FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 314

15. MEASUREMENT

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NOTE

The skip signals (SKIP and SKIP2 to SKIP8) are valid regardless of
the setting of this parameter. They can also be disabled using bit 4
(IGX) of parameter No. 6201.

If you want to use high-speed skip signals when the multi-step skip
function is used, set this parameter to 1.

#7 SKF

Dry run, override, and automatic acceleration/deceleration for G31 skip command

Disabled

Enabled

CAUTION

1 When bit 7 (SKF) of parameter No.6200 is set to 0, feedrate

override, dry run, and automatic acceleration/deceleration are
disabled in moving by the skip function regardless of the feedrate
which is specified as a feed per minute or a feed per rotation.

2 Even if bit 7 (SKF) of parameter No.6200 is set to 1, dry run and

automatic acceleration/deceleration are disabled when bit 1 (SFP)
of parameter No.6207 is set to 1. When the multi-step skip is used
and bit 2 (SFN) of parameter No.6207 is set to 1, dry run and
automatic acceleration/deceleration are similarly disabled.

6201

SKPXE

IGX

SEB

[Input type] Parameter input

[Data type] Bit path

#1 SEB

When a skip signal, high-speed skip signal or measuring position reached signal goes on

while the skip function, the continuous high-speed skip function or the automatic tool
length measurement (M series) or automatic tool compensation (T series) is used, the
accumulated pulses and positional deviation due to acceleration/deceleration are:
0:

Ignored.

Considered and compensated.

The accumulated pulses and positional deviation due to actual acceleration/deceleration
when the skip signal, high-speed skip signal or measuring position reached signal goes on
are considered to obtain the position at which the signal is input.

#4 IGX

When the high-speed skip function is used, SKIP, SKIPP, and SKIP2 to SKIP8 are:

Enabled as skip signals.

Disabled as skip signals.

#7 SKPXE

For the skip function (G31), the skip signal SKIP is:

Enabled.

Disabled.

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Whether the skip signals are enabled or disabled

Parameter

Bit 4 (IGX) of

parameter

No. 6201

Bit 0 (GSK)

of parameter

No. 6200

Bit 7

(SKPXE) of

parameter

No .6201

Skip

signal

SKIPP

Skip

signal

SKIP

Multistage skip

signals

SKIP2-SKIP8

Setting

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

Disabled

Bit 4 (IGX) of parameter No. 6201 is valid for the skip function using high-speed skip
signals (when bit 4 (HSS) of parameter No. 6200 is set to 1) or for the multistage skip
function using high-speed skip signals (when bit 5 (SLS) of parameter No. 6200 is set to
1).
To use multistage skip signals, the multistage skip function is required.

6202

1S8

1S7

1S6

1S5

1S4

1S3

1S2

1S1

6203

2S8

2S7

2S6

2S5

2S4

2S3

2S2

2S1

6204

3S8

3S7

3S6

3S5

3S4

3S3

3S2

3S1

6205

4S8

4S7

4S6

4S5

4S4

4S3

4S2

4S1

6206

DS8

DS7

DS6

DS5

DS4

DS3

DS2

DS1

[Input type] Parameter input

[Data type] Bit path

1S1to1S8, 2S1to2S8, 3S1to3S8, 4S1to4S8, DS1toDS8

Specify which skip signal is enabled when the skip command (G31, or G31P1 to G31P4)
and the dwell command (G04, G04Q1 to G04Q4) are issued with the multi-step skip
function.
The following table shows the correspondence between the bits, input signals, and
commands.
The setting of the bits have the following meaning :
0:

The skip signal corresponding to a bit is invalid.

The skip signal corresponding to a bit is enabled.

Multi-step skip function

Command

Input
signal

G31

G31P1

G04Q1

G31P2

G04Q2

G31P3

G04Q3

G31P4

G04Q4

G04

SKIP/HDI0

1S1

2S1

3S1

4S1

DS1

SKIP2/HDI1

1S2

2S2

3S2

4S2

DS2

SKIP3/HDI2

1S3

2S3

3S3

4S3

DS3

SKIP4/HDI3

1S4

2S4

3S4

4S4

DS4

SKIP5/HDI4

1S5

2S5

3S5

4S5

DS5

SKIP6/HDI5

1S6

2S6

3S6

4S6

DS6

SKIP7/HDI6

1S7

2S7

3S7

4S7

DS7

SKIP8/HDI7

1S8

2S8

3S8

4S8

DS8

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NOTE

1 HDI0 to HDI7 are high-speed skip signals. Do not specify the same

signal simultaneously for different paths.

2 At all of the following conditions, the bit 0 (1S1) of parameter

No.6202 must be set to 1.

- The Multi-step skip function is effective.

- The High-speed skip signals are not used.

- Skip Signals SKIP<X0004.7>, SKIPP<Gn006.6> are used.

When bit 0 (GSK) of parameter No. 6200 is set to 1, commands to be skipped can be
selected by setting the following parameter:

Commands skipped by SKIPP signal <G006.6>

Parameter

Command skipped

When bit 0 (1S1) of parameter No. 6202 is set to 1

G31P1,G04Q1

When bit 0 (2S1) of parameter No. 6203 is set to 1

G31P2,G04Q2

When bit 0 (3S1) of parameter No. 6204 is set to 1

G31P3,G04Q3

When bit 0 (4S1) of parameter No. 6205 is set to 1

G31P4,G04Q4

When bit 0 (DS1) of parameter No. 6206 is set to 1

G04,G04Q1,G04Q2,G04Q3,G04Q4

6207

SFN

[Input type] Parameter input

[Data type] Bit path

#2 SFN

The feedrate used when the skip function based on high-speed skip signals (with bit 4

(HSS) of parameter No. 6200 set to 1) or the multi-skip function is being executed is:
0:

Feedrate of a programmed F code.

Feedrate set in a parameter from parameters Nos. 6282 to 6285.

NOTE

For not the multistage skip function, but the skip function using no
high-speed skip signals (when bit 4 (HSS) of parameter No. 6200 is
set to 0), see the description of bit 1 (SFP) of parameter No. 6207.

6282

Feedrate for the skip function (G31, G31 P1)

6283

Feedrate for the skip function (G31 P2)

6284

Feedrate for the skip function (G31 P3)

6285

Feedrate for the skip function (G31 P4)

[Input type] Parameter input

[Data type] Real path

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

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

(When the increment system is IS-B, 0.0 to +999000.0)
Each of these parameters sets a feedrate for each skip function G code. These parameters
are valid when bit 2 (SFN) of parameter No. 6207 is set to 1.

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Alarm and message

Number

Message

Description

PS0035

CAN NOT COMMANDED G31

G31 cannot be specified. This alarm is generated when a G
code (such as for cutter or tool-nose radius compensation) of
group 07 is not canceled.

A torque limit skip was not specified in a torque limit skip
command (G31P98 or P99). Specify the torque limit skip in the
PMC window or the like. Or, specify the torque limit override by
address Q.

PS0370

G31P/G04Q ERROR

1) The specified address P value for G31 is out of range. The

address P range is 1 to 4 in a multistage skip function.

2) The specified address Q value for G04 is out of range. The

address Q range is 1 to 4 in a multistage skip function.

3) P1-4 for G31, or Q1-4 for G04 was commanded without a

multistage skip function.

4) <T series > The specified value of address P of G72 or G74 falls

outside the range. Address P ranges from 1 to 4 in the
multistage skip function. P1-4 was specified in G72 or G74 even
though the multistage skip function is not present.

PS0373

ILLEGAL HIGH-SPEED SKIP
SIGNAL SELECTED

In the skip commands (G31, G31P1 to G31P4) and dwell commands
(G04, G04Q1 to G04Q4), the same high-speed signal is selected in
different paths.

Note

NOTE

This function is disabled for the synchronous slave axis and enabled for axes not
related to composite control.

15.3.6

Torque Limit Skip Function

Overview

When the movement command following G31 P99 (or G31 P98) is executed with the servo motor torque
limit

overridden

, cutting feed similar to linear interpolation (G01) can be performed. When the servo

motor torque

reaches the torque limit (overridden servo motor torque limit) by pushing or the skip

signal (including the high-speed skip signal) is input during the movement, the remaining movement
commands are canceled and then the next block is executed. (The operation that executes the next block
by canceling the remaining movement command is called skip operation later.)
The servo motor torque limit can be overridden by:
(1) Executing the torque limit override command for the PMC window.
(2) Executing the address Q command in the same block in which G31 P99 (or G31 P98) exists.

: The servo motor torque limit (parameter No.2060) is automatically set according to the settings of

the motor model. The override is applied to the maximum torque of the servo motor.

: Set the torque limit override by the window function (function code 152) of PMC. Refer to PMC

PROGRAMMING MANUAL (B-64513EN) for window Functions.

: Servo motor torque can be traced by waveform diagnosis display. Refer to Series 0

-F Plus

MAINTENANCE MANUAL (B-64695EN) for waveform diagnosis display.

In order to override the torque limit on the servo motor, set bit 0 (TQO) of parameter No. 6286 to 1.

If the bit 0 (TQI) of parameter No.1803 is set to 1, in-position check is disabled during torque limit.
If the bit 1 (TQA) of parameter No.1803 is set to 1, an excessive stop-time/move-time error is not
checked during torque limit.
If setting parameter No.6221, torque limit reached signals are ignored for a set period of time.

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Signal

Torque limit reached signals TRQL1 to TRQL 8<Fn114>

[Classification] Input signal

[Function] Indicates that the torque limit has been reached.

[Output cond.] Set to 1 when:

The torque limit has been reached.

Set to 0 when:
-

The torque limit has not been reached.

Indicates the signal for each axis. The value at the end of a signal name indicates the
number of each control axis.

Signal address

Fn114

TRQL8

TRQL7

TRQL6

TRQL5

TRQL4

TRQL3

TRQL2

TRQL1

Parameter

1803

TQA

TQI

[Input type] Parameter input

[Data type] Bit path

#0 TQI

Within a torque limit, an in-position check is:

Made.

Not made.

#1 TQA

Within a torque limit, an excessive stop-time/move-time error is:

Checked.

Not checked.

3008

XSG

[Input type] Parameter input

[Data type] Bit path

NOTE

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

#2 XSG

A signal assigned to an X address is:

Fixed at the address.

Able to be reassigned to an arbitrary X address.

NOTE

When this parameter is set to 1, set parameters Nos. 3013, 3014,
3012, and 3019. If parameters Nos. 3013 and 3014 are not set, the
deceleration signal for reference position return is assigned to bit 0
of <X0000>. If parameters Nos. 3012 and 3019 are not set, the
skip signal, the PMC axis control skip signal, the measuring
position reached signal, the interlock signal for each axis direction,
and the tool compensation value write signal are assigned to
<X0000>.

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WARNING

Please set an appropriate value to parameters ( Nos. 3013, 3014,
3012, 3019 ) beforehand when you set 1 to this parameter.
If an input signal of the set address in parameters ( Nos. 3013,
3014, 3012, 3019 ) is used by another usage, it may cause an
unexpected machine behavior. Be careful enough that you must
prevent the competition of the used X address.

3012

Skip signal assignment address

NOTE

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

[Input type] Parameter input

[Data type] Word path

[Valid data range] 0 to 727

Set an X address to which the skip signal SKIPn is to be assigned.

NOTE

This parameter is valid when bit 2 (XSG) of parameter No. 3008 is
set to 1.

Depending on the configuration of the I/O Link, the actually usable
X addresses are:

WARNING

If you used the set address in this parameter by another usage, it
may cause an unexpected machine behavior.

Be careful enough that you must prevent the competition of the
used X address.

3019

Address to which the PMC axis control skip signal and measuring position reached signals are

assigned

NOTE

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

[Input type] Parameter input

[Data type] Word path

[Valid data range] 0 to 727

Set an X address to which the PMC axis control skip signal ESKIP and measuring
position reached signals (XAE, YAE, and ZAE (M series) or XAE and ZAE (T series))
are to be assigned.

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NOTE

This parameter is valid when bit 2 (XSG) of parameter No. 3008 is
set to 1.

Depending on the configuration of the I/O Link, the actually usable
X addresses are:

WARNING

If you used the set address in this parameter by another usage, it
may cause an unexpected machine behavior.

Be careful enough that you must prevent the competition of the
used X address.

6200

SKF

HSS

SK0

GSK

[Input type] Parameter input

[Data type] Bit path

#0 GSK

As a skip signal, the skip signal SKIPP is:

Invalid.

Valid.

#1 SK0

This parameter specifies whether the skip signal is made valid under the state of the skip

signal SKIP and the multistage skip signals SKIP2 to SKIP8.
0:

Skip signal is valid when these signals are “1”.

Skip signal is valid when these signals are “0”.

#4 HSS

The skip function does not use high-speed skip signals while skip signals are input.
(The conventional skip signal is used.)

The step skip function uses high-speed skip signals while skip signals are input.

#7 SKF

Dry run, override, and automatic acceleration/deceleration for G31 skip command

Disabled

Enabled

CAUTION

1 When bit 7 (SKF) of parameter No.6200 is set to 0, feedrate

override, dry run, and automatic acceleration/deceleration are
disabled in moving by the skip function regardless of the feedrate
which is specified as a feed per minute or a feed per rotation.

2 Even if bit 7 (SKF) of parameter No.6200 is set to 1, dry run and

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6201

SKPXE

IGX

TSE

[Input type] Parameter input

[Data type] Bit path

#2 TSE

When the torque limit skip function (G31 P99/98) is used, the skip position held in a

system variable (#5061 to #5080 (#100151 to #100182 for a system having more than 20
axes)) is:
0:

Position that is offset considering the delay (positional deviation) incurred by the
servo system.

Position that does not reflect the delay incurred by the servo system.

Position during skip operation

Current position of CNC

Machine position

Error amount

Position in consideration of delay

Position without consideration of delay

Origin of the coordinate system

Stop point

#4 IGX

When the high-speed skip function is used, SKIP, SKIPP, and SKIP2 to SKIP8 are:

Enabled as skip signals.

Disabled as skip signals.

#7 SKPXE

For the skip function (G31), the skip signal SKIP is:

Enabled.

Disabled.

Whether the skip signals are enabled or disabled

Parameter

Bit 4 (IGX) of

parameter

No. 6201

Bit 0 (GSK)

of parameter

No. 6200

Bit 7

(SKPXE) of

parameter

No .6201

Skip

signal

SKIPP

Skip

signal

SKIP

Multistage skip

signals

SKIP2-SKIP8

Setting

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

Disabled

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