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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 221

10. SPINDLE SPEED FUNCTION

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Logic spindle number common to system

Path number + intra-path spindle number

Fifth spindle (S5)

First spindle of path 2 (S21)

Sixth spindle (S6)

Second spindle of path 2 (S22)

Path 1

Path 2

Spindle S1
(S11)

Spindle S2
(S12)

Spindle S3
(S13)

Spindle S4
(S14)

Spindle S5
(S21)

Spindle S6
(S22)

Example 1:

Combining spindles of the same path for spindle synchronization

Parameter setting

Bit 4 (SSS) of parameter No.3704 (PATH1)=1, (PATH2)=1

Parameter No.4831(S1) =0, (S2) =0,(S3) =1,(S4) =2,(S5) =0,(S6) =1

Parameter No.4832(ALL) =0

Parameter No.4831(ALL) =0

Parameter No.4832(S1) =0, (S2) =0,(S3) =1,(S4) =2,(S5) =0,(S6) =5

Master spindle

Slave spindle

First spindle of path 1 (S11)

Third spindle of path 1 (S13)

Second spindle of path 1 (S12)

Fourth spindle of path 1 (S14)

First spindle of path 2 (S21)

Second spindle of path 2 (S22)

Path 1

Path 2

Spindle S1
(S11)

Spindle S2
(S12)

Spindle S3
(S13)

Spindle S4
(S14)

Spindle S5
(S21)

Spindle S6
(S22)

Master spindle with which slave spindle is synchronized

Example 2:

Combining spindles of different paths for spindle synchronization

Parameter setting

Bit 4 (SSS) of parameter No.3704 (PATH1)=1, (PATH2)=1

Parameter No.4831(ALL) =0

Parameter No.4832(S1) =0, (S2) =0,(S3) =0,(S4) =0,(S5) =1,(S6) =2

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Master spindle

Slave spindle

First spindle of path 1 (S11)

First spindle of path 2 (S21)

Second spindle of path 1 (S12)

Second spindle of path 2 (S22)

Path 1

Path 2

Spindle S1
(S11)

Spindle S2
(S12)

Spindle S3
(S13)

Spindle S4
(S14)

Spindle S5
(S21)

Spindle S6
(S22)

Master spindle with which slave spindle is synchronized

When the bit 5 (SCB) of parameter No.4800 is set to 1

The configuration of synchronized spindles is as follows (regardless of the setting of bit 4 (SSS) of
parameter No.3704):

Master spindle

Slave spindle

First spindle of path 1

First spindle of path 2

Path 1

Path 2

Spindle S1
(S11)

Spindle S2
(S12)

Spindle S3
(S13)

Spindle S4
(S14)

Spindle S5
(S21)

Spindle S6
(S22)

Master spindle with which slave spindle is synchronized

As control signals, the 16TT system compatible signal interface becomes usable.

Speed synchronization

When the spindle synchronous control signal is set to “1”, the spindle synchronous control mode is
set.

When spindle synchronous control is specified, each spindle is accelerated or decelerated to a
specified speed then enters the synchronous control state.

The spindle synchronous speed control completion signal is output when the two spindles have
reached the speed matching a specified spindle synchronous speed and the speed difference between
the two spindles is within the value set in parameter No.4033.

Phase matching

Spindle phase synchronization is executed by setting the spindle phase synchronization control
signal to 1 in the spindle synchronous control mode (after the output of the spindle synchronous
speed control completion signal).

The synchronous state between the two axes is not maintained during spindle phase synchronization
operation (until the spindle phase synchronization control completion signal is set to 1).

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The spindle phase synchronization completion signal is output when the error difference between the
two spindles lies within the allowable number of pulses set in the NC parameter No. 4810.

If spindle phase synchronization is specified after spindle phase synchronization completion, another
spindle phase synchronization operation is performed.

When the two spindles hold a workpiece, do not specify spindle phase synchronization.

Speed specification

In the spindle synchronous control mode, the specification of a speed for the master spindle is valid.

In the spindle synchronous control mode, a speed for the master spindle can be specified in the same
way as for an ordinary S command.

Moreover, signals such as the PMC-based spindle output control signals (SIND, SSIN, SSGN, and
R01I to R12I), *SSTP, and SOR are valid as usual.

If a speed is specified using a PMC-based spindle output control command, however, the parameters
Nos. 3741, 3742, 3743, and 3744 for specifying the maximum speeds of the individual spindle gears
must be correctly set beforehand.

When 0 is set in the parameter corresponding to a selected gear, the spindle does not make a
synchronous rotation.

An S command specified for a master spindle and a speed specified for PMC-based spindle output
control before the spindle synchronous control mode is set are valid even in the spindle synchronous
control mode.

A speed command for a master spindle during spindle synchronous control is also valid as a
command for the master spindle after spindle synchronous control is canceled.

Speed ratio control

Spindle synchronous control can be exercised to set a speed ratio of master spindle: slave spindle to
1:n.

Speed ratio control is exercised in spindle synchronization by setting the spindle synchronous speed
ratio control signal SBRT <Gn038.1> to “1” in the spindle synchronous control mode. At this time,
the speed ratio of master spindle: slave spindle is 1:n (n: value set in the parameter No.7635).

Path 1

Path 2

Spindle S1
(S11)

Spindle S2
(S12)

Spindle S3
(S13)

Spindle S4
(S14)

Spindle S5
(S21)

Spindle S6
(S22)

Master spindle with which slave spindle is synchronized

Mater spindle : Speed ratio setting for the slave spindle 1:2
When the speed S100 is specified for master spindle S1
Spindle S1 : Spindle speed S100(1/min)
Spindle S2 : Placed in synchronous control state with spindle speed S200 (1/min).

If the speed of each slave spindle specified by multiplying the speed specified for the master spindle by a
speed ratio exceeds the value set in the parameter No.7636, the speed of each slave spindle is clamped to
a set maximum allowable speed. At the same time, the speed of the master spindle is clamped to the speed
that maintains the speed ratio.
When the speeds of multiple slave spindles are clamped, all spindles are clamped to the speeds that can
maintain the speed ratios for synchronization control.

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When the speed of a slave spindle is clamped, the spindle synchronous speed ratio control clamp signal
RSMAX <Fn065.2> is set to “1”.

Supplement

To monitor an error mutually between two spindles in the spindle synchronous control mode, the
spindle phase error monitor signal SYCAL <Fn044.4> (SYCAL1 to SYCAL4 <Fn043.0> to
<Fn043.3>) is available. A synchronization error between two spindles is monitored at all times.
When a synchronization error exceeding the value (absolute number of error pulses) set in parameter
No.4811 is detected, this signal is set to “1”. When the synchronization error does not exceed the
value set in parameter No.4811, the signal is set to “0”.

Even when two spindles hold a workpiece in the synchronous control state, constant surface speed
control can be exercised. Even if the speed of a spindle changes, however, the synchronous speed
changes within the parameter-set range (acceleration/deceleration time constant in spindle
synchronous control).

In spindle synchronous control, the spindle speed offset value (parameter No.3731) is invalid.

For details of synchronous-spindle connection, see the description of serial spindles.

Limitation

When spindles are placed in a mode other than a spindle rotation mode such as the Cs contouring
control mode, rigid tapping, and spindle command synchronous, the spindle synchronous control
mode cannot be used. In the spindle rotation mode, switch the mode of the master and slave spindles
to the spindle synchronous control mode.

For spindles placed in the spindle synchronous control mode, commands for Cs contouring control,
rigid tapping, spindle command synchronous, and so forth cannot be specified.

The maximum speed in spindle synchronous control depends on the maximum speed (parameter No.
4020) of the spindle motor of the master spindle.
Example)

Maximum speed of the spindle motor of a master spindle: 6000 min

-1

Maximum speed of the spindle motor of a slave spindle:

4500 min

-1

In the example above, 6000 min

-1

is specified as the maximum speed of the master spindle for 12bit

= 4095. However, when 6000 min

-1

is specified in spindle synchronous control, the excessive-speed

alarm (spindle unit side alarm AL-07) is issued with the slave spindle.

So, do not specify a speed exceeding 4500 min

-1

in the example above.

Diagnosis data

0418

Position deviation of each spindle

When spindles are involved in a position loop, the position deviation of each spindle is indicated.
The unit of a detector used in each mode is used.

0425

Synchronization error of each spindle

The absolute value of the synchronization error of each spindle in spindle synchronization is indicated.
A synchronization error is indicated with a slave spindle.

Spindle tuning screen (spindle synchronous control)

In the spindle synchronous control mode, the spindle tuning screen displays the information below.
"Spindle position deviation" indicates the position deviation of the spindle currently displayed.
"Synchronous deviation  " indicates the absolute value of a synchronization error in spindle
synchronization. The value of a synchronization error is displayed on the spindle tuning  screen for the
slave spindle.
When bit 3 (SVP) of parameter No.3799 is set to 1, "synchronous deviation"  indicates the peak hold
value of a synchronization error.

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For details, refer to Spindle tuning screen of MAINTENANCE MANUAL (B-64695EN).

Motor speed
Spindle speed
Spindle position deviation S1
Spindle position deviation S2
Synchronous deviation

Signal

Spindle synchronous control signal SPSYC<Gn038.2>

[Classification] Input signal

[Function] This signal specifies switching to the spindle synchronous control mode for the

first/second spindles.

[Operation] When this signal is set to “1”, the spindle synchronous control mode for the first/second

spindles is set.
When this signal is set to “0”, the spindle synchronous control mode for the first/second
spindles is canceled.

This signal is valid only when bit 4 (SSS) of parameter No.3704 is set to 0.
When bit 5 (SCB) of parameter No.4800 is set to 1, an address of n = 0 is valid.

Spindle synchronous control signal of each spindle

SPSYC1 to SPSYC4<Gn288.0 - Gn288.3>

[Classification] Input signal

[Function] These signals specify the switching of each spindle to the spindle synchronous control

mode.

[Operation] When each of these signals is set to “1”, the spindle synchronous control mode with a

spindle set as a slave spindle is set.
When each of these signals is set to “0”, the spindle synchronous control mode with a
spindle set as a slave spindle is canceled.
When SPSYCs is set to “1”, spindle synchronization with a spindle set as a slave spindle
is performed.

These signals are valid only when bit 4 (SSS) of parameter No.3704 is set to 1 and bit 5
(SCB) of parameter No.4800 is set to 0.
Which spindle is synchronized with which spindle is set using parameter No.4831 or
4832.

NOTE

For the correspondence between the signal of each spindle and
actual signal address, see the description of "Signal address".

Spindle phase synchronization control signal SPPHS<Gn038.3>

[Classification] Input signal

[Function] This signal specifies the spindle phase synchronization control mode (phase matching) for

the first/second spindles.

[Operation] When this signal makes a transition from “0” to “1”, spindle phase synchronization

control for the first/second spindles is exercised.
This signal is valid when the spindle synchronous control signal SPSYC is set to “1”.
Specify this signal after the spindle synchronous speed control completion signal FSPSY
is set to “1”.
A spindle phase synchronization control operation is started on the rising edge of this
signal.

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So, phase matching once performed is not lost when this signal is set to “0”.
However, when this signal is set to “1” from “0” again, a phase matching operation is
performed.

This signal is valid only when bit 4 (SSS) of parameter No.3704 is set to 0.
Set a phase shift amount in parameter No.4034.
When bit 5 (SCB) of parameter No.4800 is set to 1, an address of n = 0 is valid.

NOTE

Before specifying this signal, ensure that the spindle synchronous
speed control completion signal FSPSY is set to “1”. When the
spindle synchronous speed control completion signal FSPSY is set
to “0”, phase matching operation is not performed.

Spindle phase synchronization control signal of each spindle

SPPHS1 to SPPHS4<Gn289.0 to Gn289.3>

[Classification] Input signal

[Function] These signals specify the spindle phase synchronization control mode (phase matching)

for each spindle.

[Operation] When each of these signals is set to “1”, spindle phase matching is performed in the

spindle synchronous control mode with a spindle set as a slave spindle.
These signals are valid when the spindle synchronous control signal SPSYCs for each
spindle is set to “1”.
Specify each of these signals after the spindle synchronous speed control completion
signal FSPSYs for each spindle is set to “1”.
A spindle phase synchronization control operation is started on the rising edge of each of
these signals.
So, phase matching once performed is not lost when each of these signals is set to “0”.
However, when each of these signals is set to “1” from “0” again, a phase matching
operation is performed.

These signals are valid only when bit 4 (SSS) of parameter No.3704 is set to 1 and bit 5
(SCB) of parameter No.4800 is set to 0.
Set a phase shift amount in parameter No.4034.

NOTE

1 Before specifying these signals, ensure that the spindle

synchronous speed control completion signal FSPSYx is set to “1”.
When the spindle synchronous speed control completion signal
FSPSYx is set to “0”, phase matching operation is not performed.

2 Phase matching in the state where spindles are rotating in

synchronism is enabled only for one slave spindle synchronized with
one master spindle. When phase matching is to be performed in the
state where multiple slave spindles are rotating in synchronism with
one master spindle, do not specify spindle phase synchronization
control on multiple spindles.

3 Before performing phase matching of one master spindle with

multiple slave spindles, ensure that all spindles are stopped.

4 For the correspondence between the signal of each spindle and

actual signal address, see the description of "Signal address".

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Spindle synchronous speed control completion signal FSPSY<Fn044.2>

[Classification] Output signal

[Function] This signal posts that spindle synchronous control (speed synchronization) for the

first/second spindles is completed.

[Output cond.] This signal is set to “1” in the following case:

This signal is output when two spindles have reached the speed equivalent to a
specified spindle synchronous speed and the speed difference between the two
spindles is equal to or less than the value set in parameter No.4033 in the spindle
synchronous control mode.

This signal is set to “0” in the following cases:
-

In the spindle synchronous control mode, two spindles have not reached the speed
equivalent to a specified spindle synchronous speed.

In the spindle synchronous control mode, the speed difference between two spindles
is greater than the value set in parameter No.4033.

The spindle synchronization control mode is not set.

This signal is valid only when bit 4 (SSS) of parameter No.3704 is set to 0.
When bit 5 (SCB) of parameter No.4800 is set to 1, an address of n = 0 is valid.

NOTE

Even if this signal is once set to “1”, this signal is set to “0” when
the speed difference exceeds the value set in parameter No.4033
for a cause such as cutting load variation.

Spindle synchronous speed control completion signal for each spindle

FSPSY1 to FSPSY4<Fn288.0 to Fn288.3>

[Classification] Output signal

[Function] These signals post that spindle synchronous control (speed synchronization) with each

spindle set as a slave spindle is completed.

[Output cond.] This signal is set to “1” in the following case:

This signal is set to “0” in the following cases:
-

In the spindle synchronous control mode, two spindles have not reached the speed
equivalent to a specified spindle synchronous speed.

In the spindle synchronous control mode, the speed difference between two spindles
is greater than the value set in parameter No.4033.

The spindle synchronization control mode is not set.

These signals are valid only when bit 4 (SSS) of parameter No.3704 is set to 1 and bit 5
(SCB) of parameter No.4800 is set to 0.

NOTE

1 Even if this signal is once set to “1”, this signal is set to “0” when

the speed difference exceeds the value set in parameter No.4033
for a cause such as cutting load variation.

2 For the correspondence between the signal of each spindle and

actual signal address, see the description of "Signal address".

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Spindle phase synchronization control completion signal FSPPH<Fn044.3>

[Classification] Output signal

[Function] This signal posts that spindle phase synchronization control (phase matching) for the

first/second spindles is completed.

[Output cond.] This signal is set to “1” in the following case:

This signal is output when phase matching is completed with the spindle phase
synchronization control signal (when the error pulse difference between the two
spindles is equal to or less than the value set in parameter No.4810) after the two
spindles have reached the speed equivalent to a specified spindle synchronous speed
in the spindle synchronous control mode.

This signal is set to “0” in the following cases:
-

In the spindle synchronous control mode, the phase matching of two spindles is not
completed.

In the spindle synchronous control mode, the error pulse difference between two
spindles is greater than the value set in parameter No.4810.

The spindle synchronous control mode is not set.

The spindle phase synchronization control mode is not set.

This signal is valid only when bit 4 (SSS) of parameter No.3704 is set to 0.
When bit 5 (SCB) of parameter No.4800 is set to 1, an address of n = 0 is valid.

NOTE

Even if this signal is once set to “1”, this signal is set to “0” when
the speed difference exceeds the value set in parameter No.4810
for a cause such as cutting load variation.

Spindle phase synchronization control completion signal of each spindle

FSPPH1 to FSPPH4<Fn289.0 to Fn289.3>

[Classification] Output signal

[Function] These signals post that spindle phase synchronization control (phase matching) with each

spindle set as a slave spindle is completed.

[Output cond.] This signal is set to “1” in the following case:

This signal is set to “0” in the following cases:
-

In the spindle synchronous control mode, the phase matching of two spindles is not
completed.

In the spindle synchronous control mode, the error pulse difference between two
spindles is greater than the value set in parameter No.4810.

The spindle synchronous control mode is not set.

The spindle phase synchronization control mode is not set.

These signals are valid only when bit 4 (SSS) of parameter No.3704 is set to 1 and bit 5
(SCB) of parameter No. 4800 is set to 0.

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