagnosis data

No.3740 displays 0.00001.

Bit 1 (IN.) of diagnosis data No.3741 is set to 1 because machine unit of X axis is [inch] (Fig. 1.4.5 (b)).

Fig. 1.4.5 (b) Diagnosis screen (inch system machine) (10.4” display unit)

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