Content .. 81 82 83 84 ..

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 83

3. MANUAL OPERATION

B-64693EN-1/01

- 618 -

Signal address

Gn018

HS2D

HS2C

HS2B

HS2A

HS1D

HS1C

HS1B

HS1A

Gn019

MP2

MP1

HS3D

HS3C

HS3B

HS3A

Gn020

HS4D

HS4C

HS4B

HS4A

Gn023

HNDLF

Gn087

MP42

MP41

MP32

MP31

MP22

MP21

Gn347

HDN

Gn379

HS5D

HS5C

HS5B

HS5A

Gn380

MP52

MP51

Gn411

HS4E

HS3E

HS2E

HS1E

Gn412

HS5E

Parameter

1424

Manual rapid traverse rate for each axis

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm/min, inch/min, deg/min (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)

(When the increment system is IS-B, 0.0 to +999000.0)
Set the rate of manual rapid traverse when the rapid traverse override is 100% for each
axis.

NOTE

1 If 0 is set, the rate set in parameter No. 1420 (rapid traverse rate for

each axis) is assumed.

2 When manual rapid traverse is selected (bit 0 (RPD) of parameter

No. 1401 is set to 1), manual feed is performed at the feedrate set in
this parameter, regardless of the setting of bit 4 (JRV) of parameter
No. 1402.

1434

Maximum manual handle feedrate for each axis

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm/min, inch/min, deg/min (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)

(When the increment system is IS-B, 0.0 to +999000.0)
Set a maximum manual handle feedrate for each axis in case of maximum manual handle
feedrate switch signal HNDLF<Gn023.3>=1.

B-64693EN-1/01

3. MANUAL OPERATION

- 619 -

7100

MPX

THD

JHD

[Input type] Parameter input

[Data type] Bit path

#0 JHD

Manual handle feed in JOG feed mode or incremental feed in the manual handle feed is:

Invalid.

Valid.

#1 THD

In the TEACH IN JOG mode, the manual pulse generator is:

Disabled.

Enabled.

#5 MPX

In Manual handle feed mode:

0 : Manual handle feed amount selection signals MP1 and MP2 <Gn019.4 and

Gn019.5> for the 1st manual pulse generator are used as signals common to all
manual pulse generators.

1 : Manual handle feed amount selection signals differ depending on the manual pulse

generator as follow:

1st. Manual Pulse Generator : MP1, MP2 <Gn019.4, Gn019.5>

2nd. Manual Pulse Generator : MP21, MP22 <Gn087.0, Gn087.1>

3rd. Manual Pulse Generator : MP31, MP32 <Gn087.3, Gn087.4>

4th. Manual Pulse Generator : MP41, MP42 <Gn087.6, Gn087.7>

5th. Manual Pulse Generator : MP51, MP52 <Gn380.0, Gn380.1>

7102

HNAx

HNGx

[Input type] Parameter input

[Data type] Bit axis

#0 HNGx

Axis movement direction for rotation direction of manual pulse generator

Same in direction

Reverse in direction

#1 HNAx

When manual handle feed direction inversion signal HDN <Gn0347.1> is set to “1”, the

direction of movement is set for each axis with respect to the rotation direction of the
manual pulse generator.
0:

The axis movement direction is the same as the direction in which the manual pulse
generator rotates.

The axis movement direction is opposite to the direction in which the manual pulse
generator rotates.

When the rotation direction is reversed by manual handle feed direction inversion signal
HDN <Gn0347.1>, the rotation axis direction obtained by the setting of bit 0 (HNGx) of
parameter No. 7102 is reversed.

7103

HNT

[Input type] Parameter input

[Data type] Bit path

3. MANUAL OPERATION

B-64693EN-1/01

- 620 -

#2 HNT

When compared with the travel distance magnification selected by the manual handle

feed travel distance selection signals (incremental feed signals MP1, MP2), the travel
distance magnification for incremental feed/manual handle feed is:
0:

Same.

10 times greater.

7105

HDX

[Input type] Parameter input

[Data type] Bit

NOTE

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

#1 HDX

Manual handle for I/O Link connection is:

Automatically set.

Manually set.

NOTE

In manual setting, parameters Nos. 12300 to 12304 and 12340 to
12344 must be set by manual to connect Manual Pulse Generator
with I/O Link.

7113

Manual handle feed magnification m

[Input type] Parameter input

[Data type] Word path

[Valid data range] 1 to 2000

This parameter sets the magnification m when manual handle feed movement selection
signals MP1 and MP2 are set to “0“ and “1“.

7114

Manual handle feed magnification n

[Input type] Parameter input

[Data type] Word path

[Valid data range] 1 to 2000

This parameter sets the magnification when manual handle feed movement selection
signals MP1 and MP2 are set to “1“.

7117

Allowable number of pulses that can be accumulated during manual handle feed

[Input type] Parameter input

[Data type] 2-word path

[Unit of data] Pulse

[Valid data range] 0 to 999999999

This parameter sets the number of pulses from the manual pulse generator that exceed the
rapid traverse rate and can be accumulated without being discarded if manual handle feed
faster than the rapid traverse rate is specified.

The amount of pulses exceeding the rapid traverse rate can be saved by CNC as B. And
amount of pulses B will be exported as pulses C.

B-64693EN-1/01

3. MANUAL OPERATION

- 621 -

Amount of pulses exported by CNC in Manual Handle Feed

Amount of pulses B is calculated in 2 cases as following:

In case of parameter No.7117 = 0

The feedrate is clamped at the Rapid Traverse Rate and generated pulses exceeding
the Rapid Traverse Rate are ignored (B=0)

In case of parameter No.7117 > 0

The feedrate is clamped as the Rapid Traverse Rate, but the handle pulses exceeding
the Rapid Traverse Rate is not ignored. Amount of pulses accumulated in CNC is
calculated as following. (Although the rotation of manual pulse generator is stopped,
if there is pulses accumulated in CNC, it will be output and the tool will move as
long as amount of it. Then the tool stops.)

Magnification set by manual handle feed amount selection signals MP1, MP2 <Gn019.4,
Gn019.5> is m, value of parameter No.7117 is n.
n < m: Clamping is set performed at value of parameter No.7117.
n

≥

m: It is clamped in a range not exceeding n so that A+B shown in the following

figure is an integral multiple of m. As a result, movement of the axis can be
stopped at an integral multiple of the handle feed moving magnification.

Pulses over (k

⋅

m) will be ignored

A: amount of pulses the same as Rapid Traverse Rate.
B: amount of pulses saved in CNC.
k : integer number

A+B=k

⋅

Amount of pulses exceeding the Rapid Traverse Rate (n

≥

NOTE

Due to change of mode, clamping can be performed not as an
integral multiple of the selected magnification.

The distance the tool moves may not match the graduations on the
manual pulse generator.

7131

Manual handle feed magnification m2 / 2nd. manual pulse generator

7132

Manual handle feed magnification n2 / 2nd. manual pulse generator

7133

Manual handle feed magnification m3 / 3rd. manual pulse generator

3. MANUAL OPERATION

B-64693EN-1/01

- 622 -

7134

Manual handle feed magnification n3 / 3rd. manual pulse generator

7135

Manual handle feed magnification m4 / 4th. manual pulse generator

7136

Manual handle feed magnification n4 / 4th. manual pulse generator

7137

Manual handle feed magnification m5 / 5th. manual pulse generator

7138

Manual handle feed magnification n5 / 5th. manual pulse generator

[Input type] Parameter input

[Data type] Word path

[Valid data range] 1 to 2000

The ‘mx’ sets magnification when manual handle feed amount selection signals MPx1 =
0, MPx2 = 1. The ‘nx’ sets magnification when manual handle feed amount selection
signals MPx1 = 1, MPx2 = 1.

12300

X address of the 1st. manual pulse generator

12301

X address of the 2nd. manual pulse generator

12302

X address of the 3rd. manual pulse generator

12303

X address of the 4th. manual pulse generator

12304

X address of the 5th. manual pulse generator

NOTE

When these parameters are set, the power must be turned off
before operation is continued.

[Input type] Parameter input

[Data type] Word

[Valid data range] -1, 0 to 127, 200 to 327, 400 to 527, 600 to 727

To set X address of manual pulse generator connected with I/O Link in PMC.

When the manual pulse generator is not connected, set -1 to this parameter.

PMC Path

X Address

1st. manual pulse generator

No. 12340

No. 12300

2nd. manual pulse generator

No. 12341

No. 12301

3rd. manual pulse generator

No. 12342

No. 12302

4th. manual pulse generator

No. 12343

No. 12303

5th. manual pulse generator

No. 12344

No. 12304

Setting of PMC path set with parameters Nos.12340 to 12344 is as follows.

Value

PMC Path

1st. PMC

1
2

2nd. PMC

3rd. PMC

NOTE

Set these parameters when bit 1 (HDX) of parameter No. 7105 is set
to 1. When HDX = 0, these parameters are automatically set. If a
manual handle is not connected when HDX = 0, -1 is set
automatically.

B-64693EN-1/01

3. MANUAL OPERATION

- 623 -

12340

PMC path of the 1st. manual pulse generator connected with I/O Link

12341

PMC path of the 2nd. manual pulse generator connected with I/O Link

12342

PMC path of the 3rd. manual pulse generator connected with I/O Link

12343

PMC path of the 4th. manual pulse generator connected with I/O Link

12344

PMC path of the 5th. manual pulse generator connected with I/O Link

NOTE

When these parameters are set, the power must be turned off
before operation is continued.

[Input type] Parameter input

[Data type] Byte

[Valid data range] 0 to 3

Referring to parameters Nos. 12300 to 12304.

12350

Manual handle feed magnification m in each axis

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 2000

For each axis, this parameter sets the magnification m when manual handle feed
movement selection signals MP1 = 0, MP2 = 1.

NOTE

When value is set to 0 for this parameter, the parameter No. 7113 is
valid.

12351

Manual handle feed magnification n in each axis

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 2000

For each axis, this parameter sets the magnification when manual handle feed movement
selection signals MP1 = “1”, MP2 = “1”.

NOTE

When value is set to 0 for this parameter, the parameter No. 7114 is
valid.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Manual handle feed

3. MANUAL OPERATION

B-64693EN-1/01

- 624 -

3.2.1

Jog and Handle Simultaneous Mode

Overview

Usually, manual handle feed is enabled only when the operation mode is set to the manual handle feed
mode. By setting bit 0 (JHD) of parameter No. 7100, however, manual handle feed can be performed
even in Jog feed mode. At this setting, moreover, incremental feed can be performed even in the manual
handle feed mode.

Explanation

When bit 0 (JHD) of parameter No. 7100 is set to 1 (jog and handle simultaneous mode), the enabled feed
in each mode is as follows.

Jog feed

Manual handle feed

Incremental feed

Jog feed mode

(JOG mode)

Enabled

Disabled

Manual handle feed mode

(HND mode)

Disabled

Enabled

Superimposed feed of the jog feed and the manual handle feed

When bit 0 (JHD) of parameter No. 7100 is set to 1 (jog and handle simultaneous mode), the jog feed and
the manual handle feed can be superimposed in jog feed mode. In order to perform superimposed
operation,  type of acceleration/deceleration and the time constant are the same in the jog feed and the
manual handle feed. The type of acceleration/deceleration and the time constant in manual handle feed
follow the type of acceleration/deceleration and the time constant in previous commanded feed (either jog
feed or manual rapid traverse).

Fig. 3.2.1 (a) and (b) show the following operation in JOG mode.
(1) Jog feed
(2) Jog feed and manual handle feed
When  the manual rapid traverse selection signal RT<Gn019.7>  is set to "0", the type of
acceleration/deceleration and the time constant in jog feed are the same as those in jog feed. The type of
acceleration/deceleration and the time constant in manual handle feed is the same as those in previous
commanded jog feed.

Feedrate

Time

Feedrate in manual handle feed

Feedrate in jog feed

: Const time of jog feed

(1) Jog feed

(2) Jog feed + Manual handle feed

Fig. 3.2.1 (a) Superimposed operation (when RT<Gn019.7> is "0")

When the manual rapid traverse selection signal RT<Gn019.7> is set to "1", the type of
acceleration/deceleration and the time constant in jog feed are the same as those in rapid traverse. The
type of acceleration/deceleration and the time constant in manual handle feed is the same as those in
previous commanded manual rapid traverse.

B-64693EN-1/01

3. MANUAL OPERATION

- 625 -

Feedrate

Time

Feedrate in manual handle feed

Feedrate in manual rapid traverse

: Const time of rapid traverse

(1) Manual rapid traverse

(2) Manual rapid traverse + Manual handle feed

Fig. 3.2.1 (b) Superimposed operation (when RT<Gn019.7> is "1")

(Acceleration/deceleration of time fixed type is used for positioning of linear interpolation type.)

Fig. 3.2.1 (c) and (d) show the operation which commanded in the following order in JOG mode.
(1) Manual handle feed
(2) Jog feed
(3) Manual handle feed
The type of acceleration/deceleration and the time constant in the manual handle feed are switched after
the jog feed.

Feedrate

Time

Feedrate in manual handle feed

Feedrate in jog feed

: Const time of jog feed

(1) Manual handle feed

(2) Jog feed

(3) Manual handle feed

Fig. 3.2.1 (c) Switch of the jog feed and the manual handle feed (when RT<Gn019.7> is "0")

Feedrate

Time

Feedrate in manual handle feed

Feedrate in manual rapid traverse

: Const time of jog feed

: Const time of rapid traverse

(1) Manual handle feed

(2) Manual rapid traverse

(3) Manual handle feed

Fig. 3.2.1 (d) Switch of the jog feed and the manual handle feed (when RT<Gn019.7> is "1")

Fig.3.2.1 (e)and (f) show the operation which started (2) manual handle feed immediately after (1) jog
feed. Feed can be switched without deceleration stop because the same type of acceleration/deceleration
and time constant are used.

Content .. 81 82 83 84 ..