Fanuc Manual

GE Fanuc Automation
Computer Numerical Control Products
Series 15i Model B

Series 150i Model B
Connection Manual
GFZ-63783EN-1/01 June 2002

GFL-001
Warnings, Cautions, and Notes
as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or
may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory

with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
©Copyright 2002 GE Fanuc Automation North America, Inc.

All Rights Reserved.
B-63783EN-1/01 DEFINITION OF WARNING, CAUTION, AND NOTE
DEFINITION OF WARNING, CAUTION, AND NOTE
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.
s-1
B-63783EN-1/01 PREFACE
PREFACE
Contents of this document
This manual describes all the NC functions required to enable machine
tool builders to design their CNC machine tools. The following items
are explained for each function.
1. General
Describes feature of the function. Refer to Operator's manual as
required.
2. Signals
Describes names, functions, output conditions and addresses of
the signals required to realize a function.
3. Parameters
Describes parameters related with a function.
4. Alarms and messages
Lists the alarms and messages related with a function in a table.
5. Reference item
List the related items of the related manuals in a table.
A list of addresses of all signals and a list of signals are described in the
appendix of this manual. Refer to it as required.
Applicable models
The models covered by this manual, and their abbreviations are :
Model name Abbreviation
FANUC Series 15i-MB 15i-MB Series 15i
FANUC Series 150i-MB 150i-MB Series 150i
NOTE
Some functions described in this manual may not
be applied to some
products. For details, refer to the DESCRIPTIONS
manual (B-63782EN).
p-1
PREFACE B-63783EN-1/01
Signal description
Relation of interface signals among the CNC, the PMC and the
machine tool is shown below:
G000 - X000 -
CNC F000 - PMC Y000 - Machine tool
NOTE
For the signals, a single data number is assigned to
8 bits. Each bit has a different meaning.
- Expression of signals
#7 #6 #5 #4 #3 #2 #1 #0
F000 MA SA OP STL SPL RST AL RWD
Address Symbol (#0 to #7 indicates bit position)
p-2
B-63783EN-1/01 PREFACE
Parameter description
Parameters are classified by data type as follows :
Data type Valid data range Remarks

Bit
Bit axis 0 or 1
Bit spindle
Integer
In some parameters, signs are
Integer axis 0 to ±999999999
ignored.
Integer spindle
Real
Standard parameter
Real axis
See setting table.
Real spindle
NOTE
1 For the bit type, bit axis type, and bit spindle type
parameters, a single data number is assigned to 8
bits. Each bit has a different meaning.
2 The axis type allows data to be set separately for
each control axis.
3 The spindle type allows data to be set separately for
each spindle.
4 The valid data range for each data type indicates a
general range. The range varies according to the
parameters. For the valid data range of a specific
parameter, see the explanation of the parameter.
- Notation of bit type, bit axis type, and bit spindle type parameters
#7 #6 #5 #4 #3 #2 #1 #0
0000 EIA NCR ISP CTV TVC
Data No. Data (#0 to #7 indicates bit position)
- Notation of parameters other than bit type, bit axis type, and bit spindle type
parameters
1023 Servo axis number for each axis
Data No. Data
p-3
PREFACE B-63783EN-1/01
Related Manuals for Series 15i/150i- MODEL B

The table below lists manuals related to MODEL B of Series 15i and
Series 150i.
In the table, this manual is marked with an asterisk(*).
Table 1 (a) Manuals Related to the Series 15i, 150i

Manual name Specification
number
DESCRIPTIONS B-63782EN
CONNECTION MANUAL (HARDWARE) B-63783EN
CONNECTION MANUAL (FUNCTION) B-63783EN-1 *
OPERATOR'S MANUAL (PROGRAMMING) B-63784EN
OPERATOR'S MANUAL (OPERATION) B-63784EN-1
MAINTENANCE MANUAL B-63785EN
PARAMETER MANUAL B-63790EN
Related manuals for Servo Motor αi/β

β series
The following table lists the manuals related to the FANUC Servo
Motor αi/β series.
Table 1 (b) Manuals Related to the Servo Motor αi/β

β series.
Manual name Specification
number
FANUC AC SERVO MOTOR αi series B-65262EN
DESCRIPTIONS
FANUC AC SPINDLE MOTOR αi series B-65272EN
DESCRIPTIONS
FANUC SERVO AMPLIFIER αi series B-65282EN
DESCRIPTIONS
FANUC SERVO MOTOR αi series B-65285EN
MAINTENANCE MANUAL
PARAMETER MANUAL
FANUC AC SPINDLE MOTOR αi series B-65280EN
PARAMETER MANUAL
FANUC SERVO MOTOR β series B-65232EN
DESCRIPTIONS
MAINTENANCE MANUAL
MAINTENANCE MANUAL (I/O Link Option)
p-4
B-63783EN-1/01 TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS .......................................................................... s-1

PREFACE.................................................................................................. p-1
1 AXIS CONTROL.....................................................................................1
1.1 NUMBER OF CONTROLLED AXES .............................................................2
1.2 SETTING EACH AXIS ...................................................................................3
1.2.1 Axis Name ............................................................................................................... 3
1.2.2 Increment System .................................................................................................... 6
1.2.3 Rotation Axis Specification................................................................................... 10
1.2.4 Controlled Axes Detach ........................................................................................ 14
1.2.5 Outputting the Movement State of an Axis ........................................................... 18
1.2.6 Mirror Image.......................................................................................................... 20
1.2.7 Follow-up............................................................................................................... 23
1.2.8 Servo Off (Mechanical handle) ............................................................................. 25
1.2.9 Position Switch...................................................................................................... 27
1.2.10 Vertical Axis Drop Prevention Function............................................................... 31
1.3 ERROR COMPENSATION..........................................................................33
1.3.1 Stored Pitch Error Compensation.......................................................................... 33
1.3.2 Backlash Compensation ........................................................................................ 44
1.3.3 Straightness Compensation.................................................................................... 51
1.3.4 Interpolated Straightness Compensation ............................................................... 56
1.3.5 128 Straightness Compensation Points ................................................................. 59
1.3.6 Interpolated Pitch Error Compensation ................................................................. 66
1.3.7 Cyclic Second Pitch Error Compensation ............................................................. 68
1.3.8 Gradient Compensation ......................................................................................... 73
1.3.9 Bidirectional Pitch Error Compensation ............................................................... 76
1.3.10 Nano Interpolation Type Error Compensation ...................................................... 84
1.3.11 Smooth Backlash Compensation ........................................................................... 85
1.3.12 Addition of 5000 Pitch Error Compensation Points.............................................. 92
1.3.13 Thermal Growth Compensation along Tool Vector .............................................. 94
1.4 THREE-DIMENSIONAL ERROR COMPENSATION .................................107
1.5 SETTINGS RELATED TO SERVO CONTROLLED AXES........................114
1.5.1 Servo Parameter................................................................................................... 115
1.5.2 Absolute Position Detection ................................................................................ 127
1.5.3 FSSB Setting........................................................................................................ 130
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TABLE OF CONTENTS B-63783EN-1/01
1.5.4 Servo Warning Details Signal ............................................................................. 153

1.6 SETTINGS RELATED TO COORDINATE SYSTEMS ..............................154
1.6.1 Machine Coordinate System................................................................................ 154
1.6.2 Workpiece Coordinate System/Addition of Workpiece Coordinate System Pair155
1.6.3 Rotation Axis Roll-over....................................................................................... 158
1.6.4 Cutting/Rapid Traverse In-position Check.......................................................... 160
1.7 PARALLEL AXIS CONTROL .....................................................................164
1.8 TANDEM CONTROL .................................................................................170
1.9 SYNCHRONOUS CONTROL ....................................................................180
1.9.1 Configuration of Synchronous Control Axes ...................................................... 181
1.9.2 Synchronous Error Compensation....................................................................... 183
1.9.3 Synchronization Alignment ................................................................................. 185
1.9.4 Synchronous Error Check.................................................................................... 188
1.9.5 Recovery from Excessive Synchronous Error Alarm.......................................... 190
1.9.6 Torque Difference Alarm Detection for Synchronous Control........................... 192
1.10 TWIN-TABLE CONTROL ..........................................................................214
1.10.1 Tool Length Compensation in Tool Axis Direction with Twin Table Control... 218
1.11 CHOPPING FUNCTION ............................................................................226
1.12 ELECTRONIC GEAR BOX ........................................................................241
1.12.1 Command Description (G80.5, G81.5)................................................................ 241
1.12.2 Description of Commands Compatible with Those for a Hobbing Machine ...... 244
1.12.3 Configuration Examples of Controlled Axes ...................................................... 248
1.12.4 Retraction Function ............................................................................................. 251
1.12.5 Automatic Phase Matching Function with Electronic Gear Box ........................ 253
1.13 EGB AXIS SKIP FUNCTION .....................................................................270
1.14 TURNING MODE AND COMPENSATION CLAMP
OF DUAL POSITION FEEDBACK .............................................................274
1.15 DECELERATION STOP AT POWER FAILURE........................................277
1.16 HIGH SPEED HRV MODE ........................................................................279
1.17 SETUP OF FSSBs IF USING HIGH SPEED HRV CONTROL ..................282
1.18 LOADING OF MULTIPLE SERVO PROGRAMS.......................................288
1.19 GENERAL PURPOSE RETRACT .............................................................290
2 PREAPARATIONS FOR OPERATION...............................................294
2.1 EMERGENCY STOP .................................................................................295
2.2 READY SIGNALS ......................................................................................299
2.3 OVERTRAVEL CHECK .............................................................................301
2.3.1 Overtravel Signal ................................................................................................. 301
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2.3.2 Stored Stroke Check 1 ......................................................................................... 304

2.3.3 Stroke Check 2..................................................................................................... 308
2.3.4 Stroke Limit Check Prior to Performing Movement ........................................... 313
2.4 ALARM SIGNALS ......................................................................................316
2.5 INTERLOCK ..............................................................................................319
2.6 MODE SELECTION...................................................................................324
2.7 STATUS OUTPUT SIGNAL.......................................................................331
2.8 VRDY OFF ALARM IGNORE SIGNAL ......................................................332
2.9 ABNORMAL LOAD DETECTION ..............................................................335
3 MANUAL OPERATION ......................................................................343
3.1 JOG FEED/INCREMENTAL FEED............................................................344
3.2 MANUAL HANDLE FEED..........................................................................353
3.3 MANUAL HANDLE CONNECTED TO I/O LINK ........................................358
3.4 MANUAL HANDLE INTERRUPTION.........................................................362
3.5 THREE-DIMENSIONAL HANDLE FEED...................................................363
3.5.1 Control Point Compensation in Three-dimensional Handle Feed....................... 402
3.6 MANUAL INTERRUPTION FUNCTION FOR THREE-DIMENSIONAL
COORDINATE CONVERSION ..................................................................414
3.7 MANUAL NUMERIC COMMAND ..............................................................418
3.8 MANUAL ARBITRARY-ANGLE FEED.......................................................422
4 REFERENCE POSITION ESTABLISHMENT.....................................427
4.1 MANUAL REFERENCE POSITION RETURN...........................................428
4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS ....................442
4.3 REFERENCE POSITION SHIFT ...............................................................446
4.4 REFERENCE POSITION RETURN...........................................................451
4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH REFERENCE
POSITION RETURN..................................................................................453
4.6 FLOATING REFERENCE POSITION RETURN........................................456
4.7 LINEAR SCALE WITH REFERENCE MARK ............................................459
4.7.1 Enhancement of Linear Scale with Reference Mark........................................... 468
5 AUTOMATIC OPERATION ................................................................473

5.1 CYCLE START/FEED HOLD.....................................................................474
5.2 RESET AND REWIND...............................................................................478
5.3 TESTING A PROGRAM .................................................................................... 482
5.3.1 Machine Lock ...................................................................................................... 482
5.3.2 Dry Run ............................................................................................................... 485
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5.3.3 Single Block ........................................................................................................ 488

5.4 MANUAL ABSOLUTE ON/OFF .................................................................491
5.5 OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL BLOCK SKIP.........493
5.6 SEQUENCE NUMBER COMPARISON AND STOP..................................496
5.7 PROGRAM RESTART...............................................................................497
5.8 BLOCK RESTART .....................................................................................502
5.9 RETRACE..................................................................................................510
5.10 WITHDRAWING AND RETURNING A TOOL ...........................................515
5.11 ACTIVE BLOCK CANCEL .........................................................................522
5.12 EXACT STOP/EXACT STOP MODE/TAPPING MODE/
CUTTING MODE .......................................................................................526
5.13 DNC OPERATION .....................................................................................527
5.14 REGAINING A MANUAL INTERVENTION AMOUNT DURING
AUTOMATIC OPERATION........................................................................529
5.15 SIMULTANEOUS AUTOMATIC AND MANUAL OPERATION ..................535
5.16 DNC OPERATION FROM OPEN CNC SELECTING SIGNAL ..................542
5.17 DNC OPERATION FROM MEMORY CARD INTERFACE ........................544
6 INTERPOLATION FUNCTION ...........................................................547
6.1 POSITIONING ...........................................................................................548
6.2 LINEAR INTERPOLATION ........................................................................550
6.3 CIRCULAR INTERPOLATION...................................................................553
6.4 THREADING..............................................................................................559
6.4.1 Threading............................................................................................................. 559
6.4.2 Threading Based on an Arbitrary Spindle Gear Ratio......................................... 562
6.5 SINGLE DIRECTION POSITIONING ........................................................567
6.6 HELICAL INTERPOLATION ......................................................................569
6.7 HELICAL INTERPOLATION B...................................................................571
6.8 INVOLUTE INTERPOLATION ...................................................................573
6.9 SPLINE INTERPOLATION ........................................................................579
6.10 POLAR COORDINATE INTERPOLATION ................................................580
6.10.1 Virtual Axis Direction Compensation for Polar Coordinate Interpolation ......... 583
6.11 CYLINDRICAL INTERPOLATION .............................................................585
6.12 CYLINDRICAL INTERPOLATION CUTTING POINT CONTROL ..............588
6.13 NORMAL DIRECTION CONTROL ............................................................593
6.14 EXPONENTIAL INTERPOLATION............................................................596
6.15 SMOOTH INTERPOLATION .....................................................................598
6.16 HYPOTHETICAL AXIS INTERPOLATION ................................................601
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6.17 SPIRAL INTERPOLATION, CONICAL INTERPOLATION ........................602

6.18 NURBS INTERPOLATION ........................................................................605
6.18.1 NURBS Interpolation Additional Functions ....................................................... 608
6.19 3-DIMENSIONAL CIRCULAR INTERPOLATION (G02.4 AND G03.4) .....610
7 FEEDRATE CONTROL/ACCELERATION AND DECELERATION
CONTROL..........................................................................................611
7.1 FEEDRATE CONTROL .............................................................................612
7.1.1 Rapid Traverse Rate ............................................................................................ 613
7.1.2 Cutting Feedrate Clamp....................................................................................... 616
7.1.3 Feed per Minute................................................................................................... 617
7.1.4 Feed per Revolution/Feed per Revolution without Position Coder .................... 619
7.1.5 F1-digit Feed........................................................................................................ 621
7.1.6 Feedrate Inverse Time Specification ................................................................... 625
7.1.7 Override ............................................................................................................... 626
7.1.7.1 Rapid traverse override ....................................................................................626
7.1.7.2 Feedrate override..............................................................................................629
7.1.7.3 Second feedrate override..................................................................................631
7.1.7.4 Override cancel ................................................................................................633
7.1.8 Automatic Corner Override ................................................................................. 634
7.1.9 External Deceleration .......................................................................................... 639
7.1.10 Feed Stop Function.............................................................................................. 641
7.1.11 Deceleration Based on Acceleration during Circular Interpolation .................... 642
7.1.12 Advanced Preview Control.................................................................................. 647
7.1.13 Nano Interpolation............................................................................................... 648
7.1.14 Fine HPCC........................................................................................................... 649
7.1.14.1 Smooth velocity control....................................................................................... 662
7.1.15 Machining type in HPCC screen programming................................................... 664
7.1.16 Feedrate Specification on a Virtual Circle for a Rotary Axis ............................. 667
7.1.17 Automatic Feedrate Control by Area................................................................... 671
7.1.18 Jerk Control ......................................................................................................... 676
7.1.18.1 Speed control based on changes to acceleration for each axis .........................677
7.1.18.2 Look-ahead smooth bell-shaped acceleration/deceleration before
interpolation .....................................................................................................682
7.2 ACCELERATION AND DECELERATION CONTROL ...............................685
7.2.1 Post-interpolation Automatic Acceleration/Deceleration ................................... 685
7.2.2 Look-ahead Acceleration/Deceleration Before interpolation.............................. 695
7.2.2.1 Bell-shaped acceleration/deceleration time constant change............................713
7.2.3 Corner Control..................................................................................................... 717
c-5
7.2.3.1 In-position check ..............................................................................................717

7.2.4 Feed Forward in Rapid Traverse ......................................................................... 720
7.2.5 Acceleration/Deceleration before Interpolation of Linear Type Rapid Traverse 721
7.2.6 Optimum Torque Acceleration/Deceleration ...................................................... 725
8 MISCELLANEOUS FUNCTION .........................................................740

8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION..................741
8.2 AUXILIARY FUNCTION LOCK ..................................................................753
8.3 MULTIPLE M COMMANDS IN A SIGLE BLOCK ......................................755
8.4 HIGH-SPEED M/S/T/B INTERFACE .........................................................758
9 SPINDLE FUNCTION.........................................................................762
9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT) ..................................763
9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT ......................765
9.3 SPINDLE CONTROL .................................................................................793
9.4 CONSTANT SURFACE SPEED CONTROL .............................................814
9.5 ACTUAL SPINDLE SPEED OUTPUT .......................................................820
9.6 SPINDLE POSITIONING ...........................................................................822
9.7 Cs CONTOUR CONTROL .........................................................................881
9.8 RIGID TAPPING ........................................................................................900
9.8.1 Rigid Tapping Additional Function..................................................................... 958
9.9 SPINDLE ORIENTATION ..........................................................................961
9.10 SPINDLE OUTPUT SWITCHING ..............................................................964
9.11 SPINDLE SPEED FLUCTUATION DETECTION.......................................965
9.12 SPINDLE WARNING DETAILED SIGNALS ..............................................972
10 TOOL FUNCTION ..............................................................................974
10.1 TOOL FUNCTION......................................................................................975
10.2 TOOL COMPENSATION VALUE/TOOL COMPENSATION NUMBER/
TOOL COMPENSATION MEMORY ..........................................................977
10.2.1 Specification of Diameter Entry for Tool Compensation Value......................... 981
10.3 TOOL LIFE MANAGEMENT FUNCTION ..................................................982
10.4 TOOL COMPENSATION FUNCTION......................................................1000
10.4.1 Tool Length Offset ............................................................................................ 1000
10.4.2 Tool Offset......................................................................................................... 1004
10.4.3 Cutter Compensation ......................................................................................... 1007
10.4.4 Three-dimensional Tool Compensation ............................................................ 1016
10.4.5 Tool Offsets Based on Tool Numbers ............................................................... 1022
10.4.6 Tool Axis Direction Tool Length Compensation.............................................. 1033
c-6
10.4.7 Rotary Table Dynamic Fixture Offset ............................................................... 1044

10.4.8 Three-dimensional Cutter Compensation.......................................................... 1051
10.4.8.1 Three-dimensional cutter compensation at tool center point..........................1062
10.4.9 Designation Direction Tool Length Compensation........................................... 1065
10.4.10 Tool Center Point Control ................................................................................. 1075
10.4.11 Control Point Compensation of Tool Length Compensation Along Tool Axis 1084
10.4.12 Grinding Wheel Wear Compensation................................................................ 1092
10.4.13 Cutter Compensation for Rotary Table ............................................................. 1103
10.4.14 Tool Center Point Control for 5-axis Machining .............................................. 1111
10.4.15 Three-dimensional Cutter Compensation for Rotary Table .............................. 1138
11 PROGRAM COMMAND ...................................................................1152

11.1 DECIMAL POINT PROGRAMMING/POCKET CALCULATOR TYPE
DECIMAL POINT PROGRAMMING ........................................................1153
11.2 PROGRAM CONFIGURATION ...............................................................1155
11.3 INCH/METRIC CONVERSION ................................................................1158
11.4 DIAMETER SPECIFICATION AND RADIUS SPECIFICATION ..............1161
11.5 CUSTOM MACRO ...................................................................................1162
11.5.1 Custom Macro ................................................................................................... 1162
11.5.2 Interruption Type Custom Macro ...................................................................... 1184
11.6 CANNED CYCLE SPINDLE CONTROL ..................................................1189
11.7 EXTERNAL MOTION FUNCTION ...........................................................1200
11.8 INDEX TABLE INDEXING FUNCTION....................................................1202
11.9 MULTIPLE ROTARY CONTROL AXIS FUNCTION ................................1211
11.10 SCALING .................................................................................................1213
11.11 COORDINATE SYSTEM ROTATION (G68,G69)....................................1216
11.12 THREE-DIMENSIONAL COORDINATE CONVERSION .........................1218
11.12.1 Three-dimensional Coordinate Conversion and Parallel Axis Control............. 1226
11.13 AXIS INTERCHANGE..............................................................................1228
11.14 OILING SIGNAL (CANNED CYCLE) .......................................................1233
11.15 PROGRAMMABLE MIRROR IMAGE ......................................................1238
11.16 PLANE CONVERSION FUNCTION.........................................................1242
11.17 TILTED WORKING PLANE COMMAND .................................................1243
12 DISPLAY/SET/EDIT .........................................................................1275
12.1 DISPLEY/SET..........................................................................................1276
12.1.1 Clock Function .................................................................................................. 1276
12.1.2 Operation/Alarm History Screen ....................................................................... 1277
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12.1.3 Alarm Display.................................................................................................... 1279

12.1.4 Operator Message Display................................................................................. 1281
12.1.5 Servo Adjustment Screen .................................................................................. 1282
12.1.6 Spindle Adjustment Screen ............................................................................... 1283
12.1.7 Waveform Diagnosis Display............................................................................ 1284
12.1.8 Self-diagnosis .................................................................................................... 1285
12.1.9 Hardware/Software System Configuration Screen............................................ 1286
12.1.10 Machined Part Count and Operation Time Display .......................................... 1287
12.1.11 Tool Path Drawing and Background Drawing .................................................. 1291
12.1.12 Operating Monitor Screen ................................................................................. 1293
12.1.13 Machining Time Stamp ..................................................................................... 1294
12.1.14 Menu Switches .................................................................................................. 1296
12.1.15 Software Operator's Panel ................................................................................. 1297
12.1.16 National Language Display ............................................................................... 1306
12.1.17 Screen Clear Function and Automatic Screen Clear Function.......................... 1307
12.1.18 Touch Panel ....................................................................................................... 1309
12.1.19 Periodic Maintenance Screen ............................................................................ 1313
12.1.20 Maintenance Information Screen....................................................................... 1315
12.1.21 High-speed High-precision Machining Setting Screen ..................................... 1316
12.1.22 Pitch Error Compensation Screen ..................................................................... 1318
12.1.23 Power Mate CNC Manager Function ................................................................ 1320
12.1.24 DI/DO Monitor Function................................................................................... 1329
12.1.25 Brightness Adjustment Screen for Monochrome Display Unit with Graphic
Function ............................................................................................................. 1334
12.1.26 Fine Torque Sensing.......................................................................................... 1336
12.1.27 2-LCD-unit Connection Function...................................................................... 1340
12.1.28 Changing Blinking Displays in G05.1 Q1 Mode............................................... 1343
12.1.29 M Code Commands for Displaying Operator Messages ................................... 1346
12.1.30 Changing the CNC Screen Title Background Color ......................................... 1349
12.2 EDITING ..................................................................................................1350
12.2.1 Tape Length for Part Program Storage.............................................................. 1350
12.2.2 Number of Programs Stored .............................................................................. 1351
12.2.3 Memory Protection Keys................................................................................... 1352
12.2.4 Program Encryption........................................................................................... 1353
12.2.5 Background Editing........................................................................................... 1356
12.2.6 Playback............................................................................................................. 1357
12.2.7 Automatic Sequence Number Insertion............................................................. 1359
c-8
12.2.8 Editing a Running Program ............................................................................... 1360

12.2.9 DO Signal Output by Soft Key.......................................................................... 1361
12.3 READER/PUNCHER INTERFACE ..........................................................1369
13 MEASUREMENT..............................................................................1379
13.1 TOOL LENGTH MANUAL MEASUREMENT...........................................1380
13.2 WORKPIECE ORIGIN MANUAL SETTING.............................................1381
13.3 TOOL LENGTH/WORKPIECE ORIGIN MEASUREMENT ......................1382
13.4 AUTOMATIC TOOL LENGTH MEASUREMENT (G37) ..........................1388
13.4.1 High-speed Measuring Position Reached Signal............................................... 1393
13.5 SKIP FUNCTION .....................................................................................1395
13.5.1 Skip Function..................................................................................................... 1395
13.5.2 High-speed Skip Signal ..................................................................................... 1400
13.5.3 Multi-step Skip .................................................................................................. 1401
13.5.4 Torque Limit Skip ............................................................................................. 1408
13.6 CHANGING ACTIVE OFFSET VALUE WITH MANUAL MOVE ..............1414
14 PMC CONTROL FUNCTION............................................................1422
14.1 PMC AXIS CONTROL .............................................................................1423
14.2 EXTERNAL DATA INPUT........................................................................1470
14.3 EXTERNAL WORKPIECE NUMBER SEARCH.......................................1486
14.4 KEY INPUT FROM PMC .........................................................................1490
APPENDIX
A INTERFACE BETWEEN CNC AND PMC ........................................1495
A.1 ADDRESS LIST .......................................................................................1496
A.1.1 PMC to NC ........................................................................................................ 1496
A.1.2 CNC to PMC ..................................................................................................... 1517
A.2 SIGNAL LIST ...........................................................................................1538
A.2.1 Signal List (in Order of Symbol)....................................................................... 1538
A.2.2 Signal List (in Order of Address) ...................................................................... 1610
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B-63783EN-1/01 1.AXIS CONTROL
1 AXIS CONTROL
-1-
1.AXIS CONTROL B-63783EN-1/01
1.1 NUMBER OF CONTROLLED AXES
General
Series 15i/150i
Item Standard Multiaxis
specification specification
Number of basic controlled axes 3
Extension of the number of 10 maximum 24 maximum
controlled axes (total) (including 2 Cs axes)
Number of basic simultaneous 2
controlled axes
Extension of the number of basic Up to the maximum number of controlled
simultaneous controlled axes axes
Alarm and message
Number Message Contents

PS0183 TOO MANY SIMULTANEOUS AXES A move command was specified for more axes than can be
controlled by simultaneous axis control.
Either add on the simultaneous axis control extension
option, or divide the number of programmed move axes into
two blocks.
Reference item
Series15i/150i-MB Operator’s Manual II-2.1 Number of controlled
(Programming) axes
(B-63784EN)
-2-
1.2 SETTING EACH AXIS
1.2.1 Axis Name
General
Those axes (including PMC-controlled axes) that are controlled by the
CNC must be named.
Axis names can be selected from X, Y, Z, A, B, C, U, V, and W (with
parameter No. 1020).
When parallel axis control, synchronization control, or tandem control
is used, the same axis name can be assigned to multiple axes. In this
case, a suffix like Xm or Xs can be assigned so that each axis can be
identified for current position display and alarm indication. Parameter
No. 1021 is used to assign a suffix to an axis name.
- Axis name extension function

When the optional axis name extension function is used, axis names I, J,
K, and E can also be used.
-3-
Parameter
1020 Program axis name for each axis
[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 65 - 90
The programmed axis name of each controlled axis is set according to the following
table:
Axis Setting
name
X 88
Y 89
Z 90
A 65
B 66
C 67
U 85
V 86
W 87
NOTE
1 When the option for tool axis direction tool length compensation
is provided, always set the A, B, or C value.
2 When the axis name extension function (option) is used, the
following addresses can be used as axis names:
Axis name Setting

I 73
J 74
K 75
E 69
-4-
1021 Subscripts of the axis names of parallel, synchronization control, and

tandem control axes

[Valid data range] 0-9, 65-90
To distinguish the axes controlled in parallel operation mode, synchronization
control mode, and tandem control mode, specify a suffix for each axis.
Setting Meaning
0 Set 0 for those axes not controlled in parallel
operation mode, synchronization control, or
tandem control.
1-9 A set number is used as a suffix.
65-90 A set alphabetic character (ASCII code) is used as
a suffix.
Example: For an axis whose axis name is X, the following will be indicated:
Setting Axis name indicated on screens such as

position display screen
0 X
1 X1
77 XM
83 XS
Note
NOTE
1 When the optional second auxiliary function is used,
those addresses that are specified in the second
auxiliary function cannot be used as axis names.
2 When the axis name extension function is used, the
second auxiliary function cannot be used.
Reference item
Series15i/150i-MB Operator’s Manual II-2.2 Axes name
(Programming)
(B-63784EN)
-5-
1.2.2 Increment System
General
The increment system depends on the combination of the least input
increment (input increment) and least command increment (output
increment). The least input increment is the least increment for the
programmed amount of movement. The least command increment is
the least increment for the amount of movement of the machine.
The unit of each least increment is mm, inch, or deg.
As indicated in Table 1.2.2(a), five increment systems are supported.
For each axis, an increment system can be set using bit 0 (ISA), bit 1
(ISC), bit 2 (ISD), or bit 3 (ISE) of parameter No. 1012. To switch
between metric input and inch input for the least input increment, a G
code (G20/G21) or bit 0 (INI) of parameter No. 0010 can be used.
Whether to use the metric system or inch system for the least command
increment is determined for each machine; bit 1 (INM) of parameter No.
1002 is used to select either the metric system or inch system.
A combination of the metric system and inch system is not allowed.
Some functions (such as circular interpolation and cutter
compensation) cannot be used for axes for which different increment
systems are used.
IS-D and IS-E are optional.
NOTE
The unit (mm, inch) in the table is a diameter value
for diameter specification (with bit 3 (DIA) of
parameter No. 1006 set to 1); for radius
specification, the unit is a radius value.
Table. 1.2.2 (a) Increment Systems

Increment Least input Least command Maximum stroke
system name increment increment
0.01 mm 0.01 mm 999999.99 mm
IS-A 0.001 inch 0.001 inch 99999.999 inch
0.01 deg 0.01 deg 999999.99 deg
0.001 mm 0.001 mm 99999.999 mm
IS-B 0.0001 inch 0.0001 inch 9999.9999 inch
0.001 deg 0.001 deg 99999.999 deg
0.0001 mm 0.0001 mm 9999.9999 mm
IS-C 0.00001 inch 0.00001 inch 999.99999 inch
0.0001 deg 0.0001 deg 9999.9999 deg
0.00001 mm 0.00001 mm 9999.99999 mm
IS-D 0.000001 inch 0.000001 inch 999.999999 inch
0.00001 deg 0.00001 deg 9999.99999 deg
0.000001 mm 0.000001 mm 999.999999 mm
IS-E 0.0000001 inch 0.0000001 inch 99.9999999 inch
0.000001 deg 0.000001 deg 999.999999 deg
-6-
When bit 0 (IM0) of parameter No. 1013 for increasing the input
increment 10 times is set to 1, and a command is issued without
specifying the decimal point, each increment system is as indicated in
Table 3.2.2(b).
Table. 1.2.2 (b)

Increment Least input Least command Maximum stroke
system name increment increment
0.01 mm 0.001 mm 99999.999 mm
IS-B 0.001 inch 0.0001 inch 9999.9999 inch
0.01 deg 0.001 deg 99999.999 deg
0.001 mm 0.0001 mm 9999.9999 mm
IS-C 0.0001 inch 0.00001 inch 999.99999 inch
0.001 deg 0.0001 deg 9999.9999 deg
0.0001 mm 0.00001 mm 9999.99999 mm
IS-D 0.00001 inch 0.000001 inch 999.999999 inch
0.0001 deg 0.00001 deg 9999.99999 deg
0.00001 mm 0.000001 mm 999.999999 mm
IS-E 0.000001 inch 0.0000001 inch 99.9999999 inch
0.00001 deg 0.000001 deg 999.999999 deg
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 INI
[Input type] Setting input

[Data type] Bit
#0 INI Specifies whether the increment system is metric or in inches.

0: Metric input
1: Inch input
#7 #6 #5 #4 #3 #2 #1 #0
1002 INM
NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

[Data type] Bit
-7-
#1 INM Specifies whether the least command increment for the linear axis is
metric or in inches.
0: Metric. (The machine is a millimeter machine.)
1: Inches. (The machine is an inch machine.)
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA

[Data type] Bitaxis
NOTE
#3 DIA Move commands for each axis are specified using:

0: Radius specification
1: Diameter specification
If bit 5 (PDC) of parameter No. 1001 is 1, DIA has the following meaning:
The scale of the parameter, offset, and graphic screens is indicated using:
#7 #6 #5 #4 #3 #2 #1 #0
1012 ISE ISD ISC ISA

[Data type] Bitaxis
NOTE
-8-
#0 ISA
#1 ISC
#2 ISD
#3 ISE Increment system for each axis
Increment system #3 ISE #2 ISD #1 ISC #0 ISA

IS-A 0 0 0 1
IS-B 0 0 0 0
IS-C 0 0 1 0
IS-D 0 1 0 0
IS-E 1 0 0 0
#7 #6 #5 #4 #3 #2 #1 #0
1013 IM0

[Data type] Bitaxis
#0 IM0 Specifies whether to set the least input increment of each axis to ten
times the least command increment when a command is issued without
the decimal point.
0: Do not set to ten times the least command increment.
1: Set to ten times the least command increment.
When IS-A is used as the increment system, the least input increment
cannot be set to ten times the least command increment.
Reference item
Series15i/150i-MB Operator’s Manual II-2.3 Increment system
(Programming)
(B-63784EN)
-9-
1.2.3 Rotation Axis Specification
General
Whether an axis is to be set as a linear axis or rotation axis can be
specified on an axis-by-axis basis with bit 0 (ROT) of parameter No.
1006. For an axis set as a rotation axis by ROT, the inch/metric
conversion function is disabled.
Whether a machine coordinate system for stroke checking and
automatic reference position return is to be of linear axis type or
rotation axis type can be specified on an axis-by-axis basis with bit 1
(ROS) of parameter No. 1006. When rotation axis type is specified, the
machine coordinate system is normalized within the angular
displacement per rotation specified in parameter No. 1260.
With the rotation axis roll-over function, displayed absolute coordinate

values can be rounded to the angular displacement per rotation
specified in parameter No. 1260 to prevent the rotation axis coordinate
values from overflowing. For details, see the description of the rotation
axis roll-over function.
Displayed relative coordinate values can be rounded to the angular

displacement per rotation only when the multi-rotary axis control
function is used. For details, see the description of the multi-rotary axis
control function.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROP ROS ROT

[Data type] Bitaxis
NOTE
#0 ROT Specifies whether the axis requires inch/metric conversion.

0: Axis requires inch/metric conversion (linear axis).
1: Axis does not require inch/metric conversion (rotation axis).
- 10 -
#1 ROS Specifies whether the machine coordinate system used for stroke check
and automatic reference position return is linear or rotational.
0: Linear (linear axis)
1: Rotation (rotation axis)
For a rotation axis, the machine coordinate system is normalized within
the angular displacement per rotation specified for parameter No. 1260.
In this case, automatic reference position return (G28, G30) is performed
in the same direction as manual reference position return and the
angular displacement does not exceed 360 degrees. Also see the item on
parameter No. 1260.
#2 ROP Specifies whether the machine coordinate system used to perform the
retained pitch error compensation is linear or rotational.
When the coordinate system used is rotational, up to the angle which
corresponds to one cycle of retained pitch error compensation data can be
specified. This allows pitch compensation to be performed for pitch
compensation cycles of other than 360 degrees. Also see the item on
parameter No. 5425.
#7 #6 #5 #4 #3 #2 #1 #0
1009 ROL

[Data type] Bitaxis
#2 ROL Specifies whether the roll-over function for a rotation axis is executed.
0: Not executed.
1: Executed.
NOTE
This bit is valid only for a rotation axis.
- 11 -
1260 Angular displacement about the rotation axis when the connected motor
rotates one turn
NOTE

[Data type] Realaxis
[Unit of data] degree
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard
parameter setting table (B))
(When the increment system is IS-B, 0.0 - +999999.999)
Set the angular displacement about the rotation axis when the connected
motor rotates one turn.
- 12 -
5425 Angular displacement per rotation in rotation-axis pitch error compensation
NOTE

[Unit of data] mm, inch, degree (machine unit)
[Valid data range] See the description below.
For rotation-axis pitch error compensation (with bit 2 (ROP) of parameter No. 1006
set to 1), set angular displacement per rotation for each axis. The angular
displacement per rotation need not always be 360 degrees. The period in rotation-
axis pitch error compensation can be set.
The angular displacement per rotation, compensation interval, and number of

compensation points must satisfy the following equation:
Angular displacement per rotation

= compensation interval x number of compensation points
The sum of the compensation values per rotation must always be 0.
(Ex) Rotary-axis type pitch error compensation
Comp. point 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
Comp. value
+1 +1 +2 -1 -2 -2 -2 -1 +2 +1 -2 -1 +1 +1 +2
In this case the set values are as follows.
Data no. 5420 5421 5422 5423 5424 5425

Value 10 11 25 1 24.0 360.
Reference item
Series15i/150i-MB Operator’s Manual II-19.7 Rotation axes roll over
(Programming) II-19.8 Multiple-axes rotary
(B-63784EN) axes control
Series15i/150i- Connection Manual 1.6.3 Rotation axes roll over
MODEL B (This manual) 11.9 Multiple-axes rotary
axes control
- 13 -
1.2.4 Controlled Axes Detach
General
These signals release the specified control axes from control.
When attachments are used (such as a detachable rotary table), these
signals are selected according to whether the attachments are mounted.
The signals can also be used for switching the C axis and spindle on
lathes.
When multiple rotary tables are used in turn, the tables must use motors
of the same model. Absolute pulse coders cannot be used.
Signal
Controlled axis detach signals

DTCH1<G64#7>, DTCH2<G68#7> , ...
[Classification] Input signal
[Function] These signals detach the control axes from control.
These signals are provided for each control axis; the affixed number of
the signal name shows the control axis number.
DTCHx
x: 1 ..... The 1st axis is detached.
2 ..... The 2nd axis is detached.
3 ..... The 3rd axis is detached.
: :
: :
[Operation] When the signals are 1, the control unit operates as follows:
(1) Position control is not executed at all. Servo motor excitation is
cut.
(2) Servo alarm on the axis is ignored.
(3) Axis interlock signal is assumed to be zero on the detached axis.
(4) A command for automatic or manual operation is effective for the
axis,
but do not execute the command. The command is accepted but
the operation is restrained, because the axis interlock is 0. In an
automatic operation, the execution may stop and hold at the block.
(5) Position display also displays the position of the detached axis.
- 14 -
Controlled axis detach status signals

MDTCH1<F64#7>, MDTCH2<F68#7>, ...
[Classification] Output signal
[Function] These signals notify the PMC that the corresponding axes have been
released from control.
These signals are provided for each control axis; the affixed number of
the signal name shows the control axis number.
MDTCHx
x: 1 ..... The 1st axis is detached.
2 ..... The 2nd axis is detached.
3 ..... The 3rd axis is detached.
: :
: :
[Output condition] These signals are 1 in the following case:

- When the corresponding axes are released from control
These signals are 0 in the following case:
- When the corresponding axes are under control
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 DTCH1
F064 MDTCH1
The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0012 RMV

[Data type] Bitaxis
#7 RMV For each axis, specifies whether to detach the shaft corresponding to the
control axis.
0: Do not detach.
1: Detach.
(Equivalent to the control axis detach signals DTCH1, DTCH2, and so on.)
Effective when RMB (bit 7 of parameter No. 1005) is set to 1.
- 15 -
#7 #6 #5 #4 #3 #2 #1 #0
1005 RMB

[Data type] Bitaxis
#7 RMB For each axis, specifies whether the control axis detach signal and setting
input RMV (bit 7 of parameter No. 0012) is valid.
0: Invalid.
1: Valid.
#7 #6 #5 #4 #3 #2 #1 #0
1009 MCC

[Data type] Bitaxis
#5 MCC If the controlled axis is detached, the MCC signal of the servo amplifier is:
0: Turned OFF.
1: Not turned OFF.
If the controlled axis is detached when this parameter bit is 1, the servo motor is
deactivated, but the MCC signal of the servo amplifier is not turned OFF.
If the controlled axis of one motor is detached when a 2- or 3-axis amplifier is used,
this parameter bit prevents the other un-detached controlled axes from causing alarm
SV013 (IMPROPER V_READY OFF).
If, however, the connection between the CNC and the servo is released for the
detached controlled axis, alarm SV013 will be issued because of the nature of a
multiaxis amplifier.
NOTE
1 Regardless of the setting of this parameter bit (bit 5 of parameter
No. 1009), reference position return must be performed on the
removed controlled axis before the next move command.
If the next move command is executed without performing
reference position return first, P/S alarm No. 181 will be issued.
ZRN, bit 0 of parameter No. 1005, can prevent P/S alarm No. 181
from being issued.
2 Those controlled axes on which absolute-position detection is
performed (APC, bit 5 of parameter No. 1815 = 1) cannot be
removed.
3 For axes other than those of a multiaxis amplifier, set this
parameter bit, bit 5 of parameter No. 1009, to 0.
- 16 -
Caution
CAUTION
When a 2-axis or 3-axis amplifier is used, releasing
only one axis from control results in the output of
SV013 (V ready off). Use 1-axis amplifiers for those
axes to be released from control, e.g., by replacing
the rotary table.
Note
NOTE
1 Controlled axis detach signals DTCH1 <G64#7>,
DTCH2 <G68#7>, DTCH3 <G72#7>, 0 can be
changed from 1 to 0 or from 0 to 1 when the power is
first turned on or when no movement is being
executed along the corresponding axis. If these
signals are changed from 0 to 1 when the tool is
moving along the corresponding axis, the axis is
released from control upon completion of the
movement.
2 For these signals to be attached, parameter No.
1005#7 must be set, indicating the axes are
detachable.
3 Setting parameter No. 0012#7 from the MDI panel
detaches the axes in the same way as these signals.
4 Those axes that are released from control lose their
reference positions. Reference position return
must, therefore, be performed for the axes prior to
executing move commands for the axes. Specifying
a move command before reference position return
has been performed causes alarm PS181 to be
output (the alarm can be disabled by setting bit 0
(ZRN) of parameter 1005).
- 17 -
1.2.5 Outputting the Movement State of an Axis
General
The movement state of each axis can be output to the PMC.
Signal
Axis moving signals

MV1<F64#2>, MV2<F68#2>, ...
[Function] These signals indicate that a control axis is moving. The signals are
provided for each control axis, and the number in the signal name
corresponds to the control axis number.
MVx
x: 1 ..... The 1st axis is moving.
2 ..... The 2nd axis is moving.
3 ..... The 3rd axis is moving.
: :
: :
[Output condition] The signals turn to "1" in the following cases:
- The corresponding axis has started moving.
- In manual handle feed mode, the handle feed axis of the
corresponding axis has been selected.
The signals turn to "0" in the following case:
- When deceleration for the corresponding axis has been completed
and the axis is set to the in-position condition.
Axis moving direction signals
MD1<F64#3>, MD2<F68#3>, ...
[Function] These signals indicate the movement direction of control axis. They are
provided for each control axis, and the number in the signal name
corresponds to the control axis number.
MDx
x: 1 ..... The moving direction of the 1st axis is minus.
2 ..... The moving direction of the 2nd axis is minus.
3 ..... The moving direction of the 3rd axis is minus.
: :
: :
[Output condition] "1" indicates the corresponding axes are moving
in the minus direction, and "0" indicates they are moving in the plus
direction.
- 18 -
CAUTION
1 These signals maintain their existing condition during
a stop, indicating the direction of the axes' movement
before being stopped.
2 In the case of manual handle interrupt and
simultaneous automatic and manual operation, the
direction depends on the sum of both move
commands.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F064 MD1 MV1
the Appendix A.1.
Caution
CAUTION
Axis moving signals and axis moving direction signals
are output in both automatic and manual operations.
- 19 -
1.2.6 Mirror Image
General
Mirror image can be applied to each axis, either by signals or by
parameters (setting input is acceptable). All movement directions are
reversed during automatic operation along axes to which a mirror
image is applied.
X
B
A
B’ Y
0
When MI1 signal turned to "1" at point A
Mirror image
However, the following directions are not reversed:

- Direction of manual operation and direction of movement, from
the intermediate position to the reference position during
automatic reference position return
- Positioning in a machine coordinate system (G53)
- Approach direction for single direction positioning (G60) and
shift direction for boring cycles (G76 and G87)
Mirror image check signals indicate whether mirror image is applied to
each axis. System variable #3007 contains the same information (refer
to the Sec.II-17.2 in Operator's Manual (Programming)).
Signal
Mirror image signal

MI1<G65#2>, MI2<G69#2>, ...
[Function] Apply mirror image to the specified axes.
[Operation] Apply mirror image to those axes for which the signals are 1. These
signals are provided for the controlled axes on a one-to-one basis. A
number appended to a signal represents the controlled axis number.
MIx
x: 1 ..... Applies mirror image to the 1st axis.
2 ..... Applies mirror image to the 2nd axis.
3 ..... Applies mirror image to the 3rd axis.
: :
The mirror image signal can be turned to "1" in the following cases:
(1) During offset cancel;
(2) When the CNC is in the automatic operation stop state and not in
the feed hold state.
- 20 -
Mirror image check signal

MMI1<F65#0>, MI2<F69#0>, ...
[Function] These signals indicate the mirror image condition of each axis. The
mirror image is set by taking the logical sum of the signal from the MDI
panel and the input signal of the machine tool, then relaying the
information to the machine tool.
These signals are provided for every control axis; the numeral in the
signal name indicates the relevant control axis number.
MMIx
x: 1 ..... Mirror image is applied to the 1st axis
2 ..... Mirror image is applied to the 2nd axis
3 ..... Mirror image is applied to the 3rd axis
: :
[Output condition] These signals turn to "1" when:
- Mirror image signal MIn of the corresponding axis is "1"; or
- Mirror image of the corresponding axis is turned on by setting
data from the MDI panel.
These signals turn to "0" when:
- Mirror image signal (MIn) of the corresponding axis is "0" and the
setting of the mirror image in the control unit is turned off.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G065 MI1
F065 MMI1
the Appendix A.1.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0012 MIR

[Data type] Bitaxis
#0 MIR For each axis, specifies whether to use its mirror image.
0: Do not use mirror image (normal).
1: Use mirror image (mirror).
- 21 -
Caution
CAUTION
1 When programmable mirror image and ordinary
mirror image are specified at the same time,
programmable mirror image is applied first.
2 No programmable mirror image affects mirror image
check signals.
3 Even when the mirror image is applied, commands
which do not actuate mirror image (such as automatic
reference position return and manual operation) do
not affect mirror image check signals
- 22 -
1.2.7 Follow-up
General
If the machine moves in the state in which position control on
controlled axes is disabled (during servo-off, emergency stop, or servo
alarm), feedback pulses are accumulated in the error counter. The
CNC reflects the machine movement corresponding to the error count
in the current position managed by the CNC. This operation is referred
to as follow-up. When follow-up is performed, the current position
managed by the CNC does not shift from the actual machine position.
You can select whether to perform follow-up for axes for which the
servo is turned off.
Follow-up is always performed during emergency stop or a servo
alarm.
- When follow-up is not performed for the axes for which the servo is turned off
When bit 2 (FVF) of parameter No. 1800 is set to 0, and bit 3 (FUP) of
parameter No. 1802 for the axis is set to 0,follow-up is not performed.
This means that pulses remain in the error counter as a servo error.
In this case, the machine moves to compensate for the error when the
servo off signal changes to 1.
In general, follow-up is not used if the machine is mechanically
clamped when position control is disabled for the controlled axes.
- When follow-up is performed for the axes for which the servo is turned off
When bit 2 (FVF) of parameter No. 1800 is set to 1, or bit 3 (FUP) of
parameter No. 1802 is set to 1, follow-up is performed.
This means that the issue of a command that matches the machine
movement is assumed, and the current position managed by the CNC is
moved so that the error counter becomes 0.
In this case, even when the servo off signal returns to 1, the machine
remains displaced, but the current position managed by the CNC moves
to match the machine position. So, the next absolute command causes
movement to the correct position.
In general, when the machine is moved by driving the motors with
mechanical handles, make a setting to perform follow-up.
- 23 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1800 FVF

[Data type] Bit
#2 FVF Specifies whether to perform follow-up in the servo-off mode.

0: Does not perform follow-up (mechanical clamp in the servo off mode).
1: Performs follow-up (mechanical handle in the servo off mode).
#7 #6 #5 #4 #3 #2 #1 #0
1802 FUP

[Data type] Bitaxis
#3 FUP Whether follow-up is performed for each axis when the servo is turned off
0: Not performed.
1: Performed.
Effective when FVF (bit 2 of parameter No. 1800) is 0.
Reference item
Series15i/150i- Connection Manual 1.2.8 Servo off (mechanical
MODEL B (This manual) handle)
- 24 -
1.2.8 Servo Off (Mechanical handle)
General
Place the controlled axes in the servo off state; that is, they stop the
current to the servo motor, which disables position control. However,
the position detection feature functions continuously, so the current
position is not lost. These signals are used to prevent the servo motors
from overloading when the tools on the axes are mechanically clamped
under certain machining conditions on the machine, or to move the
machine by driving the motors by mechanical handles.
Signal
Servo off signal

*SVF1<G64#6>, *SVF2<G68#6>, ...
[Function] Select whether to place each axis in the servo off state.
These signals are provided for the controlled axes on a one-to-one
basis.
A number appended to a signal represents a controlled axis number.
*SVFx
x: 1 ..... Servo off for the first axis
2 ..... Servo off for the second axis
3 ..... Servo off for the third axis
: :
: :
[Operation] Resetting this signal to 0 specifies the servo-off state (no current is
supplied to the servo motor). Positioning control is disabled, but
position detection remains enabled; so the machine position is not lost.
This signal is valid only when parameter SVF (bit 1 of parameter No.
1802) is set to 1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 *SVF1
The address above is the signal address for the first axis.
the address table in Appendix A.
- 25 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1802 SVF

[Data type] Bitaxis
#1 SVF Specifies whether to validate the servo off signal.

0: Does not validate the servo off signal.
1: Validates the servo off signal.
Caution
CAUTION
1 In general, interlock is applied to an axis while the
servo off signal for that axis is 0.
2 When one of these signals turns to "1", the servo
motor is turned off. The mechanical clamp is done
by using the auxiliary function. Set the timing for the
auxiliary function, mechanical clamp and servo off
signals as shown in the diagram below. The clamp
command auxiliary function should be executed only
after the distribution end signal (DEN) turned to "1".
Clamp command Unclamp command

MF
Machine clamp
*SVF1
Servo off state
FIN
Reference item
Series15i/150i- Connection Manual 1.2.7 Follow-up
MODEL B (This manual)
- 26 -
1.2.9 Position Switch
General
Position switch signals can be output to the PMC while the machine
coordinates along a controlled axes are within a specified ranges.
Using parameters, specify arbitrary controlled axes and machine
coordinate operating ranges for which position switch signals are
output.
Up to 10 position switch signals can be output.
Signal
Position switch signal

PSW01 to PSW10 <F164#0 to F164#7, F165#0, F165#1>
[Function] Notifies that the machine coordinates along the controlled axes
specified by parameters (5270 to 5279) are within the ranges specified
by parameters (5280 to 5289 and 5290 to 5299). Up to ten position
switch signals can be output.
The position switch signal corresponding to the n-th position switch
function is PSWn (n: 1 to 10)
[Output condition] These signals are 1 in the following case:
- When the machine coordinates along the controlled axes are
within the specified ranges.
These signals are 0 in the following case:
- When the machine coordinates along the controlled axes are not
within the specified ranges.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F164 PSW08 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01
F165 PSW10 PSW09
Parameter
- Enabling/disabling the position switch function

#7 #6 #5 #4 #3 #2 #1 #0
5200 POS

[Data type] Bit
#1 POS Specifies whether to enable the position switch function.

0: Disabled.
1: Enabled.
- 27 -
- Setting the correspondence between position switch signals and controlled axes
5270 Controlled axis for which the tenth position switch function is performed
(PSWA01)
5271 Controlled axis for which the 2-nd position switch function is performed
(PSWA02)
5272 Controlled axis for which the 3-rd position switch function is performed
(PSWA03)
5273 Controlled axis for which the 4-th position switch function is performed
(PSWA04)
(PSWA05)
(PSWA06)
(PSWA07)
(PSWA08)
(PSWA09)
(PSWA10)

[Data type] Integer
[Valid data range] 0 - Max axes
Set the controlled axis number corresponding to one of the first to tenth
position switch functions. When the machine coordinate of the
corresponding axis is within a parameter-set range, the corresponding
position switch signal is output to the PMC. The position switch signal
corresponding to the n-th position switch function is PSWn (n: 1 to 10).
NOTE
The setting of 0 means that the position switch function of the
number is not used.
- 28 -
- Setting of position switch operating ranges
- Maximum value
5280 Maximum value of the operating range of the 1-st position switch (PSW101)
5281 Maximum value of the operating range of the 2-nd position switch (PSW102)
5282 Maximum value of the operating range of the 3-rd position switch (PSW103)
5283 Maximum value of the operating range of the 4-th position switch (PSW104)
5289 Maximum value of the operating range of the tenth position switch (PSW110)

[Data type] Real
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting
table(A))
(When the increment system is IS-B, -999999.999 - +999999.999)
Set the maximum value of the operating range of the first to tenth position
switches.
- 29 -
- Minimum value
5290 Minimum value of the operating range of the 1-st position switch (PSW201)
5291 Minimum value of the operating range of the 2-nd position switch (PSW202)
5292 Minimum value of the operating range of the 3-rd position switch (PSW203)
5293 Minimum value of the operating range of the 4-th position switch (PSW204)

[Data type] Real
table(A))
Set the minimum value of the operating range of the first to tenth position switches.
NOTE
1 For a diameter-specified axis, use radius values to specify the
parameters used to set the maximum and minimum values of an
operating range.
2 The position switch function is enabled upon completion of
reference position return.
- 30 -
1.2.10 Vertical Axis Drop Prevention Function
Overview
If the machine is brought to an emergency stop and the power for a
servo motor is turned off, the machine applies a brake to the axis
corresponding to the stopped servo motor. If the power for the servo
motor of a vertical axis is turned off before a brake is applied to it
sufficiently, the vertical axis will drop. To solve this problem, it is
possible to defer turning off the power until a brake is applied
sufficiently.
Parameters are used to specify the axis for which turning off the power
is to be deferred and how much to defer. This function can be used
when the machine is brought to an emergency stop and when a servo
alarm occurs on a nonvertical axis. If a servo alarm occurs on a vertical
axis, turning off the power for its servo motor will not be deferred.
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1883 BCL

[Data type] Bit axis
#6 BCL Specifies whether to enable the vertical axis drop prevention function as
follows:
0: Does not defer turning off the power (disable the function).
1: Defers turning off the power (enable the function).
1976 Power-off delay

[Data type] Integer axis
[Unit of data] msec
[Valid data range] 0 to 16000
Specifies how much to defer turning off the power.
- 31 -
Limitations
If a vertical axis and a nonvertical axis are connected to the same
multiaxis amplifier, the multiaxis amplifier turns off the power for the
vertical axis at the same time that the power for the nonvertical axis is
turned off. This prevents the vertical axis drop prevention function
from functioning normally.
A vertical axis should be connected to a single-axis amplifier as much
as possible.
If it is impossible to use a single-axis amplifier for a vertical axis,
connect vertical axes having the same delay time to a multiaxis
amplifier. If a nonvertical axis and vertical axis are connected to the
same multiaxis amplifier, enable the vertical axis drop prevention
function even for the nonvertical axis, and set the nonvertical axis with
the same delay time as for the vertical axis.
- 32 -
1.3 ERROR COMPENSATION
1.3.1 Stored Pitch Error Compensation
Overview
If pitch error compensation data is specified, pitch errors of each axis
can be compensated in detection unit per axis.
Pitch error compensation data is set for each compensation position at
the intervals specified for each axis. The origin of compensation is the
reference position to which the tool is returned.
Pitch error compensation data can be set with external devices such as
the Handy File. Compensation data can also be set directly with the
MDI panel.
To specify the correspondence between compensation positions and
machine coordinates, the five parameters below must be set.
In the following example, 33 is set for the pitch error compensation
number at the reference position.
Pitch error compensation value (absolute value)

Compensation number for
Compensation number for the 3 the compensation position
reference position (No. 5420) having the largest value
(No. 5422)
2
31 32 33 34 35 36 37
Reference position
-1
Compensation magnification
parameter (No. 5423)
-2
Compensation number for the Compensation interval
compensation position having the parameter (No. 5424)
smallest value (No. 5421)
Compensation
position number 31 32 33 34 35 36 37
Compensation
value to be set -3 +1 +1 +1 +2 -1 -3
- Number of the pitch error compensation position at the reference

position (for each axis) Parameter (No.5420)
- Number of the pitch error compensation position having the
smallest value (for each axis) Parameter (No.5421)
largest value (for each axis) Parameter (No.5422)
- Pitch error compensation magnification (for each axis)
Parameter (No.5423)
- Interval of the pitch error compensation positions (for each axis)
Parameter (No.5424)
- 33 -
Procedure for displaying and setting the pitch error compensation data
1 Set the following parameters:
- Number of the pitch error compensation position at the
reference position (for each axis): Parameter(No.5420)
smallest value (for each axis): Parameter(No.5421)
largest value (for each axis): Parameter(No.5422)
- Pitch error compensation magnification (for each axis):
Parameter(No.5423)
- Interval of the pitch error compensation positions (for each
axis): Parameter(No.5424)
2 Press function key SYSTEM
.
3 Press the continuous menu key , then press chapter selection
soft key [PITCH].
The following screen is displayed:
Fig. 1.4 (a)

4 Move the cursor to the compensation position number to be set in
either of the following ways:
- Enter the compensation position number and press the
[NO.SRH] soft key.
- Move the cursor to the compensation position number using
PAGE
the page keys, PAGE

and , and cursor keys,
, , , and .
5 Enter a value with numeric keys and press the [INPUT] soft key.
- 34 -
Explanation
- Specifying the compensation position

To assign the compensation positions for each axis, specify the positive
direction or the negative direction in reference to the compensation
position No. of the reference position. If the machine stroke exceeds
the specified range on either the positive direction or the negative
direction, the pitch error compensation does not apply beyond the
range.
- Compensation position number

1280 compensation positions from No. 0 to 1279 are available on the
pitch error setting screen. When a system with 11 or more controlled
axes is used, a total of 3072 points (from 0 to 3071) are available.
Assign arbitrary positions for each axis using parameters. The number
of the compensation position at the reference position (parameter 5420),
number of the compensation position having the smallest value
(parameter 5421), and number of the compensation position having the
largest value (parameter 5422) must be set for each axis.
Example
- For linear axis

- Machine stroke: -400 mm to +800 mm
- Interval between the pitch error compensation positions: 50 mm
- No. of the compensation position of the reference position: 40
If the above is specified, the No. of the farthest compensation position
in the negative direction is as follows:
No. of the compensation position of the reference position- (Machine
stroke on the negative side/Interval between the compensation
positions) + 1= 40 - 400/50 + 1= 33
No. of the farthest compensation position in the positive direction is as
follows:
No. of the compensation position of the reference position +
(Machine stroke on the positive side/Interval between the
compensation positions)= 40 + 800/50= 56
The correspondence between the machine coordinate and the
compensation position No. is as follows:
-400 -350 -100 -50 0 50 100 750 800

Machine
coordinate
(mm)
Compensati
on position
number. 33 39 40 41 42 56
Compensation values are output at the positions indicated by .
- 35 -
Therefore, set the parameters as follows:

Parameter Setting value
5420 : Compensation number for the reference position 40
5421 : Smallest compensation position number 33
5422 : Largest compensation position number 56
5423 : Compensation magnification 1
The compensation amount is output at the compensation position No.

corresponding to each section between the coordinates.
The following is an example of the compensation amounts.
No 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 56
Compensation
value +2 +1 +1 -2 0 -1 0 -1 +2 +1 0 -1 -1 -2 0 +1 +2 1
Pitch error compensation value

+4 ( )
+3
+2
+1
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
``
-400 -300 -200 -100 0 100 200 300 400 (mm)
-1
-2
Reference
position -3
-4
- For rotary axis

- Amount of movement per rotation: 360 deg
- Interval between pitch error compensation positions: 45 deg
- No. of the compensation position of the reference position: 60
If the above is specified, the No. of the farthest compensation position
in the negative direction for the rotating axis is always equal to the
compensation position No. of the reference position.
The No. of the farthest compensation position in the positive direction
is as follows:
No. of the compensation position of the reference position + (Move
amount per rotation/Interval between the compensation positions)
= 60 + 360/45= 68
The correspondence between the machine coordinate and the
compensation position No. is as follows:
- 36 -
Reference position 0.0
45.0 315.0
(61) (68)
(62) (67)
(+)
90.0 270.0
(63) (66)
(64) (65)
135.0 225.0
Compensation values are output at the
180.0 positions indicated by .
Therefore, set the parameters as follows:
Parameter Setting
5420: Compensation No. of reference position 60
5421: Largest minus compensation point No. 61
5422: Largest plus compensation point No. 68
5423: Compensation factor 1
5424: Compensation point interval 45.000 deg
If the sum of the compensation values for positions 61 to 68 is not 0,

pitch error compensation values are accumulated for each rotation,
causing positional deviation.
The following is an example of compensation amounts.
No. 60 61 62 63 64 65 66 67 68
0 -2 +1 +3 -1 -1 -3 +2 +1
Pitch error compensation

+4 (absolute value)
+3 Reference
position
+2
68 68
+1
61 62 63 64 65 66 67 61 62 63 64 65 66 67 61 62
45 90 135 225 270315 0 45 90 135 225 315 0 45 90 (deg)
180 180 270
-1
-2
-3
-4
- 37 -
Parameter
5420 Number of pitch error compensation point of reference position for each axis
NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

[Valid data range] 0 to [128 * (number of control axes) – 1]
From 0 through 1279 or from 0 through 3071 depending on the number
of controlled axes is less than or equal to 10 or greater than 10,
respectively.
Set the number of the pitch error compensation point corresponding to the reference
position for each axis.
In rotation-axis pitch error compensation, a compensation point number is basically

set with the 0-degree point (machine zero point) set as the reference position. If
the reference position is not located at the 0-degree point (machine zero point), set
parameters as follows:
- Set the parameter (No. 5424) specifying the interval between pitch error
compensation points so that the reference position is an integral multiple of the
interval away from the 0-degree point (machine zero point)
- Set the parameter (No. 5422) specifying the number of the farthest
compensation point in the positive direction so that it specifies the 360-degree
(= 0-degree) point.
- Set the parameter (No. 5425) specifying angular displacement per rotation to
360 degrees.
- 38 -
5421 Number of pitch error compensation point with the largest negative value for
each axis
NOTE

respectively.
Set the number of the pitch error compensation point with the largest negative value
for each axis.
In rotation-axis pitch error compensation, assign the number of the farthest
pitch error compensation point in the negative direction to a compensation point
positioned next to the 0-degree point in the positive direction. If the
reference position is at 0 degrees (machine zero point), the compensation point
for the 0-degree point can be set to the farthest compensation point in the
negative direction (that is, the same number as for the compensation point for
the reference position).
- 39 -
5422 Number of pitch error compensation point with the largest positive value for
each axis
NOTE

respectively.
Set the number of the pitch error compensation point with the largest positive
value for each axis.
NOTE
A value greater than the setting of parameter No. 5420 must be
set.
5423 Magnification of pitch error compensation for each axis
NOTE

Set the magnification of pitch error compensation for each axis.
When 1 is set as the magnification of pitch error compensation, the unit
for compensation data is the same as the detection unit.
- 40 -
5424 Interval of pitch error compensation points for each axis
NOTE

[Valid data range] See the following descriptions.
Pitch error compensation points are set at regular intervals. Set this interval for
each axis.
The minimum interval of pitch error compensation points is determined from the
following equation:
Minimum interval = maximum feedrate/7500
Unit : mm, inch, deg or mm, min, inch, min, deg/min
Example: When the maximum feedrate is 15000 mm/min, the minimum interval
of pitch error compensation points is 2 mm.
- 41 -
NOTE

For rotation-axis pitch error compensation (with bit 2 (ROP) of parameter No. 1006
set to 1), set angular displacement per rotation for each axis. The angular
displacement per rotation need not always be 360 degrees. The period in rotation-
axis pitch error compensation can be set.
The angular displacement per rotation, compensation interval, and number of

compensation points must satisfy the following equation:
Angular displacement per rotation = compensation interval x number of

compensation points
- 42 -
Caution
CAUTION
- Compensation value range
Compensation values can be set within the range from
-7 x compensation magnification (detection unit) to
+7 x compensation magnification (detection unit).
The compensation magnification can be set for each axis
within the range from 0 to 100 in parameter 5423.
- Intervals of compensation positions
The pitch error compensation positions are arranged with
equally spaced. Set the space between two adjacent
positions for each axis to the parameter (No. 5424).
- Pitch error compensation of the rotary axis
For the rotating axis, the interval between the pitch error
compensation positions shall be set to one per integer of
the amount of movement (normally 360 deg) per rotation.
The sum of all pitch error compensation amounts per
rotation must be made to 0. Also, set the same
compensation value to a position and the same position
with one rotation.
- Conditions where pitch error compensation is not
performed
Note that the pitch error is not compensated in the
following cases:
- When the machine is not returned to the reference
position after turning on the power. This excludes the
case where an absolute position detector is employed.
- If the interval between the pitch error compensation
positions is 0.
- If the compensation position Nos. on the positive or
negative direction do not fall within the range of 0 to [128
x (number of control axes)-1].
- If the compensation position Nos. do not conform to the
following relationship:
Negative side ≤ Reference position < Positive side
(Except when, in rotation-axis pitch error compensation,
the number of the farthest pitch error compensation
point in the negative direction is assigned to a
compensation point positioned next to the 0-degree
point in the positive direction if the reference position is
at 0 degrees (machine zero point))
Reference item
Series15i/150i-MB Operator’s Manual II-9.7 Dispaly and setting the
(Operation) pitch error
(B-63784EN-1) compensation data
- 43 -
1.3.2 Backlash Compensation
General
- Backlash compensation
Function for compensating for lost motion on the machine. Set a
compensation value in parameter No. 1851, in detection units from 0 to
±9999 pulses for each axis.
- Backlash compensation for each rapid traverse and cutting feed
More precise machining can be performed by changing the backlash

compensating value depending on the feedrate, the rapid traverse or the
cutting feed.
Let the measured backlash at cutting feed be A and the measured
backlash at rapid traverse be B. The backlash compensating value is
shown below depending on the change of feedrate (cutting feed or
rapid traverse) and the change of the direction of movement.
Change of Cutting Rapid Rapid Cutting
feedrate feed to traverse traverse feed to
cutting to rapid to cutting rapid
Change feed traverse feed traverse
of direction of
movement
Same direction 0 0 ±α ±(-α)
Opposite direction ±A ±B ±(B+α) ±(B+α)
Stopped during cutting feed Stopped during rapid traverse
α α
A → B →
α : Overrun
- α= (A-B)/2
- The positive or negative direction for compensating values is the
direction of movement.
- Assign the measured backlash at cutting feed (A) in parameter No.
1851 and that at rapid traverse (B) in parameter No. 1849.
- 44 -
Procedures for measuring the backlash compensation amounts during

cutting feed and rapid traverse
- Backlash compensation amount during cutting feed
1 Set the backlash compensation amount during cutting feed

(parameter No. 1851) to "0."
2 Move the machine to the measurement point by cutting feed.
Mount a dial gauge and set the pointer to "0."
G01 G90 X0 Ff ;
X100.0 ;
0 100 200 300
3 Move the machine in the same direction by cutting feed.

X200.0 ;
0 100 200 300
4 Return the machine to the measurement point.

Read the dial gauge.
X100.0 ;
0 100 200 300
A Cutting feed
A Backlash compensation during cutting feed
5 Convert the backlash compensation amount during cutting feed

into detection units and set the result for parameter No. 1851
- 45 -
- Backlash compensation amount during rapid traverse

1 Set the backlash compensation amount during rapid traverse
(parameter No. 1849) to "0."
2 Move the machine to the measurement point by rapid traverse.
Mount a dial gauge and set the pointer to "0."
G00 G90 X0 ;
X100.0 ;
0 100 200 300
3 Move the machine in the same direction by rapid traverse.
X200.0 ;
0 100 200 300
Rapid
traverse
4 Return the machine to the measurement point.

Read the dial gauge.
X100.0 ;
0 100 200 300
B Rapid
traverse
B Backlash compensation during rapid traverse
5 Convert the backlash compensation amount during rapid traverse

into detection units and set the result for parameter No. 1849.
- 46 -
Operation examples
In these examples, the following are assumed:
Backlash compensation amount during cutting feed A = 40
Backlash compensation amount during rapid traverse B = 20
α = (A - B)/2 = 10
Initial backlash direction = Minus
• = Machine position.
1 Reference position return
0 100 200 300
Manual feed
Motor
2 Cutting feed followed by rapid traverse in the opposite direction
G00 G90 X100.0 ; Current compensation amount=+(B+α)=30
Accumulated compensation amount=30
0 100 200 300
Rapid traverse
30 Backlash compensation
3 Rapid traverse followed by rapid traverse in the same direction
G00 X200.0 ; Current compensation amount=0
0 100 200 300
Rapid
traverse
30
- 47 -
4 Rapid traverse followed by rapid traverse in the opposite direction

G00 X100.0 ; Current compensation amount=-B=-20
0 100 200 300
Rapid traverse
10
5 Rapid traverse followed by cutting feed in the opposite direction

G01 X200.0 Ff; Current compensation amount=(B+α)=30
0 100 200 300
Cutting feed
40
6 Cutting feed followed by cutting feed in the same direction

G01 X300.0 Ff; Current compensation amount=0
0 100 200 300
Cutting feed
40
7 Cutting feed followed by cutting feed in the opposite direction

G01 X200.0 Ff; Current compensation amount=-A=-40
0 100 200 300
Cutting feed
- 48 -
8 Cutting feed followed by rapid traverse in the same direction

G00 X100.0 ; Current compensation amount=-(-α)=10
0 100 200 300
Rapid traverse
10
9 Rapid traverse followed by cutting feed in the same direction

G00 X0 ; Current compensation amount=-α=-10
0 100 200 300
Cutting feed
0
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1804 RBK

[Data type] Bitaxis
#6 RBK Backlash compensation applied separately for cutting feed and rapid
traverse
0: Not performed
1: Performed
1851 Backlash compensation for each axis

[Unit of data] detection unit
[Valid data range] -9999 - 9999
Specify the backlash compensation for each axis.
When an axis moves in the direction opposite to the reference position
return direction after power-on, the first backlash compensation is
made.
- 49 -
1849 Backlash compensation amount used for rapid traverse for each axis

Set the backlash compensation amount used in rapid traverse for each axis. (This
parameter is valid when RBK, #6 of parameter 1804, is set to 1.)
Set smaller value than 1851.
Caution
CAUTION
The backlash compensation for each rapid traverse
and cutting feed is not performed until the first
reference position return is completed after the power
is turned on. Under this state, the normal backlash
compensation is performed according to the value
specified in parameter No. 1851 irrespective of a
rapid traverse and a cutting feed.
Note
NOTE
When backlash compensation is applied separately
for cutting feed and rapid traverse, jog feed is
regarded as cutting feed.
- 50 -
1.3.3 Straightness Compensation
General
For a machine tool with a long stroke, deviations in straightness
between axes may deteriorate machining accuracy. For this reason,
when an axis moves, other axes are compensated in detection units to
improve straightness. This improvement results in better machining
accuracy. When an axis (parameter Nos. 5481 to 5483) moves, the
corresponding compensation axis (parameter Nos. 5491 to 5493) is
compensated. That is, the compensation axis is compensated at the
pitch error compensation position (See 1.3.1) of the moving axis.
Explanation
- Pitch error compensation points on moving axis
0 1 2 3 60 61 126 127
... ...
Stored pitch error compensation points on

the travel axis
c
a
γ
α
... ...
ε
β
d
b
Compensation pulses that are output when the stored pitch error compensation on the
travel axis is output
a, b, c, d : Compensation position numbers of the moving axis

α, β, γ, ε : Compensation for compensation axis
From the current position on a travel axis, the compensation amount to

be output to the corresponding compensation axis is calculated.
Compensation is performed on the compensation axis when pitch error
compensation on the travel axis is output.
In the figure above, while the machine moves from compensation point
a to compensation point b on the travel axis, the compensation amount
(β - α)/(b - a) is output to the compensation axis when the pitch error
compensation on the travel axis is output.
- 51 -
Parameter
5481 Axis number of straightness compensation move axis 1

[Data type] Integer
[Valid data range] From 1 through the number of controlled axes
Set the axis number of a straightness compensation move axis.
NOTE
Compensation is not applied when 0 is specified.
5491 Axis number of compensation axis 1 for straightness compensation move

axis 1

axis 2

axis 3

[Data type] Integer
Set the axis number of a compensation axis.
NOTE
5501 Compensation point number a of straightness compensation move axis 1
5502 Compensation point number b of straightness compensation move axis 1
5503 Compensation point number c of straightness compensation move axis 1
5504 Compensation point number d of straightness compensation move axis 1
- 52 -

[Data type] Integer
[Valid data range] 0 to [128×(Number of controlled axes)-1]
From 0 through 1279 or from 0 through 3071 depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
Set a compensation point number in stored pitch error
compensation.
Fourth among the four compensation points set for each move axis.
5551 Compensation corresponding to compensation point number a of move axis 1
5552 Compensation corresponding to compensation point number b of move axis 1
5553 Compensation corresponding to compensation point number c of move axis 1
5554 Compensation corresponding to compensation point number d of move axis 1
5564 Compensation corresponding to compensation point number d of move axis 2
- 53 -
5574 Compensation corresponding to compensation point number d of move axis

3

[Data type] Integer
Note) Set a compensation for each compensation point.
Alarm and message

PW0100 ILLEGAL PARAMETER (S-COMP.) The parameter for setting slope compensation is incorrect.
This alarm occurs in the following cases:
• The axis number specified in the movable or
compensation axis parameter does not correspond to
any existing axis.
• When the number of pitch error compensation points on
the axis on which slope compensation is executed
exceeds 128 between the most negative side and most
positive side
• When the size relationship between the slope
compensation point Nos. is incorrect
• When the slope compensation point is not located
between the most negative side and most positive side of
pitch error compensation
• When the compensation per compensation point is too
small or too great.
SV0100 S-COMP. VALUE OVERFLOW The value set for straightness compensation has exceeded
maximum value 32,767.
- 54 -
Note
NOTE
1 The straightness compensation function can be used
after a moving axis and its compensation axis have
returned to the reference position.
2 After setting parameters for straightness
compensation, be sure to turn off the NC power.
3 Set parameters for straightness compensation
according to the following conditions:
- The compensation at a compensation position
must be within the range -128 to 127.
- Compensation positions must be set so that "a≤b
≤c≤d" is satisfied.
- Compensation positions must exist between the
compensation position with the largest positive
value and that with the largest negative value in the
stored pitch error compensation data for each axis.
Four compensation positions can be set to 0 at a
time. In this case, compensation is not performed.
4 To add the straightness compensation function
option, the stored pitch error compensation option is
needed. In this case, the number of compensation
positions of each axis between the compensation
position with the largest positive value and that with
the largest negative value in the stored pitch error
compensation data must be equal to or less than 128.
5 Straightness compensation data is superposed on
stored pitch error compensation data and output.
- 55 -
1.3.4 Interpolated Straightness Compensation
Compensation data, which is set using 128-point straightness

compensation data, is divided into parts at equal intervals in each
compensation point interval and output.
Explanation
- Compensation methods
With the 128-point straightness compensation method, the straightness
compensation amount at each compensation point is output to the
compensation axis, in the interval between that point and the next point
on the travel axis, as shown in the figure below.
Fig. 1.3.4 (a) 128-Point Straightness Compensation Method
With the interpolated straightness compensation method, the

straightness compensation amount at each compensation point is
divided into pulses at equal intervals in the interval between that point
and the next point on the travel axis, and output to the compensation
axis.
Fig. 1.3.4 (b) Interpolated Straightness Compensation Method
- Compensation data
Compensation data is set using 128 straightness compensation points.
- 56 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5426 IPC

[Data type] Bitaxis
#6 IPC Specifies whether to use the interpolating straightness compensation

function.
0: Do not use.
1: Use.
This parameter is valid only when it is set for those move axes
(controlled axis numbers set in parameter No. 5481 to No. 5485).
Alarm and message

The parameter for setting slope compensation is incorrect.
• The axis number specified in the movable or
compensation axis parameter does not correspond to
any existing axis.
PW0100 ILLEGAL PARAMETER (S-COMP.)
positive side
small or too great.
The value set for straightness compensation has exceeded
SV0100 S-COMP. VALUE OVERFLOW
- 57 -
Warning
WARNING
1 If the feedrate is high, multiple compensation pulses
may be output at one time depending on the
straightness compensation amount.
2 To use this function, the stored pitch error
compensation option is required in addition to this
function option.
3 The compensation point interval is the same as that
for stored pitch error compensation. It is not possible
to set another interval.
4 The compensation magnification can be set
separately from that of stored pitch error
compensation.
5 The compensation amount corresponding to a
compensation point on the travel axis is
superimposed on the stored pitch error
compensation data for the compensation axis.
6 To use this function, the number of pitch error
compensation points on the travel axis must not
exceed 128.
7 After setting the straightness compensation
parameters, turn the CNC off then back on. (When
the parameters are set, a "POWER MUST BE OFF"
alarm is generated.)
8 Interpolated straightness compensation and
conventional straightness compensation cannot be
used at the same time for a single travel axis. It is,
however, possible to use interpolated straightness
compensation and conventional straightness
compensation at the same time for different travel
axes.
- 58 -
1.3.5 128 Straightness Compensation Points
Overview
In straightness compensation, compensation data is set as the
compensation amounts at the individual compensation points, in the
same way as in stored pitch error compensation. This enables fine
compensation.
Up to five combinations of travel and compensation axes can be used in
the straightness compensation function.
1 Up to 128 compensation points can be set per axis.

2 The settings (a, b, ..., y, and z) at the individual compensation points
can be from -128 to +127.
3 The method of setting data and the compensation timing are the
same as those of pitch error compensation.
4 The number of straightness compensation points is the same as that
of stored pitch error compensation points on a travel axis.
Explanation
- Relationships between pitch error compensation points

and straightness compensation points on a travel axis
Stored pitch error compensation points on a travel axis
Straightness compensation points on a travel axis
α : Number of the most distant pitch error compensation point on

the - side of the travel axis(parameter No.5421)
β : Number of the most distant pitch error compensation point on
the + side of the travel axis(parameter No.5422)
γ : Number of the pitch error compensation point of the reference
position on the travel axis(parameter No.5422)
δ : Number of the straightness compensation point of the
reference position on the travel axis
φ : Number of the most distant straightness compensation point on
the - side of the travel axis(parameters No.5581-5585)
π : Number of the most distant straightness compensation point on
the + side of the travel axis
ω : Number of the start compensation point in 128-point
straightness compensation(1280 for a system with ten or more
controlled axes, 3072 for a system with 11 or more controlled
axes)
- 59 -
The following relationships hold:

i δ = φ + (γ-α)
ii π = φ + (β-α)
and π, δ are automatically calculated from α, β, γ, and φ. Therefore, no
parameters need be set for them.
- Display and setting of straightness compensation data

The setting of 128-point straightness compensation data is supported
by the stored pitch error compensation data setting screen. From this
setting screen, set 128-point straightness compensation data above
compensation point number 1280 (3072 for a system with 11 or more
controlled axes).
- Input/output of straightness compensation data

The 128-point straightness compensation data is input and output in
parameter format, in the same way as stored pitch error compensation
data. A straightness compensation point number plus 10000 is equal to
the corresponding parameter number. (The format is the same as that
of pitch error compensation data.)
The input/output of 128-point straightness compensation data is
performed at the same time as stored pitch error compensation data. If
128-point straightness compensation data is input to a system that does
not have this function, alarm SR302 "Invalid data number" is
generated.
- Floppy directory display

When 128-point straightness compensation data is used, the file names
assumed when the compensation data is output to a floppy cassette are
as follows:
PITCH.TXT = Pitch error compensation data and straightness
compensation data
PARA-PCH.TXT = Parameters, pitch error compensation data, and
straightness compensation data
- Changing straightness compensation data with G10

Compensation data for the 128-straightness-compensation-set function
can be changed with G10 parameter input, in the same way as pitch
error compensation data. For a compensation data number, specify a
number equal to the data number plus 10000, in the same way as when
changing pitch error data.
This allows straightness compensation data to be changed during
automatic operation, without turning off the power. Note, however,
that data such as the compensation interval and compensation
magnification cannot be changed.
- Input/output of straightness compensation data using the NC window

Compensation data for 128 straightness compensation sets can be input
and output from PMC MMC, using the NC window function.
- 60 -
Examples
The following explains the method of setting parameters for the travel
and compensation axes, as well as effective magnifications. The
parameters for travel and compensation axes can be set as follows.
1) A single compensation axis can be set for a single travel axis.
Table 1.3.5 (a) Example of Setting Parameters 1

Setting of the travel Setting of the
axis compensation axis
Effective magnification
Parameter Setting Parameter Setting
number number
5481 1 5491 2 Value set for parameter No. 5591
When the parameters are set as shown above, by moving the machine
along the first axis, compensation is applied to the second axis.
Similarly, by moving the machine along the third and fifth axes,
compensation is applied to the fourth and sixth axes, respectively.
The numbers of the parameters for the magnifications that are made
effective for the individual travel and compensation axis combinations
are as given in the table above.
2) Two or more compensation axes can be set for a single travel axis.
Table 1.3.5 (b) Example of Setting Parameters 2

number number
:
As described above, two or more compensation axes can be set for a

single travel axis.
3) A compensation axis can be set as a travel axis.
Table 1.3.5 (c) Example of Setting Parameters 3

number number
:
- 61 -
As described above, a compensation axis can be set as a travel axis.

If a compensation axis is set as such, the amount of travel due to
compensation on the travel axis is not subject to compensation.
4) A single compensation axis cannot have two or more travel axes.
Table 1.3.5 (d) Example of Setting Parameters 4

Setting of the travel axis Setting of the
compensation axis
number number
5481 1 5491 3
5482 2 5492 3
:
As described above, a single compensation axis cannot have two or

more travel axes.
Parameter

[Data type] Integer
Set the axis number of a straightness compensation move axis.
NOTE

axis 1

axis 2

axis 3
- 62 -

axis 4

axis 5

[Data type] Integer
Set the axis number of a compensation axis.
NOTE
5581 Straightness compensation point number of most negative side of move

axis 1

axis 2

axis 3

axis 4

axis 5

[Data type] Integer
[Valid data range] From 1280 through 1919 or from 3072 through 3711 depending on
the number of controlled axes is less than or equal to 10 or greater
than 10, respectively.
Specify the straightness compensation point number located at the
most negative position for each move axis.
When the value set in this parameter is out of the data range, an
alarm is issued, and compensation cannot be performed.
5591 Straightness compensation multiplier of move axis 1
- 63 -

[Data type] Integer
Specify a straightness compensation multiplier for each axis.
When the straightness compensation multiplier is set to 1, the unit
of compensation data is the same as the detection unit. When the
multiplier is set to 0, straightness compensation is not applied.
#7 #6 #5 #4 #3 #2 #1 #0
5580 SMT

[Data type] Bit
#1 SMT The parameters (No. 5591 to No. 5595) for straightness compensation
multiplier:
0: Are effective only for the first move axis when two or more move axes are set
using the same axis number.
1: Are effective for the respective move axes even when two or more move axes
set using the same axis number.
Alarm and message

The parameter for setting slope compensation is incorrect. This
alarm occurs in the following cases:
• When the number of pitch error compensation points on the
axis on which slope compensation is executed exceeds 128
between the most negative side and most positive side
ILLEGAL PARAMETER (S- • When the size relationship between the slope compensation
PW0100
COMP.) point Nos. is incorrect
• When the slope compensation point is not located between
the most negative side and most positive side of pitch error
compensation
• When the compensation per compensation point is too small
or too great.
The value set for straightness compensation has exceeded
SV0100 S-COMP. VALUE OVERFLOW
- 64 -
Caution
CAUTION
1 If the feedrate is high, multiple compensation pulses
may be output at the same time depending on the
straightness compensation amount.
compensation option is required in addition to this
function option.
3 The compensation point interval is the same as that
for stored pitch error compensation. (Parameter No.
5424)
4 The compensation magnification can be set
separately from that of stored pitch error
compensation.
5 The compensation amount corresponding to a
compensation point on the travel axis is
superimposed on the stored pitch error
compensation data for the compensation axis.
6 To use this function, the number of pitch error
compensation points on the travel axis must not
exceed 128 points.
7 When setting the straightness compensation
parameters, turn the CNC off then back on. (When
the parameters are set, the "POWER MUST BE
OFF" alarm is generated.)
- 65 -
1.3.6 Interpolated Pitch Error Compensation
Overview
In stored pitch error compensation, the pitch error compensation pulse
at each pitch error compensation point is output in the interval between
that point and the next compensation point, as shown in the figure
below.
Fig. 1.4.6 (a) Stored Pitch Error Compensation
In interpolated pitch error compensation, the compensation amount at

each error compensation point is divided into pulses at equal intervals
in the interval between that point and the next point on the travel axis
and output, as shown in the figure below.
Fig. 1.4.6 (b) Interpolated Pitch Error Compensation Method
When interpolated pitch error compensation is used, the following

parameters are assigned the same values as those in stored pitch error
compensation.
- Number of the pitch error compensation point of the reference
position on each axis No.5420
- 66 -
- Number of the most distant pitch error compensation point on the

side of each axis No.5421
- Number of the most distant pitch error compensation point on the
+ side of each axis No.5422
- Pitch error compensation magnification for each axis No.5423
- Pitch error compensation point interval on each No.5424
- Amount of travel per rotation in rotation axis pitch error
compensation No.5425
When cyclic second pitch error compensation is used at the same time,
the pitch error compensation amount is output in interpolated form in
each cyclic second pitch error compensation point interval.
If the feedrate is high, multiple compensation pulses may be output at
the same time. The minimum interval in which multiple compensation
pulses are not output at the same time is determined with the following
formula. The compensation point interval must be larger than the
distance calculated with the following formula.
Minimum pitch error compensation point interval
= (Fmax/7500)×(Pmax+1)
where
Fmax : Maximum feedrate
Pmax : Maximum pitch error compensation amount
Example)
If the maximum feedrate is 15000 mm/min and the maximum
pitch error compensation amount is equal to seven pulses, the
minimum compensation interval is 16 mm.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5426 IPP

[Data type] Bitaxis
#7 IPP Specifies whether to use interpolating pitch error compensation.

0: Do not use.
1: Use.
WARNING
WARNING
Interpolated pitch error compensation cannot be used in
spindle positioning.
- 67 -
1.3.7 Cyclic Second Pitch Error Compensation
Overview
When a rotary table is rotated using a gear, there are two cycles of the
occurrence of pitch errors: One cycle is the same as that of the rotation
of the rotary table while the other is the same as that of the rotation of
the gear for rotating the rotary table. To compensate for pitch errors of
these types, the compensation for the pitch error due to the rotation of
the gear is superimposed on the compensation for the pitch error per
rotation of the rotary table.
Explanation
If the gear between the rotary table and the servo motor is of a single
stage, as shown in Fig. 1.3.7 (a), stored pitch error compensation is
used for the compensation for the pitch error of toothed wheel A and
cyclic second pitch error compensation is used for the pitch error of
toothed wheel B.
If there is a multiple-stage gear, as shown in Fig. 1.3.7 (b), stored pitch
error compensation is used for toothed wheel A and cyclic second pitch
error compensation is used for the cyclic pitch error that occurs in each
pitch error compensation interval of toothed wheel A.
Rotary table
Motor
Toothed wheel A
Toothed wheel B
Fig. 1.3.7 (a) Cyclic Second Pitch Error Compensation for a Single-Stage Gear
Rotary table
Toothed wheel A
Motor
Fig. 1.3.7 (b) Cyclic Second Pitch Error Compensation for a Multiple-Stage Gear
- 68 -
Although a rotary table is used as an example here, cyclic second pitch

error compensation can be used in the same way when the machine is
moved along a linear axis using a gear.
For example, in a configuration such as that shown in Fig. 1.3.7 (c),
stored pitch error compensation is used for the compensation for the
pitch error of the drilling hole and cyclic second pitch error
compensation is used for the compensation for the pitch error of
toothed wheel A.
Table Drilling screw
Toothed wheel Motor
Fig. 1.3.7 (c) Cyclic Second Pitch Error Compensation on a Linear Axis
Example
When a rotary table is rotated using a gear, a pitch error relative to the
cycle of the rotation of the rotary table occurs, as does a pitch error
relative to the cycle of the rotation of the gear for rotating the rotary
table. To compensate for these two types of pitch errors, the pitch error
relative to the cycle of the rotation of the gear is superimposed on the
pitch error relative to the cycle of the rotation of the rotary table.
- Pitch error relative to the cycle of the rotation of the gear

(if the rotary table rotates by 20° per rotation of the gear.)
0° 20°
2°
Fig. 1.3.7 (d)
- 69 -
- Pitch error with a 360° cycle
180° ε
A
0° 360°
20°
Fig. 1.3.7 (e)
- Pitch error after superimposition in portion A
Pitch error with the cycle of the

rotation of the gear
ε : Pitch error in portion A
Fig. 1.3.7 (f) Synchronous Second Pitch Error
The above figure (Fig. 1.3.7 (f)) shows an example of cyclic second
pitch error compensation.
The compensation for the pitch error relative to the cycle of the rotation
of the gear is superimposed on each point of the compensation for the
pitch error with a 360° cycle.
- 70 -
Parameter
5430 Number of the farthest second cyclical pitch error compensation point in
the negative direction for each axis

[Valid data range] From 0 through 1279 or from 0 through 3071 depending on the
10, respectively.
The compensation point specified with this parameter is used as a
reference point for second cyclical pitch error compensation. This
reference point is used as a compensation point at the reference
position. The compensation value at the compensation reference
point must be 0.
5431 Number of the farthest second cyclical pitch error compensation point in
the positive direction for each axis

[Valid data range] From 0 through 1279 or from 0 through 3071 depending on the
10, respectively.
Set the number of the farthest second cyclical pitch error
compensation point in the positive direction for each axis.
5432 Interval between second cyclical pitch error compensation points for each
axis

[Valid data range] From 0 through the space between neiboring points of the pitch
error compensation (parameter no.5424).
Set the interval between second cyclical pitch error compensation
points for each axis.
- 71 -
5433 Magnification for second cyclical pitch error compensation for each axis

Set a magnification for second cyclical pitch error compensation for
each axis.
When 1 is set as the magnification for second cyclical pitch error
compensation, the unit of compensation data is the same as the
detection unit.
Example
If the rotary table rotates by 20 degrees per rotation of the gear, the
parameters are as shown below.
Compensation 10 11 12 13 14 15
amount number
Compensation 0 +1 +2 -1 -1 -1
amount
In this case, the settings of the parameters are as follows:

Data number 5430 5431 5432
Setting 10 15 4.0 (deg)
CAUTION
CAUTION
1 Using the appropriate parameters, set the number of the most distant
cyclic second pitch compensation point on the - side of each axis and
the number of the most distant cyclic second pitch compensation point
on the + side of each axis. If the settings of these two parameters are 0
or the same, cyclic second pitch error compensation is not applied.
2 The number of compensation points that can be used in pitch error
compensation and cyclic second pitch error compensation is 0 to 1279
for a system with ten or fewer axes and 0 to 3071 for a system with 11
or more axes. The number of compensation points that can be used in
pitch error compensation decreases by the number of compensation
points used in cyclic second pitch error compensation.
3 When interpolated pitch error compensation is used, the pitch error
compensation amount is output in interpolated form in each cyclic
second pitch error compensation interval.
4 Cyclic second pitch error compensation is superimposed even on
rotation axis pitch error compensation,
5 The sum of the compensation amounts per rotation must always be set
to 0.
6 Cyclic second pitch error compensation cannot be used for an axis for
which spindle positioning is performed.
7 Cyclic second pitch error compensation is enabled after a reference
position return.
- 72 -
1.3.8 Gradient Compensation
Overview
By compensating for those errors in tools such as feed screws that
depend on the position of the machine system in detection units,
machining precision can be improved and mechanical life can be
prolonged. In gradient compensation, the compensation amount is
calculated at the compensation point intervals by setting four
representative points and the compensation amounts at these points, in
contrast to stored pitch error compensation, in which the compensation
amount is set for each compensation point. Using the four
compensation points specified for the parameters and the compensation
amounts at these points, three approximation curves are created.
Compensation is performed at the pitch error compensation point
intervals along these approximation curves. The gradient compensation
amount is superimposed on the stored pitch error compensation
amount.
Explanation
- Setting of gradient compensation and output of the compensation amount
0 1 2 3 60 61 126 127
(2)
... ...
(1) (3) (4)
Pitch error compensation point
c
a
γ
α
... ...
β ε
d
b
Output of gradient compensation amounts
Fig. 1.3.8 (a)
To perform gradient compensation, stored pitch error compensation

must be set for the axis subject to compensation.
(1) Number of the most distant pitch error compensation point on the
- side (parameter No. 5421)
(2) Pitch error compensation point interval (parameter No. 5421)
(3) Number of the pitch error compensation point of the reference
position (parameter No. 5421)
(4) Number of the most distant pitch error compensation point on the
+ side (parameter No. 5422)
- 73 -
Gradient compensation parameters must be set.

a, b, c, d : Compensation point numbers. (Pitch error compensation
point numbers are used. Parameters Nos. 5461 to 5464)
α, β, γ, ε : Compensation amounts at compensation points a, b, c, and
d (parameters Nos. 5471 to 5474)
In Fig.1.3.8(a), a, b, c, and d are 1, 3, 60, and 126, respectively.

In Fig.1.3.8(a), the compensation amounts at the individual
compensation points located between points a and b are (β-α) / (b-a).
Parameter
5461 Gradient compensation point number a for each axis
5462 Gradient compensation point number b for each axis
5463 Gradient compensation point number c for each axis
5464 Gradient compensation point number d for each axis

From 0 through 1279 or from 0 through 3071 depending on the
10, respectively.
Set a gradient compensation point. A compensation point to be set
becomes a compensation number in stored pitch error
compensation.
5471 Compensation α at gradient compensation point number a for each axis
5472 Compensation β at gradient compensation point number b for each axis
5473 Compensation γ at gradient compensation point number c for each axis
5474 Compensation δ at gradient compensation point number d for each axis

Set a compensation for each compensation point.
- 74 -
Alarm and message

PW0102 ILLEGAL PARAMETER (I-COMP.) The parameter for setting slope compensation is incorrect.
positive side
small or too great.
Note
NOTE
1 Gradient compensation is enabled after the
reference position is established on the
compensation axis.
2 When the gradient compensation parameters are
set, turn the NC off then back on.
3 Parameters must satisfy the following conditions:
- The compensation amount at a compensation
point must be in the range of -128 to 127.
- Compensation points must satisfy the following
relationships: a ≤ b ≤ c ≤ d.
- Compensation points must be located between
the most distant compensation point in stored
pitch error compensation on the - side of each axis
and the most distant compensation point on the +
side. If all four points are equal to 0,
compensation is not performed.
4 To add the gradient compensation function option,
the stored pitch error compensation function option is
required.
The number of compensation points located between
the most distant compensation point on the + side of
each axis and the most distant compensation point
on the + side in stored pitch error compensation must
not exceed 128.
5 Gradient compensation is superimposed on the
stored pitch error compensation data.
- 75 -
1.3.9 Bidirectional Pitch Error Compensation
Overview
In bidirectional pitch error compensation, different pitch error
compensation amounts can be set for travel in the positive direction and
that in the negative direction, so that pitch error compensation can be
performed differently in the two directions, in contrast to stored pitch
error compensation, which does not distinguish between the directions
of travel. In addition, when the direction of travel is reversed, the
compensation amount is automatically calculated from the pitch error
compensation data to perform compensation in the same way as in
backlash compensation. This reduces the difference between the paths
in the positive and negative directions.
Explanation
- Setting data
1. Setting parameters
Set the following parameters for each axis.
Table 1.3.9(a)
Data Description
number
5426#5 Bidirectional pitch error compensation, 1: Enabled/0: Disabled
5420 Number of the pitch error compensation point of the reference
position
5421 Number of the most distant pitch error compensation point on
the - side for travel in the positive direction
the + side for travel in the positive direction
5423 Pitch error compensation magnification
5424 Pitch error compensation point interval
5425 For a rotation axis, amount of travel per rotation in pitch error
compensation
the - side for travel in the negative direction
5428 Pitch error compensation amount (absolute value) at the
reference position when the machine moves to the reference
position in the direction opposite to that of a reference position
return
2. Pitch error compensation data

The compensation point numbers can be from 0 to 1279 and from
10000 to 11279 for a system with ten or fewer controlled axes and
from 0 to 3071 and from 10000 to 13071 for a system with 11 or
more controlled axes. This data may be used for both the positive
and negative directions. Note, however, that the set of
compensation data for a given axis cannot extend over 1279 (or
3071) and 10000.
- 76 -
ParameterNo.5421 ParameterNo.5422
↓ ↓
Set of pitch error compensation data for

Set of n data items
the positive direction
ParameterNo.5427
Set of pitch error compensation data

Set of n data items
for the negative direction
↑
The pitch error compensation data numbers in this range are from 0 to
1279 (3071) or from 10000 to 11279 (13071).
Fig. 1.3.9 (a)
- Data setting example

If the direction of a manual reference position return is positive on an
axis (linear axis) having the pitch error amounts shown in the figure
below (Fig. 1.3.9 (b)), set the data given in the table below (Table 1.3.9
(b)).
Fig. 1.3.9 (b)
- 77 -
Table 1.3.9 (b) Positive-direction pitch error data

Compensation 20 21 22 23 24 25 26 27
point number
Compensation -1 +1 0 +1 +1 +2 -1 -1
amount to be set
As pitch error data, always set incremental values as viewed in the

negative direction (direction toward the left in Fig. 1.3.9 (b)).
Table 1.3.9 (c) Negative-direction pitch error data

Compensation 30 31 32 33 34 35 36 37
point number
Compensation -1 +1 -1 +2 -1 +2 -1 -2
amount to be set
Set negative-direction pitch error data for all the points for which
positive-direction pitch error data has been set.
As negative-direction pitch error data, always set incremental values as
viewed in the negative direction.
Table 1.3.9 (d)

Data Setting Description
number
5426#5 1 Bidirectional pitch error compensation, 1: Enabled/0:
Disabled
5420 23 Number of the pitch error compensation point for the
reference position
5421 20 Number of the most distant pitch error compensation
point on the - side for travel in the positive direction
point on the + side for travel in the positive direction
5423 1 Pitch error compensation magnification
5424 10000 Pitch error compensation point interval
5425 - For a rotation axis, amount of travel per rotation in pitch
error compensation
point on the - side for travel in the negative direction
5428 -2 Pitch error compensation amount (absolute value) at the
reference position when the machine moves to the
reference position in the direction opposite to that of the
reference position return
This example assumes that the direction of a manual reference position
return is positive. For parameter No. 5428, therefore, set -2, which is
the pitch error compensation amount (absolute value) at the reference
position when the machine moves to the reference position in the
negative direction.
- 78 -
- Compensation example
If, in the setting example given in the previous section, the machine
moves
from 0.0 to 40.0,
from 40.0 to -40.0, and
from -40.0 to 0.0
for a manual reference position return,
pitch error compensation pulses are output as follows:
Machine coordinate 0.0 5.0 15.0 25.0 35.0 40.0

Compensation pulse - +1 +2 -1 -1 -5
Machine 35.0 25.0 15.0 5.0 -5.0 -15.0 -25.0 -35.0 -40.0
coordinate
Compensation +2 +1 -2 +1 -2 +1 -1 +1 +2
pulse
Machine coordinate -35.0 -25.0 -15.0 -5.0 0.0

Compensation pulse -1 +1 0 +1 -
When the travel direction changes from positive to negative at the

position of 40.0, the compensation for the reverse of the travel direction
is output.
A pulse of -5 is the result of the following calculation:

-5=(-4)-(+1)
Pitch error associated with the

positive-direction absolute value at the
position of 40.0
Pitch error associated with the negative-direction

absolute value at the position of 40.0
When the travel direction changes from negative to positive at the

position of -40.0, the compensation for the reverse of the travel
direction is output.
A pulse of +2 is the result of the following calculation:
+2=(-1)-(-3)
Pitch error associated with the negative

-direction absolute value at the position
of -40.0
Pitch error associated with the negative-direction

absolute value at the position of -40.0
- 79 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5426 BDP

[Data type] Bitaxis
#5 BDP Specifies whether to use bidirectional pitch error compensation.

0: Do not use.
1: Use.
5420 Number of pitch error compensation point of reference position for each
axis

[Valid data range] From 0 through 1279 (or from 10000 through 11279) or from 0
through 3071 (or from 10000 through 11371) depending on the
10, respectively.
Set the number of the pitch error compensation point corresponding
to the reference position for each axis.
5421 Number of pitch error compensation point with the largest negative value
for each axis

10, respectively.
Set the number of the pitch error compensation point with the
largest negative value for each axis.
In rotation-axis pitch error compensation, be sure to assign the
number of the farthest pitch error compensation point in the
negative direction to a compensation point positioned next to the 0-
degree point in the positive direction.
- 80 -
5422 Number of pitch error compensation point with the largest positive value for
each axis

10, respectively.
Set the number of the pitch error compensation point with the
largest positive value for each axis.
5423 Magnification of pitch error compensation for each axis

Set the magnification of pitch error compensation for each axis.
When 1 is set as the magnification of pitch error compensation, the
unit for compensation data is the same as the detection unit.
5424 Interval of pitch error compensation points for each axis

Pitch error compensation points are set at regular intervals. Set this interval for
each axis.
The minimum interval of pitch error compensation points is determined from the
following equation:
Minimum interval = maximum feedrate/7500
Unit：mm, inch, deg or mm／min, inch ／min, deg／min
Example:
When the maximum feedrate is 15000 mm/min, the minimum interval of pitch error
compensation points is 2 mm.
- 81 -

For rotation-axis pitch error compensation (with bit 2 (ROP) of
parameter No. 1006 set to 1), set angular displacement per rotation
for each axis. The angular displacement per rotation need not
always be 360 degrees. The period in rotation-axis pitch error
compensation can be set.
The angular displacement per rotation, compensation interval, and
number of compensation points must satisfy the following equation:
Angular displacement per rotation =
compensation interval × number of compensation points
5427 Number of the farthest bidirectional pitch error compensation point in the
negative direction (in the case of negative-direction movement)

10, respectively.
When using bidirectional pitch error compensation, set the number
of the farthest compensation point in the negative direction in the
case of negative-direction movement.
- 82 -
5428 Pitch error compensation value at the reference position when a movement
is made to the reference position in the direction opposite to the reference
position return direction

By using an absolute value, set a pitch error compensation value at
the reference position when a movement is made to the reference
position in the negative direction if the reference position return
direction (bit 5 (ZMI) of parameter No. 1006) is positive, or when a
movement is made to the reference position in the positive direction
if the reference position return direction is negative.
Caution
CAUTION
compensation option is required.
2 This function is enabled after a manual reference
position return or an automatic reference position
return with the same sequence as that of a manual
reference position return is performed. When an
absolute position detector is used, however, the
function is enabled after the power is turned on.
3 When the machine moves to the reference position in
the reference position return direction, set the
absolute value of the pitch error compensation pulse
to 0.
4 When this function and backlash compensation are
used at the same time, the pulse resulting from
backlash compensation is superimposed on the
compensation pulse when the travel direction is
reversed.
5 When this function is used for a rotation axis, the sum
of the pitch error compensation amounts per rotation
about the rotation axis must be 0 for both the positive
and negative directions.
6 When the interpolated pitch error compensation
function is used, interpolated pitch error
compensation is applied to both the positive and
negative direction.
- 83 -
1.3.10 Nano Interpolation Type Error Compensation
Overview
This function enables the servo output of interpolation-type pitch error
compensation, third-dimensional error compensation, and
interpolation-type straightness compensation to be performed with a
detection unit of 1/1000.
It makes compensation smooth, so it is effective when nano
interpolation is used.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5426 HPE

[Data type] Bitaxis
NOTE
After this parameter has been set, the power must
be off turned off then back on for the setting to
become effective.
#3 HPE Specifies the actual detection unit for the output of interpolation-
type pitch error compensation, third-dimensional error compensation,
and interpolation-type straightness compensation as follows:
0: Detection unit
1: 1/1000 of detection unit (the same unit as for nano
interpolation)
Caution
CAUTION
1 Even when this parameter is set to 1, the
measurement unit of already set compensation data
remains to be the detection unit. So, it is
unnecessary to change the compensation data.
2 Even when this function is enabled, the servo output
for the following functions remains to be in the
detection unit:
Stored pitch error compensation,
gradient compensation,
straightness compensation, and
128-point straightness compensation
- 84 -
1.3.11 Smooth Backlash Compensation
Overview
Ordinary backlash compensation outputs all backlash compensation
pulses at a point where the direction of axis movement is reversed. (Fig.
1.3.11(a))
(Direction reversed) Axis movement

direction
Total amount of backlash compensation

after the direction is reversed
Parameter 1851
0
Amount of movement after the
direction of axis movement is
reversed
Fig. 1.3.11(a) Ordinary Backlash Compensation
The number of compensation pulses output by smooth backlash

compensation varies according to the distance form a point where the
direction of axis movement is reversed. So, backlash compensation can
be made precise and matches the characteristics of the machine. (Fig.
1.3.11(b))
Axis movement
(Direction reversed) direction

B2 (parameter 1851)
B1 (parameter 1848)
0 L1 L2
Amount of movement
(Parameter (Parameter
after the direction is
1846) 1847)
reversed
Fig. 1.3.11(b) Smooth Backlash Compensation
This function is enabled by setting parameter SBL (bit 6 of parameter

No. 2603) to 1.
- 85 -
- When ‘Smooth backlash compensation’ is required

Usually, relationship between motor position and actual machine
position can be shown as Fig.1.3.11(c). In this case, conventional
backlash compensation (compensation pulse is outputted at once when
direction changes) is enough to overcome this backlash.
Machine Position
Backlash
Motor Position
Fig. 1.3.11(c)
On the other hand, some machine has the characteristic that, torsion
between motor and machine is generated gradually after the change of
direction (Fig.1.3.11(d)). In this case, when current backlash
compensation is applied, compensation will be too much just after
reverse of direction.
Machine Position
Motor Position
Fig. 1.3.11(d)
- 86 -
In this case, when we apply current backlash compensation,

compensation becomes too much just after the direction change. With
circular cutting, cutting path will be shown in Fig.1.3.11(e).
Backlash compensation
is too much at this point
Fig. 1.3.11(e)
In order to avoid overcompensation just after change of direction, we

have developed smooth backlash compensation function, which
realizes to output backlash compensation value gradually, depending
on the distance from reverse point.
- Parameter setting
A
Fig. 1.3.11(f)
δ is calculated as δ = R*(1-cos φ)
So, please set this δ value to L2(#1847), B2 is final backlash value ,L1
is usually 0, and when some protrusion appears at ‘A’ point, please set
that value to B1, of course which will be smaller than B2 value.
- First-stage backlash compensation output

First-stage backlash compensation output is carried out at a point where
the direction of axis movement is reversed.
The amount (B1) of first-stage backlash compensation is specified
using parameter No. 1848.
- 87 -
- Second-stage backlash compensation output

The output of second-stage backlash compensation begins at distance
L1 from a point where the direction of axis movement is reversed and
ends at distance L2 from that point. The total amount (B2) of backlash
compensation performed before the second-stage backlash
compensation output ends is the same as the backlash compensation
amount specified using parameter No. 1851. Distances L1 and L2 are
specified using parameter Nos. 1846 and 1847, respectively.
If cutting-/rapid traverse-specific compensation is enabled (parameter

RBK (bit 6 of parameter No. 1804) = 1) is enabled, the total amount
(B2) of backlash compensation performed before the second-stage
backlash compensation output ends becomes equal to the backlash
compensation amount determined according to parameter No. 1849,
parameter No. 1851, the direction of axis movement after reversed, and
cutting/rapid traverse mode. However, the rate at which the second-
stage backlash compensation output increases remains to be the same
as that during cutting. (Expression 1)
Parameter No.1851 − B1
Ratio at which the second - stage backlash compensation output increases =
L −L
(1)
2 1
Shown below is an example where the direction of axis movement is

reversed by switching from cutting feed to rapid traverse. (Fig.
1.3.11(g))
Axis movement
(Direction reversed) direction

B2 (parameter 1851)
B1 (parameter 1848)
0 L1 L2
Amount of movement
(Parameter (Parameter
after the direction is
1846) 1847)
reversed
Fig. 1.3.11(g) Switching from Cutting Feed to Rapid Traverse
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
2603 SBL

[Unit of data] Bit axis
#0 SBL Specifies whether to enable smooth backlash compensation as follows:

0: Disable.
1: Enable.
- 88 -
#7 #6 #5 #4 #3 #2 #1 #0
1804 RBK

NOTE
Once this parameter is re-set, it is necessary to
switch the power off and on again.
#6 RBK Specifies whether to perform cutting-/rapid traverse-specific backlash

compensation as follows:
0: Do not perform.
1: Perform.
#7 #6 #5 #4 #3 #2 #1 #0
5426 HPE

NOTE
Once this parameter is re-set, it is necessary to switch
the power off and on again.
#3 HPE Specifies the actual detection unit for the output of interpolation-type
pitch error compensation, third-dimensional error compensation,
interpolation-type straightness compensation, and smooth backlash
compensation as follows:
0: Detection unit
1: 1/1000 of detection unit (the same unit as for nano interpolation)
NOTE
1 Even when this parameter is set to 1, the
measurement unit of already set compensation data
remains to be the detection unit. So, it is unnecessary
to change the compensation data.
2 Even when this function is enabled, the servo output
for the following functions remains to be in the
detection unit:
Stored pitch error compensation,
gradient compensation,
straightness compensation, and
128-point straightness compensation.
- 89 -
1846 Distance at which the second stage of smooth backlash compensation begins

[Unit of data] Integer axis
[Valid data range] Detection unit
This parameter specifies the distance where the second stage of smooth
backlash compensation begins from a point where the direction of axis
movement is reversed for individual axes.
1847 Distance at which the second stage of smooth backlash compensation ends

This parameter specifies the distance where the second stage of smooth
backlash compensation ends from a point where the direction of axis
movement is reversed for individual axes.
1848 Amount of the first stage of smooth backlash compensation

[Valid data range] -9999 to 9999
This parameter specifies the amount of the first stage of smooth
backlash compensation for individual axes.
- 90 -
1849 Amount of rapid traverse backlash compensation for an individual axis

This parameter specifies the amount of rapid traverse backlash
compensation for an individual axis. (This function is enabled by
setting bit 6 (RBK) of parameter No. 1804 to 1.)
High-precision machining is realized by changing a backlash
compensation value depending on whether cutting feed or positioning
rapid traverse is carried out.
Letting the measured amount of backlash at cutting feed and the
measured amount of backlash at rapid traverse be A and B, respectively,
the backlash compensation value output becomes as listed below
depending on switching between cutting feed and rapid traverse and the
direction of axis movement.
Change in feeding
Cutting feed Rapid traverse Rapid traverse Cutting feed
↓ ↓ ↓ ↓
Change in axis
Cutting feed Rapid traverse Cutting feed Rapid traverse
movement direction
NOTE
1 α=(A-B)/2
2 The algebraic sign (±) of each compensation value
matches the direction of axis movement.
1851 Amount of backlash compensation for an individual axis

This parameter specifies the amount of backlash compensation for an
individual axis.
When the axis moves in the direction opposite to the direction for a
reference point return after the power is switched on, the first backlash
compensation is performed.
For smooth backlash compensation, this parameter specifies the

amount of backlash compensation performed when the second-stage
backlash compensation output ends.
- 91 -
1.3.12 Addition of 5000 Pitch Error Compensation Points
Overview
This function can add 5000 points for stored, interpolation-type,
bidirectional, and cyclic second pitch error compensation.
The added points are used as compensation point numbers 5000 to
9999.
The existing compensation points can be used without any
modification.
This function cannot be applied to the 128-point straightness
compensation and interpolation-type straightness compensation.
Compensation point
Usable compensation functions
number
0
Stored pitch error compensation
Interpolation-type pitch error compensation
Bidirectional pitch error compensation
Cyclic second pitch error compensation
1279 (3071)
1280 (3072)
128-point straightness compensation
Interpolation-type straightness compensation
1919 (3711)
Pitch error compensation with a compensation

5000
point quantity expansion option
l Stored pitch error compensation
l Interpolation-type pitch error
compensation
l Bidirectional pitch error compensation
9999
l Cyclic second pitch error compensation
10000
Bidirectional pitch error compensation
11279(13071)
Note: The compensation point numbers enclosed in parentheses are

used in a system having more than ten controlled axes.
- 92 -
Caution
CAUTION
1 Stored pitch error compensation cannot be used
across a standard compensation point (numbers 0 to
1279 or, in a system having more than 10 controlled
axes, numbers 0 to 3071) and an expansion
compensation point (numbers 5000 to 9999) for the
same axis.
2 If the pitch error compensation point quantity
expansion function is used together with bidirectional
pitch error compensation, the last expansion
compensation point (number 9999) becomes
adjacent to the first point (number 10000) of the
second half of the bidirectional pitch error
compensation points. Compensation cannot be
done across these points for the same axis.
- 93 -
1.3.13 Thermal Growth Compensation along Tool Vector
Outline
The thermal growth compensation along tool vector, in added to the
compensation is input by using the external data input signal.
The thermal growth compensation along tool vector is applied with
following 5 types.
(1) A-axis and C-axis, with the tool axis on the Z-axis
(2) B-axis and C-axis, with the tool axis on the Z-axis
(3) A-axis and B-axis, with the tool axis on the X-axis
(4) A-axis and B-axis, with the tool axis on the Z-axis,
and the B-axis used as the master
(5) A-axis and B-axis, with the tool axis on the Z-axis,
and the A-axis used as the master
: Thermal growth compensation along the tool vector
Distribution
of heat
A A
C C
Z
C
A
Y
The thermal growth compensation along tool is X
changed by heat shrinkage.
- 94 -
Basic Procedure
Thermal growth compensation is input by following the method.
1. The PMC drives the start signal THML high and sets the Thermal
growth compensation data signals THD00 to THD15.
2. The PMC then drives the strobe signal THSTB high.
3. When THSTB goes high, the control unit reads the data signals.
4. After all the signals are read, the control unit drives the read end
signal THREND high.
5. When THREND goes high, the PMC drives the strobe signal
THSTB low.
6. When the strobe signal THSTB goes low, the control unit drives
the read end signal THREND low.
After completing the data input procedure, allowing another data input
procedure is performed. The timing chart for the procedure above is
shown below.
1. 2. 3. 4. 5. 6.
Start signal THML
Start signal MTHML
Date signal THD00 to THD15
Strobe signal THSTB
Thermal growth compensation Data read (NC)
Read end signal THREND
Data Handling
The thermal growth compensation is always an absolute value, so the
tool moves by the difference between a new specified compensation
value and previous value.
When the sign of the thermal growth compensation is positive, this
function is treated as an extension of tool length.
When the sign of the thermal growth compensation data is negative,
this function is treated as a reduction of tool length.
The input of this function is a thermal growth along tool axis data.
And, the thermal growth of each axis by the angle of the tool is
calculated, and the amount of the compensation in the opposite
direction is output with the direction of thermal growth.
The relation between thermal growth and actual thermal growth
compensation is as follow.
In the calculation of the tool direction, calculation for the rotation axis
of the first group is made first, then based on the calculation result,
calculation for the rotary axis for the second group is made.
- 95 -
D : Thermal growth along tool axis data ( G178 to G179 )

ε : Amount of thermal growth compensation along tool axis
(1) When data is positive( D > 0 : When the tool length is an extension )
+Z εx ( along the X axis )
εz ( along the Z axis )
+X ε
D
( Direction of thermal growth ) ( Direction of compensation to axis )
(2) When data is negative( D < 0 : When the tool length is a reduction )
+Z
εx ( along the X axis )
εz ( along the Z axis )
+X D
( Direction of thermal growth ) ( Direction of compensation to axis )
Method of Compensation
This function calculates in real time.
And this function compensates the amount of compensation
corresponding to the inclination angle of the tool axis to the Cartesian
axis which composes the tool axis by using the compensation to the
direction of the tool axis.
The amount of the compensation, 9999 or more(-9999 or less) by using
the detection unit, cannot be output once for an axis.
(When the difference with the detection unit is 9999 or more(-9999 or
less), the alarm is generated. This alarm is cancelled by reset of CNC. )
If a large compensation amount is applied at one time, an alarm such as
an excessive error at stop time may be issued.
To apply a large compensation amount, divide it into several amounts
and input them separately.
This compensation amount is always absolute, and the amount by
which the machine moves at input is the difference from the previous
amount.
- 96 -
Signals
Thermal growth compensation start signal THML<G161#3>

[Function] Thermal growth compensation becomes effective
when this signal is turned on.
When this signal is turned off, thermal growth
compensation is stopped. This signal becomes
effective regardless of the mode, automatic
operation or manual operation.
Thermal growth compensation check signal MTHML<F170#3>

[Function] This signal is turned on and output to PMC when
the thermal growth compensation becomes
effective. This signal is turned off and output to
PMC when the thermal growth compensation is
stopped.
Strobe signal of the Thermal growth compensation along tool vector data THSTB<G161#7>
[Function] When THSTB goes high, the control unit reads the
thermal growth compensation data.
Read end signal of Thermal growth compensation data THREND<F170#7>

[Function] After all the Thermal growth compensation data
are read, the control unit drives the read end signal
THREND high.
Thermal growth compensation data THD00 to THD15<G178,G179>

[Function] Compensation is applied to the corresponding axis,
and the tool moves.
An offset value in the range 0 to ±9,999 is to be
specified in binary, using the detection unit.
This function is valid only for the same detection
of basic three axes.
The offset value is always an absolute value, so
the tool moves by the difference between a new
specified offset value and the previous value.
If a large compensation is applied at a time, an
excessive error will be occurred.
When the tool is stopped, then raising an alarm.
So, to apply a large compensation, the operation
must be divided into several input steps.
- 97 -
Signals address
#7 #6 #5 #4 #3 #2 #1 #0
G161 THML
F179 MTHML
G161 THSTB
F170 THREND
G178 THD07 THD06 THD05 THD04 THD03 THD02 THD01 THD00
Parameter
6080 Rotation axis for three-dimensional cutter compensation and so forth (first
group)
6081 Linear axis 1 for three-dimensional cutter compensation and so forth (first
group)
group)
group)

[Data type] Integer
Set the rotation axis and linear axes to perform three-dimensional cutter
compensation/spindle unit compensation/inclined rotary head tool length
compensation/the thermal growth compensation along tool vector (first group).
- 98 -
6084 Angle of inclination for the rotation axis for three-dimensional cutter
compensation and so forth (first group)

[Data type] Real
[Minimum unit of data] Depend on the increment system of the reference axis
table(A))
Set the angle of rotation for the rotation axis to perform three-dimensional cutter
compensation/the thermal growth compensation along tool vector (first group).
6085 Rotation axis for three-dimensional cutter compensation and so forth

(second group)
6086 Linear axis 1 for three-dimensional cutter compensation and so forth (second
group)
6087 Linear axis 2 for three-dimensional cutter compensation and so forth (second
group)
6088 Linear axis 3 for three-dimensional cutter compensation and so forth

(second group)

[Data type] Integer
compensation/the thermal growth compensation along tool vector (second group).
- 99 -
compensation and so forth (second group)

[Data type] Real
[Minimum unit of data]Depend on the increment system of the reference axis
table(A))
compensation/the thermal growth compensation along tool vector (second group).
Parameter Nos. 6080 to 6089
First group Second group
Rotation axis 6080 6085

Linear axis 1 6081 6086
Angle of inclination 6084 6089
- These parameters set the relationship between the rotation axis and rotation
plane.
- Two groups can be set. Therefore, machines controlled with two rotation
axes are supported.
- In the calculation of the tool direction, calculation for the rotation axis of the
first group is made first, then based on the calculation result, calculation for the
rotation axis for the second group is made.
- When two rotation axes are used, the rotation plane may be changed by the
rotation of the other rotation axis. In this case, set the rotation plane obtained
when the rotation axis position is 0 degrees.
- When there is one rotation axis, set the rotation axis of the second group to 0.
- In general, the direction vector of a rotation axis has three direction components.
This function supports direction vectors with one direction component and two
direction components. In each case, set the following:
A) When the direction vecotor of a rotation axis has one direction component
(type A)
The rotation axis rotates about one of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, and linear axis 2.
2) Set the linear axis 3 and the angle of inclination to 0.
3) The rotation axis is defined as follows:
- 100 -
-The rotation axis rotates about an axis that perpendicularly intersects

the plane formed by linear axis 1 and linear axis 2.
-When the rotation axis rotates from the positive direction of linear
axis 1 to the positive direction of linear axis 2, the rotation axis is
said to rotate in the positive direction.
Z
C Y
B) When the direction vector of a rotation axis has two direction components
(type B)
The rotation axis rotates about an axis that lies in a plane formed by any
two of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, linear axis 2, and
linear axis 3.
2) The linear axes 1, 2, and 3 form a right-handed coordinate system in
this order.
3) The angle of inclination is defined as follows:
-Rotation is performed in the plane formed by linear axes 3 and 1.
axis 3 to the positive direction of linear axis 1, the angle of
inclination is positive.
-When the rotation axis and linear axis 3 match, the angle of
inclination is 0 degrees.
4) When the angle of inclination is 0 degrees, the rotation axis is defined
as follows:
-The rotation axis rotates about an axis that perpendicularly intersects
the plane formed by linear axes 1 and 2.
Z
B
Y
α
α: Angle of
inclination
X
- 101 -
6104 Reference angle for the rotation axis for three-dimensional cutter

[Data type] Real
table(A))
Set a reference angle for the rotation axis to perform three-dimensional cutter
compensation/inclined rotary head tool length compensation/the thermal growth
compensation along tool vector.
Set an angle for the rotation axis assumed when a tool axis direction (parameter No.
6106 to No. 6107) is set.
Usually, set 0.0.
6106 Reference angle for the tool axis in the plane formed by linear axes 2 and 3
(RA)
(RB)

[Data type] Real
[Minimum unit of data]Depend on the increment system of the reference axis
table(A))
Set the direction of each rotation axis to perform three-dimensional cutter
compensation/inclined rotary head tool length compensation/the thermal growth
compensation along tool vector by using angles RA and RB.
- 102 -

The direction of a compensation vector is set by setting an angular displacement
(RA, RB) from the direction of linear axis 3.
RA: Rotation is performed in the plane formed by linear axis 2 and linear axis 3.
When rotation is performed from the positive direction of linear axis 2 to the
positive direction of linear axis 3, the direction of the rotation is positive.
RB: Rotation is performed in the plane formed by linear axis 3 and linear axis 1.
When rotation is performed from the positive direction of linear axis 3 to the
positive direction of linear axis 1, the direction of the rotation is positive.
Linear axes 1, 2, and 3 are set in parameter Nos. 6081 to 6083.
When tool axis and

linear axis 3 match Linear axis 3
Linear axis 2
RA = 0.0
RB = 0.0
Linear axis 1
When tool axis and

Linear axis 2
RA = 0.0
RB = 90.0
Linear axis 1
- 103 -
7517 Offset value for angular displacement of a rotation axis

table(A))
An offset can be applied to the angular displacement of the three-dimensional
handle feed function or tool axis direction tool length compensation function or
the thermal growth compensation along tool vector to compensate for the move
direction.
7518 Origin offset value of a rotation axis

table(A))
Set an angular displacement shifted from the origin for a rotation axis when the
three-dimensional handle feed function or tool axis direction tool length
compensation function or the thermal growth compensation along tool vector is
used.
#7 #6 #5 #4 #3 #2 #1 #0
5426 HPE

[Data type] Bitaxis
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
- 104 -
#3 HPE Specifies the actual detection unit for the output of interpolation-type
pitch error compensation, third-dimensional error compensation
interpolation-type straightness compensation, and thermal growth
compensation along tool vector as follows:
0: Detection unit
1: 1/1000 of detection unit (the same unit as for nano interpolation)
NOTE
1 Even when this parameter is set to 1, the measurement unit of
already set compensation data remains to be the detection unit.
So, it is unnecessary to change the compensation data.
2 Even when this function is enabled, the servo output for the
following functions remains to be in the detection unit:Stored
pitch error compensation, gradient compensation, straightness
compensation, and 128-point straightness compensation.
Cautions
CAUTION
1 The thermal growth compensation is not cancelled by
reset of CNC.
2 The amount of the compensation by this function
becomes invalid by the power down of the CNC.
3 In the calculation of the tool direction, calculation for
the rotary axis of the first group is made first, then
based on the calculation result, calculation for the
rotary axis for the second group is made.
4 This function is valid only for the same detection of
basic three axes.
5 The compensation by this function is kept intact even
if an axis is in the servo off by a servo off signal.
When an axis is in the servo off by a servo off signal,
the compensation input by this function is ignored.
6 When the control axis is compensated by this
function, the amount of the compensation is not
reflected in the machine coordinates value.
7 The tool head is supposed to be only one.
(Parallel axes is not available.)
8 Machine Zero Point Shift is available for the same or
different axis when this function is effective.
9 The positions of rotary axes which define the
direction of the tool axis are the positions on the
machine coordinates.
10 The thermal growth along tool axis data and its
compensation for each axis are displayed in
diagnosis screen.
- 105 -
CAUTION
11 If detaching of any axis is done by the axis detaching
signal, the thermal growth compensation must be
cancelled.
12 Parameter No.6080 to No.6089, No.6104 to
No.6107, No.7517, and No.7518 must not be
changed, while this function is valid.
13 Synchronous control is available for this function. As
for parameter No.5426#3, set same data to both the
master and the slave axis.
14 Tandem control is available for this function. As for
parameter No.5426#3, set same data to both the
master and the slave axis.
15 The compensation must be input with this function
after rotary axes have completed zero return.
Alarm and message

No. Message Description
OT930 THE THERMAL GROWTH This alarm is displayed when the data is over the range.
COMPENSATION DATA ERROR This alarm is cancelled by reset of CNC.
OT931 ILLEGAL AXIS DATA OF This alarm is cancelled when thermal growth compensation
PARAMETER (NO.6081 TO NO.6083, start signal (THML) is turn off and the reset is done.
NO.6086 TO NO.6088 AND
NO.5426#3) IS SET UP.
OT932 THE THERMAL GROWTH This alarm is cancelled when thermal growth compensation
COMPENSATION FEATURE start signal (THML) is turn off and the reset is done.
BECOMES VALID, SO PARAMETER
(NO.6080 TO NO.6089, NO.6104 TO
NO.6107, NO.7517, AND NO.7518)
AS AXES DATA CAN NOT BE
CHANGED.
- 106 -
1.4 THREE-DIMENSIONAL ERROR COMPENSATION
Overview
In ordinary pitch error compensation, compensation is applied to a
specified compensation axis (single axis) using the position
information for that axis. For example, pitch error compensation is
applied to the X-axis using the position information for the X-axis.
Three-dimensional error compensation is a function that adjusts the
current position by calculating compensation data (for three axes) from
the compensation amounts at surrounding compensation points (eight
points) on the basis of the interior division ratio in the compensation
area (rectangular parallelepiped) containing the current position on up
to three compensation axes.
It is possible to change data such as compensation data and
compensation magnifications from a part program, using the
programmable parameter input function (G10).
- Calculation of compensation
P8 P7
P
P5 P6
P4 P3
P1
x P2
Fig. 1.4 (a) Compensation Calculation Method
Let three compensation axes be X, Y, and Z (three basic axes) and the
coordinates of the current position be P (Px, Py, Pz). Consider a
compensation space (rectangular parallelepiped) containing P. Let its
vertexes be P1, P2, ..., and P8 and the compensation values for the
individual axes at the individual vertexes be Cnx, Cny, and CNz (where
n is a number between 1 and 8).
Let the interior division ratio on the X-axis at P be x. Here, x is
standardized in the range of 0 to 1 as follows:
| Px − P1x |
x=
| P 2 x − P1x |
Let three compensation axes be X, Y, and Z (three basic axes) and the
coordinates of the current position be P (Px, Py, Pz). Consider a
compensation space (rectangular parallelepiped) containing P. Let its
vertexes be P1, P2, ..., and P8 and the compensation values for the
- 107 -
individual axes at the individual vertexes be Cnx, Cny, and CNz (where
n is a number between 1 and 8).
Let the interior division ratio on the X-axis at P be x. Here, x is
standardized in the range of 0 to 1 as follows:
Cx = C1x ⋅ (1 − x )(1 − y )(1 − z ) + C 2 x ⋅ x (1 − y )(1 − z )
+ C 3x ⋅ xy (1 − z ) + C 4 x ⋅ (1 − x ) y (1 − z )
+ C 5 x ⋅ (1 − x )(1 − y ) z + C 6 x ⋅ x (1 − y ) z
+ C 7 x ⋅ xyz + C 8 x ⋅ (1 − x ) yz
P1x and P2x are the X coordinates of P1 and P2. The interior division
ratios on the Y- and Z-axes are determined in the same way.
The compensation amount Cx for the X-axis at P is determined as
follows:
The actual compensation amounts are the calculated compensation
amounts multiplied by the compensation magnifications (parameters
Nos. 5449 to 5451).
- Number of compensation points

Up to 15625 compensation points (up to 25 points per axis) can be set.
The numbers of compensation points on the individual axes are set for
parameters Nos. 5443 to 5445. The ordering of the compensation point
numbers in the compensation space is as follows:
Max1 : Number of compensation points on the

Third compensation axis
first axis (up to 25)
Max2 : Second axis (up to 25)
Second compensation axis Max3 : Third axis (up to 25)
Max1×Max2×Max3
First compensation axis
Max1×Max2×3
Max1×Max2×2
Max1×Max2
Max1×Max2+1 Max1×3
Max1×2
1 2 3 Max1
Fig. 1.5 (b) Ordering of Compensation Point Numbers
- 108 -
- Input/output format
The three-dimensional error compensation screen allows output/input
(punching/reading) of compensation data. The command format is as
follows:
N......A1P....A2P....A3P....
N...... :Data number (compensation point number + 100000) as

represented with six digits
A1 :First compensation axis
A2 :Second compensation axis
A3 : Third compensation axis
P.... : Compensation data (-128 - 127)
(Example)
%
N100001A1P1A2P2A3P3
N100002A1P-2A2P3A3P4
N100003A1P0A2P0A3P0
…
N115624A1P0A2P0A3P0
N115625A1P0A2P0A3P0
%
- Input of compensation data using G10

Compensation data can be changed from a machining program, using
the programmable parameter input function.
- Command format
G10L51 ;
N...... P..R...
N...... P..R...
…
G11
G10L51:Three-dimensional error compensation data input mode

G11 :Cancellation of three-dimensional error compensation
data input mode
N..... :Compensation point number(1-15265)
P.. :Compensation axis number(1-3)
R... :Compensation data(-128-127)
NOTE
1 To input compensation data using G10, the
programmable parameter input function option is
required.
2 In three-dimensional error compensation data input
mode, no other NC statements can be issued.
3 The decimal point cannot be used in addresses N, P,
and R.
- 109 -
Three-dimensional error compensation screen
Compensation
amount
Compensation
amount (current)
- Compensation amount
Compensation point numbers are displayed, as well as compensation
data for the individual compensation axes.
- Compensation amount (current)

The error compensation amounts for the individual compensation axes
at the current position are displayed in units of data (detection units).
- Input of compensation data

(1) Place the system in MDI mode.
(2) Set 1 for parameter PWE (bit 0 of No. 8000).
(3) Select the compensation point number for which data is to be
PAGE
input, using the page keys PAGE , cursor keys or
soft key [Number search].
(4) Select the compensation axis for which data is to be input, using
the cursor keys
(5) Key in compensation data. The data can be in the range of -128 to
127. The units of data are the detection units.
(6) Click soft key [Input] or the INPUT key
- 110 -
- Punching of compensation data

(1) Place the system in EDIT mode.
(2) Click soft key [Punch].
(3) Enter the file number and name as required, according to the
specifications of the output device.
(4) Click soft key [Three-dimensional error compensation].
(5) The punching of data starts, with soft key [Stop] displayed. To
stop the punching of data, click soft key [Stop].
- Reading of compensation data

(1) Place the system in EDIT mode.
(2) Activate emergency stop.
(3) Click soft key [Read].
(4) Enter the file number and name as required, according to the
specifications of the input device.
(5) Click soft key [Three-dimensional error compensation].
(6) The reading of data starts, with soft key [Stop] displayed. To stop
the reading of data, click soft key [Stop].
Parameter
5440 Axis for which three-dimensional error compensation is performed (1-st axis)
5441 Axis for which three-dimensional error compensation is performed (2-nd axis)
5442 Axis for which three-dimensional error compensation is performed (third axis)

[Data type] Integer
Set three axes for which three-dimensional error compensation is
performed.
5443 Number of three-dimensional error compensation points (1-st axis)
5444 Number of three-dimensional error compensation points (2-nd axis)
5445 Number of three-dimensional error compensation points (third axis)

[Data type] Integer
Set the number of three-dimensional error compensation points.
- 111 -
5446 Number of the three-dimensional error compensation point at the reference

position (1-st axis)

position (2-nd axis)

position (third axis)

[Data type] Integer
[Valid data range] From 0 through the number of the compensation points
Set the number of the three-dimensional error compensation point at the
reference position.
5449 Magnification for three-dimensional error compensation (1-st axis)
5450 Magnification for three-dimensional error compensation (2-nd axis)
5451 Magnification for three-dimensional error compensation (third axis)

[Data type] Integer
Set a magnification for three-dimensional error compensation.
5452 Three-dimensional error compensation interval (1-st axis)
5453 Three-dimensional error compensation interval (2-nd axis)
5454 Three-dimensional error compensation interval (third axis)

[Data type] Real
[Unit of data] mm, inch (machine unit)
table(A))
Set a three-dimensional error compensation interval.
- 112 -
Caution
CAUTION
The setting of compensation data using
programmable parameter input (G10L51) must be
specified in canned cycle cancel mode, as with
ordinary programmable parameter input (G10L50).
(If the setting of data is specified in canned cycle
mode, a cyclic operation may be performed.)
Note
NOTE
1 The controlled axis on which three-dimensional error
compensation is to be applied must be a linear axis.
2 Three-dimensional error compensation cannot be
performed until a reference position return is
performed for the compensation axis.
3 The reference position is a compensation point. The
compensation amount at this position must be set to
0.
4 To set a synchronous controlled axis as a
compensation axis, set the master axis as a
compensation axis. In this case, compensation data
is output to its slave axes as well.
5 If the compensation axis is subject to parallel axis
control, compensation data is not output to other
parallel axes.
- 113 -
1.5 SETTINGS RELATED TO SERVO CONTROLLED AXES
Typical units handled through the servo interface include:

- Digital controlled AC servo motor
- Motor feedback: Serial coder
(1) 1,000,000 pulses/rev absolute pulse coder
(2) 65,536 pulses/rev absolute pulse coder
(3) 10,000 pulses/rev incremental pulse coder
- Scale feedback: A/B/Z signal interface
- 114 -
1.5.1 Servo Parameter
Overview
This section explains the main servo parameters. For an explanation of
servo parameters not mentioned here, refer to the "AC Servo Motor αi
series Parameter Manual (B-65270EN)".
- Command multiply (CMR), detection multiply (DMR), and reference counter

capacity
Command +
pulse
× CMR Error counter DA To
Least conversion speed
command control
-
increment
Return pulse
× DMR Position
Reference detector
Detection unit
counter
Fig. 1.5.1 (a)
Set the CMR and DMR magnifications so that the weight of the pulses
of the + input to the error counter (commands from the CNC) is the
same as that of the pulses of the - input (return from the detector).
[Least command increment]/CMR = [Detection unit] = [Return

pulse unit]/DMR
The return pulse unit differs with the type of detector.
[Return pulse unit] = (Amount of travel per rotation of the pulse

coder)/(Number of pulses per rotation of the pulse coder)
For the reference counter capacity, specify the grid interval for a
reference position return of the grid method.
(Reference counter capacity) = (Grid interval)/[Detection unit]

(Grid interval) = (Amount of travel per rotation of the pulse coder
- 115 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1800 IVO SAK CIN CCI RFW FVF CVR

[Data type] Bit
#1 CVR Specifies whether to issue a servo alarm if velocity control ready signal
VRDY turns on before position control ready signal PRDY turns on.
0: Does not issue a servo alarm.
1: Issues a servo alarm.
Normally, set CVR to 1.
#2 FVF Specifies whether to perform follow-up in the servo-off mode.
0: Does not perform follow-up (mechanical clamp in the servo off mode).
1: Performs follow-up (mechanical handle in the servo off mode).
#3 RFW Specifies whether to enable forward feed control during rapid traverse.
0: Disables forward feed control.
1: Enables forward feed control.
Normally, forward feed control is enabled only when cutting feed is
performed. When this parameter is set to 1, forward feed is also enabled
during rapid traverse. This decreases positional deviation in the servo,
reducing the time for entering an effective area during positioning.
- 116 -
#4 CCI Specifies the value to be used as the effective area during cutting feed
(cutting-feed effective area).
0: Uses parameter 1826, which is also used for rapid traverse.
1: Uses parameter 1838, which is used only for cutting feed.
When a positioning block is specified or an exact stop is specified in a
cutting feed block, the block decelerates the tool at the end of the block for
a position check. The cutting/rapid traverse position check function
allows the effective area (parameter 1838) to be set separately for cutting
feed in addition to the effective area (parameter 1826) for rapid traverse.
For example, a larger effective area can be set for rapid traverse, while an
ordinary small effective area is set for cutting feed. This can reduce
machining time (positioning time) without reducing machining precision.
The CCI bit (bit 4) of parameter 1800 is used to select whether this new
function or the standard position check function is used. When this
position check function is selected, it is effective for all axes. For axes
that do not require this function, set the same data in parameters 1826
and 1838.
When a rapid traverse block terminates a position check is performed
using the value set in rapid-traverse-specific parameter 1826. When a
cutting feed block terminates and the next block specifies cutting feed, a
position check is performed using the value set in cutting-specific
parameter 1838; if the next block specifies rapid traverse, however, a
position check is performed using the value in rapid-traverse-specific
parameter 1826. Furthermore, when a cutting feed block terminates,
cutting-specific parameter 1838 can always be used for a position check
regardless of the next block. This is specified by bit 5 of parameter 1800.
#5 CIN When CCI is 1, the CIN bit specifies the condition under which the
cutting feed parameter defines the cutting-feed effective area.
0: Used only when the next block specifies cutting feed.
1: Always used regardless of the next block.
#6 SAK Specifies whether to change the state of the servo ready signal SA when
the VRDY OFF alarm ignore signal DVAL is 1 or when the VRDY OFF
alarm ignore signal for each axis, DVALn, is 1.
0: The servo ready signal SA changes to 0.
1: The servo ready signal SA retains its state of 1.
- 117 -
#7 IVO Specifies whether to release the emergency stop state when an emergency
stop occurs with the VRDY OFF alarm ignore signal being 1.
0: Does not release the emergency stop state until the VRDY OFF alarm
ignore signal changes to 0.
1: Releases the emergency stop state.
NOTE
Even when the system is reset when the VRDY OFF alarm ignore
signal is at 1 and the motor is de-energized, the reset state can
be released.
#7 #6 #5 #4 #3 #2 #1 #0
1802 TQO FUP SVF

[Data type] Bitaxis
#1 SVF Specifies whether to validate the servo off signal.

0: Does not validate the servo off signal.
1: Validates the servo off signal.
#3 FUP Whether follow-up is performed for each axis when the servo is turned off
0: Not performed.
1: Performed.
Effective when FVF (bit 2 of parameter No. 1800) is 0.
#4 TQO Specifies whether to enable the torque override function.

0: Disable the function. (100% override)
1: Enable the function.
#7 #6 #5 #4 #3 #2 #1 #0
1804 CNT RBK DGP PLC

[Data type] Bitaxis
#0 PLC PLC01 Specifies whether the value set in parameter No. 1876
(number of speed feedback pulses) or parameter No. 1891 (number
of position feedback pulses) exceeds 32767.
0: The value set in parameter No. 1876 or No. 1891 does not exceed
32767.
1: The value set in parameter No. 1876 or No. 1891 exceeds 32767.
When this parameter is set to 1, set parameter No. 1876 or 1891 to
Y10 of the original value.
- 118 -
#1 DGP Specifies whether to set the digital servo parameters specific to the motor
at power-on.
0: Sets the digital servo parameters specific to the motor.
1: Does not set the digital servo parameters specific to the motor.
When this bit is set to 0 after the motor type is specified, the standard
settings for the motor type are automatically set at power-on. This bit is
also set to 1 at power-on.
#6 RBK Backlash compensation applied separately for cutting feed and rapid
traverse
0: Not performed
1: Performed
#7 CNT Specifies whether to specify spindle contour control for the serial
interface spindle.
0: Does not specify spindle contour control.
1: Specifies spindle contour control.
#7 #6 #5 #4 #3 #2 #1 #0
1810 NAD

[Data type] Bit
#6 NAD Specifies whether to perform A/D conversion of spindle or servo motor

current.
0: Performs A/D conversion.
1: Does not perform A/D conversion.
#7 #6 #5 #4 #3 #2 #1 #0
1815 APC APZ OPT

[Data type] Bitaxis
#1 OPT Specifies whether to use a separate pulse coder as the position detector.
0: Does not use any separate pulse coder.
1: Uses a separate pulse coder.
NOTE
Refer to PSL (bit 3 of parameter No. 1807).
- 119 -
#4 APZ Indicates whether relative positioning of the machine position and

absolute-position detector is complete when an absolute-position detector
(absolute pulse coder) is used as the position detector.
0: Not complete
1: Complete
When an absolute-position detector is used: Set this bit to 0 when
primary at-site adjustment is done or the absolute pulse coder is replaced.
Then turn on the power, and set the origin of the absolute-position
detector by using, or example, manual reference position return.
Relative positioning of the machine position and absolute-position
detector is complete and APZx is automatically set to 1.
#5 APC Indicates whether the position detector is

0: a detector other than an absolute position detector.
1: an absolute position detector (absolute pulse coder).
#7 #6 #5 #4 #3 #2 #1 #0
1816 ACM DM3 DM2 DM1

[Data type] Bitaxis
#1 to #3: DM1 to DM3 detection multiplier setting
Setting Detection
DM3 DM2 DM1 multiplier
0 0 0 1/2
0 0 1 1
0 1 0 3/2
0 1 1 2
1 0 0 5/2
1 0 1 3
1 1 0 7/2
1 1 1 4
NOTE
1 To use flexible feed gears, set the respective DMR numerators
and denominators in parameter No. 1977 and No. 1978.
2 Set DM3 to DM1 to 111 for those axes to be subjected to spindle
positioning.
- 120 -
#7 ACM Specify whether to use an optional command multiplication factor 1/N.

0: Does not use the factor.
1: Uses the factor.
This bit is effective only when an optional command multiplication factor
option is provided.
1820 Command multiplier for each axis (CMR)

[Unit of data] See the following descriptions.
i) When CMR = 0.5 to 48
Set ACM (bit 7 of parameter No. 1816) to 0.
Then specify the value given by the following expression.
Setting = CMR*2
Valid range: 1 to 96
ii) When CMR = 1/2 to 1/27
(An optional command multiplier (option) is required)
Set ACM (bit 7 of parameter No. 1816) to 1.
Then specify the value given by the following expression.
Setting = 1/CMR
Valid range: 1 to 27
1821 Value of the numerator of a command multiplier for each axis (optional
command multiplier)

Specify the value of the numerator of a command multiplier for each
axis. The optional command multiplier is required.
1822 Value of the denominator of a command multiplier for each axis (optional
command multiplier)

Specify the value of the denominator of a command multiplier for
each axis. The optional command multiplier is required. To use the
optional command multiplier n/m (n: 1821, m: 1822), set a value
other than 0 in parameter No. 1821 and No. 1822.
- 121 -
1825 Servo loop gain for each axis

[Unit of data] 0.01/sec
Specify the position control loop gain for each axis.
For a machine which performs linear or circular interpolation (cutting),
specify the same value for all axes. For a machine which requires only
positioning, different values may be specified for different axes. The
larger the specified loop gain, the higher the position control response.
If the loop gain is too large, the servo system becomes unstable.
The relationships between the positioning deviation (amount of pulses
stored in the error counter) and feedrate are expressed as follows:
Positioning deviation = feedrate/(60*loop gain)
Unit: Positioning deviation mm, inches, or deg
Feedrate mm/min, inches/min, or deg/min
loop gain 1/sec
1827 Valid area for each axis

Specify the valid area for each axis.
When the deviation of the machine position and specified position
(absolute positioning deviation) does not exceed the valid area, it is
assumed that the machine reaches the specified position, that is, it
moves correctly.
1828 Positioning deviation limit for each axis while it is moving

Specify the positioning deviation limit for each axis while it is moving.
If the positioning deviation limit of the axis is exceeded while the axis is
moving, a servo alarm is issued and the machine stops immediately
(same as an emergency stop).
Generally, specify a value larger than the positioning deviation in the
rapid traverse mode.
- 122 -
1829 Positioning deviation limit for each axis when it is stopped

Specify the positioning deviation limit for each axis when it is stopped.
If the positioning deviation limit of the axis is exceeded when the axis is
stopped, a servo alarm is issued and the machine stops immediately
(same as an emergency stop).
1830 Positioning deviation limit for each axis in the servo off mode

Specify the positioning deviation limit for each axis in the servo off mode.
If the positioning deviation limit of the servo off mode is exceeded, a
servo alarm is issued and the machine stops immediately (same as an
emergency stop).
Generally, specify the same value as for the positioning deviation limit
for an axis when it is stopped.
1832 Feed-stop position deviation for each axis

Specify the feed-stop position deviation for each axis. If the positioning
deviation of an axis while it is moving exceeds the feed-stop position
deviation for the axis, pulse distribution and acceleration/deceleration
control are temporarily stopped. When the positioning deviation
becomes less than the feed-stop position deviation, pulse distribution
and acceleration/deceleration control are restarted.
The feed-stop function is mainly used for decreasing overshoot when a
large servo motor is accelerated or decelerated.
Generally, specify the intermediate value between the positioning
deviation limit while the tool moving and the positioning deviation limit
for the axis in the rapid traverse mode as the feed-stop position
deviation.
- 123 -
1837 Positioning deviation limit while the tool is moving in the rigid tapping mode

Specify the positioning deviation limit for a drilling axis while the tool is
moving in the rigid tapping mode. In the rigid tapping mode, the
position gain of a drilling axis is the same as that of the spindle.
Generally, the position gain of the spindle must not be excessively large.
In the rigid tapping mode, therefore, the position gain of a drilling axis is
smaller than the position gain in other modes. The positioning
deviation limit for the drilling axis while the tool is moving in the rigid
tapping mode is provided separately because the positioning deviation
increases if the position gain decreases at the same speed.
1843 Position deviation limit at torque limit skip

Set the position deviation limit during a torque limit skip command for
each axis. If the position deviation exceeds the position deviation limit,
SP alarm (SV0109) is issued and the system stops instantly.
1844 Grid shift amount of the reference position shift function

[Valid data range] -999999999 - 999999999
Distance to the first grid point found since the deceleration dog is turned off when
the reference position shift amount (parameter No. 1850) is set to 0.
NOTE
When SFD (bit 4 of parameter No. 1008) is set to 1, the grid
amount (parameter No. 1844) is set to 0, and the reference
position shift amount (parameter No. 1850) is set to 0, a value is
automatically set. The automatically set value must not be
changed.
- 124 -
1849 Backlash compensation amount used for rapid traverse for each axis

Set the backlash compensation amount used in rapid traverse for each axis. (This
parameter is valid when RBK, #6 of parameter 1804, is set to 1.)
More precise machining can be performed by changing the backlash compensation
amount depending on the feedrate, rapid traverse or the cutting feed for positioning.
Let the measured backlash at cutting feed be A and the measured backlash at rapid
traverse be B. The backlash compensation amount is shown below depending on
the change of feedrate (cutting feed or rapid traverse) and the change of the
direction of movement.
Change of Cutting Rapid Rapid Cutting
feedrate feed to traverse traverse feed to
cutting to rapid to cutting rapid
Change feed traverse feed traverse
of direction of
movement
Note 1) α=(A-B)/2
Note 2) The signs (±) of compensation values indicate the same directions as
those used for indicating movement directions.
1850 Grid shift/reference position shift for each axis

Specify the grid shift for each axis.
The grid position can be shifted by the amount specified in the
parameter to move the reference position. The grid shift must not
exceed the reference counter capacity (RC1x to RC4x (bits 0 to 3 of
parameter No. 1816) or parameter No. 1896).
NOTE
When SFD (bit 4 of parameter No. 1008) is set to 1, this
parameter indicates the "reference position shift amount for each
axis." In this case, the valid range is:
-999999999 to 999999999.
- 125 -
1851 Backlash compensation for each axis

Specify the backlash compensation for each axis.
When an axis moves in the direction opposite to the reference position
return direction after power-on, the first backlash compensation is
made.
- 126 -
1.5.2 Absolute Position Detection
Overview
Even after the CNC is turned off, the pulse coder, which is backed up
by a battery, retains the position. This eliminates the need to perform a
reference position return when the CNC is turned on.
Signal
Absolute position detector battery low voltage alarm signal PBATL <F040#6>
[Function] Notifies the user that the battery for the absolute position detector is
running down.
[Operation] The signal is set to "1" if:
- The voltage of the battery for the absolute position detector falls
below a preset level. The battery must be replaced as soon as
possible.
The signal is set to "0" if:
- The voltage of the battery for the absolute position detector is
equal to or greater than the rated value.
Absolute position detector battery zero voltage alarm signal PBATZ <F040#5>
[Function] Notifies the user that the battery for the absolute position detector,
which retains the machine position even after the CNC is turned off,
has run down.
[Operation] The signal is set to "1" if:
equal to 0V. The battery must be replaced before the CNC can be
turned off.
equal to or greater than 0V.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F040 PBATL PBATZ
- 127 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1815 APC APZ

[Data type] Bitaxis
NOTE
If this parameter bit is changed, the power must be turned off and
back on for the change to take effect.
#4 APZ If an absolute-position detector (absolute-pulse coder) is used as the

position detector, the correspondence between the machine position and
the position of the absolute-position detector is:
0: Not completed.
1: Completed.
If using an absolute-position detector, set this parameter bit to 0 during the first
installation or when the absolute-position detector is replaced, then turn the power
off and back on and set the origin of the absolute-position detector by means of
manual reference position return, etc. This completes the correspondence between
the machine position and the position of the absolute-position detector,
automatically setting this parameter bit to 1.
If the setting of any of the following parameters is changed, the origin must be set
again, so that this parameter bit is automatically set to 0.
- Parameters requiring that the origin be set again after their settings are changed:
1816,1820,1821,1822,1850,1879,1896,1977,1978,2622
#5 APC Indicates whether the position detector is
0: a detector other than an absolute position detector.
1: an absolute position detector (absolute pulse coder).
- 128 -
Alarm and message

OT0032 NEED ZRN(ABS PCDR) The reference position and the absolute pulse coder
counter value do not match.
Another alarm may be issued together with this alarm.
Should this occur, it is necessary to apply
countermeasures for the other alarm first. If this alarm is
issued, it is also necessary to set the zero point for the
absolute pulse coder.
OT0034 BATTERY ZERO(ABS PCDR) The battery voltage of the absolute position detector has
fallen to "0", or power is supplied to the pulse coder for the
first time.
If this alarm is issued, replace the battery without switching
off the power to the NC, then switch the power off then back
on. Then, set the zero point for the absolute pulse coder.
OT0035 IMPOSSIBLE ZRN(SERIAL) An attempt was made to create correspondence between
the reference position and the absolute position detector
when the origin cannot be established.
Rotate the motor through more than one turn manually,
then switch the power off then back on. Then, set the zero
point for the absolute pulse coder.
OT0036 BATTERY DOWN (ABS PCDR) Low absolute position detector battery voltage
Replace the battery without switching off the power to the
NC. Refer to PART III, "MAINTENANCE" in Operator’s
Manual (Operation) for an explanation of battery
replacement.
SV0101 DATA ERROR(ABS PCDR) A correct machine position cannot be obtained as the
absolute pulse coder has malfunctioned or the machine
moved too far during power ON.
- 129 -
1.5.3 FSSB Setting
General
Connecting the CNC control section to servo amplifiers via a high-
speed serial bus (FANUC Serial Servo Bus, or FSSB), which uses only
one fiber optics cable, can significantly reduce the amount of cabling in
machine tool electrical sections.
In a system using the FSSB, it is necessary to set up the following
parameters to specify its axes. (The other parameters should be
specified as usual.)
- No.1023,1027,1028
- Nos. 1080 to 1089. (For a system with 11 or more controlled
axes, parameters Nos. 1100 to 1109 and 1110 to 1119 are
also available in addition to these parameters. In the
remainder of this manual, references to Nos. 1080 to 1089
are interpreted to include parameters Nos. 1100 to 1109 and
1110 to 1119 for a system with 11 or more controlled axes.
References to these numbers are omitted.)
- Nos. 1092 to 1097
These parameters can be specified using the following methods:
1. Default setting
The default axis settings are made in the order in which amplifiers
are connected. Parameter Nos. 1023, 1027, 1028, 1080 to 1089,
and 1092 to 1097 need not be set, nor are they automatically set.
Note that some functions cannot be used.
2. Automatic setting
By entering the relationships between axes and amplifiers from
the FSSB setting screen, parameter Nos. 1023, 1027, 1028, 1080
to 1089, and 1092 to 1097 are automatically set.
3. Manual setting
Parameter Nos. 1023, 1027, 1028, 1080 to 1089, and 1092 to 1097
are specified according to manually entered values. The user must
be totally familiar with the meaning of each parameter before
entering any values.
- 130 -
Explanation
- Slave
In an FSSB-based system, a fiber optics cable is used to connect the
CNC to
servo amplifiers and pulse modules. These amplifiers and pulse
modules are called slaves. The two-axis amplifier consists of two
slaves, and the three-axis amplifier consists of three slaves. The slaves
are numbered 1, 2, ..., 10 (slave number) sequentially, with that nearest
to the CNC starting at number 1.
Fig. 1.5.3 (a)
- 131 -
- Default setting
If the power is turned on when 0 is set for both parameters FMD (bit 0
of No. 1090) and ASE (bit 1 of No. 1090) because of, for example,
parameter initialization, default setting is performed. With default
setting, the servo axis numbers (parameter No. 1023) match the slave
numbers. For example, the axis for which the setting of parameter No.
1023 is 1 is connected to the amplifier with slave number 1 (amplifier
nearest the CNC)
Fig. 1.5.3 (b)
With the default setting, several functional restrictions are imposed.

Usually, perform automatic setting from the FSSB setting screen
before operating the servo motor, since the default setting function is
for temporary setting during installation.
- Restrictions imposed on default setting

• Pulse modules cannot used. Thus, separate position detectors
cannot be used.
• The numbers set for parameter No. 1023 must be consecutive. For
example, it is not possible to set 3 for a certain axis without having
already set 2 for another axis.
• The following servo functions cannot be used:
- High-speed current loop
- High-speed interface axis
- Electronic gearbox (EGB)
- Tandem control
- 132 -
- Automatic setting
When 0 is set for both parameters FMD (bit 0 of No. 1090) and ASE
(bit 1 of No. 1090), automatic setting can be performed from the FSSB
setting screen.
Perform automatic setting from the FSSB setting screen, by applying

the following procedure:
1 On the amplifier setting screen, information for servo amplifiers
and pulse modules is displayed in order by slave number.
2 For each slave, set the axis control number to be connected. The
controlled axis name is displayed next to it (except for the pulse
modules).
3 Select the axis setting screen. For each controlled axis, set function
data such as the pulse module connector numbers.
4 Click soft key "Set" to perform automatic setting. If the settings are
invalid, a warning is generated. correct the settings.
By means of this operation, parameter Nos. 1023, 1027, 1028, 1080 to
1089, and 1092 to 1097 are automatically set. In addition, 1 is set for
the parameter ASE (bit 1 of No. 1090), which indicates that each
parameter has been set. When the power is turned off and then back on,
axis settings are made according to the parameters.
For details of the FSSB setting screen, see the procedures for
displaying and setting FSSB data, described later.
NOTE
1 To use the electronic gearbox (EGB), perform EGB
axis setting (parameter No. 1995#0 is set to 1) before
automatic setting on the FSSB setting screen.
Otherwise, automatic setting cannot be performed
correctly.
2 To use tandem control, set up the tandem controlled
axes (set 1 for bit 6 of parameter No. 1817, for
example) before automatic setting, as with the EGB
function.
3 To set spindle positioning and Cs contour control,
spindle parameters must be set in addition to axis
settings through automatic setting.
- 133 -
- Manual setting
After 1 is set for parameter FMD (bit 0 of No. 1090) or after automatic
setting is performed (1 is set for parameter ASE (bit 1 of No. 1090),
FSSB setting parameter Nos. 1023, 1027, 1028, 1080 to 1089, and 1092
to 1097 can be set directly through MDI input from the parameter
screen. Use this function if special axis settings that are not possible
through automatic setting are required. Usually, use automatic setting.
No. 1090#0
FMD
1
No. 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089
0 1 2 4 5 16 3 48 40 40
No. 1023 1093#0 1093#6 1093#7 1094 1095

FSL PM1 PM2
X 1 0 1 0 0 0
Y 3 0 0 1 0 2
Z 5 0 0 1 0 0
A 2 1 0 0 0 0
B 4 1 1 0 1 0
Z 6 1 0 1 0 1
Fig. 1.5.3 (c) Axis Configuration and Example of Setting Parameters

through Manual Setting (For the meaning of each parameter, see the
explanation of that parameter.)
- 134 -
FSSB data display

The FSSB setting screen displays FSSB-based amplifier and axis
information. This information can also be specified by the operator.
1 Press the <SYSTEM> function key.
2 To display [FSSB], press the next menu page key several times.
3 Pressing the [FSSB] soft key causes the [AMPLIFIER SETTING]
screen (or the previously selected FSSB setting screen) to appear,
with the following soft keys displayed.
The FSSB setting screens include: [AMPLIFIER SETTING], [AXIS
SETTING], and [AMPLIFIER MAINTENANCE]
To switch between these screens, use the page switch key.
- Amplifier setting screen

The amplifier setting screen consists of two sections: the first section
displays
information about the amplifiers, while the second section displays
information
about the pulse modules. On this screen, set the axis number of a
controlled axis to be connected to each amplifier.
Fig. 1.5.3 (d)
The amplifier setting screen consists of the following items:

• SLAVE NO.
The slave units connected to FSSB are assigned slave
numbers in order, starting with the one nearest the CNC. Up
to ten slave units can be connected (up to eight amplifiers
and up to two pulse modules). (For a system with 11 or more
controlled axes, up to 30 slave units can be connected, with
up to 24 amplifiers and up to six pulse modules).
- 135 -
• AMPLIFIER
The amplifier type display consists of the letter A, which
stands for "amplifier", a number that indicates the placing of
the amplifier, as counted from that nearest to the CNC, and a
letter such as L (first axis), M (second axis) or N (third axis)
indicating the placing of the axis in the amplifier.
• The following items are displayed as amplifier information:
- SERIES : servo amplifier series
- UNIT : servo amplifier unit type
- CUR. : maximum rating current
• AXIS No.
The axis number of each controlled axis specified in
parameters (Nos. 1080 to 1089) is displayed. If a number
specified in these parameters falls outside the range of
between 1 and the maximum number of controlled axes, 0 is
displayed. In automatic setting, the axis number of a
controlled axis connected to each servo amplifier is entered
in this field.
• NAME
The axis name assigned to a parameter (No. 1020)
corresponding to a particular controlled axis number is
displayed. If the controlled axis number is 0, - is displayed.
• The following items are displayed as pulse module
information:
- PULSE MOD.
This display consists of the letter M, which stands for
"pulse module", and a number indicating the placing of
the pulse module, as counted from that nearest to the
CNC.
- TYPE
This display is a letter indicating the type of the pulse
module.
- PCB ID
This display consists of four digits indicating the pulse
module ID (hexadecimal).
- Edition
The edition of the pulse module is displayed.
- Function
For a separate detector module (eight axes),
"DETECTOR (8AXES)" is displayed. For a separate
detector module (four axes), "DETECTOR (4AXES)"
is displayed.
- 136 -
- Axis setting screen

The axis setting screen displays the information shown below:
Fig. 1.5.3 (e)
The axis setting screen displays the following items:

• AXIS NO.
This item is the placing of the NC controlled axis.
• NAME
This item indicates the name of the corresponding controlled
axis.
• AMPLIFIER
Type of the amplifier connected to each axis
• M1
This item is the number of the connector for pulse module 1,
specified in parameter No. 1094.
• M2
This item is the number of the connector for pulse module 2,
• 1DSP
This item is the value specified in bit 0 (parameter 1DSP) of
parameter No. 1092. It is 1 for an axis (such as a learning
control axis, high-speed current loop axis, or high-speed
interface axis) that exclusively uses a DSP, which is usually
shared by two axes.
• SPOS
Parameter (No.1027) The value set in parameter No. 1027 is
displayed. A value other than 0 is displayed for a controlled
axis for spindle positioning.
• CS
This item is the value specified in parameter No. 1028. It is 1
for the Cs contour controlled axis.
- 137 -
• TNDM
This item is the number specified in parameter No. 1097.
Consecutive odd and even numbers are displayed for the
master and slave axes for tandem control.
• EGB
The values set for parameter No. 1096 are displayed.
Consecutive odd and even numbers are displayed for the
slave and dummy axes that are assumed when the EGB
function is executed.
- Amplifier maintenance screen

The amplifier maintenance screen displays maintenance information
for servo amplifiers.
Fig. 1.5.3 (f)

The amplifier maintenance screen displays the following items:
• AXIS NO. : controlled axis number
• NAME : controlled axis name
• AMP. : type of amplifier connected to each axis
• SERIES : servo amplifier series of an amplifier
connected to each axis
• UNIT : unit type of a servo amplifier connected to
each axis
• AXES : maximum number of axes controlled by an
amplifier connected to each axis
• CUR. : maximum rating current for amplifiers
• EDIT. : unit version number of an amplifier connected
to each axis
• TEST : date of test performed on an amplifier
Example）990123 : January 23, 1999
• MEINTE. : engineering change number for an amplifier
- 138 -
FSSB data setting procedure

On an FSSB setting screen (other than the amplifier maintenance
screen), pressing the [(OPRT)] soft key displays the following soft
keys:
Fig. 1.5.3 (g)
To enter data, place the machine in MDI mode or the emergency stop
state, position the cursor to the point where a desired item is to be input,
then enter the desired data and press the [INPUT] soft key (or the
<INPUT> key on the MDI panel).
If an entered value is correct, pressing the [AUTO SET] soft key
automatically sets the value in the parameter. If an entered value is
incorrect, a warning indicating that data is incorrect is issued.
To restore the previous value of a parameter if, for example, an entered
value is incorrect, press the [DATA RESET] soft key.
When the power is switched on, values are read from the parameters
and displayed on the screen.
- Amplifier setting screen

The amplifier setting screen allows the user to set the following item:
• Axis number : Controlled axis number
Enter a controlled axis number ranging from 0 to the
maximum number of controlled axes. If a value that falls
outside the range is entered, a warning indicating that the
data is incorrect is issued. After entering data on the
amplifier setting screen, enter data on the axis setting screen.
If a duplicate controlled axis number is entered, a warning
indicating that the data is incorrect is issued when an attempt
is made to set the value in the parameter by pressing the
[AUTO SET] soft key. No duplicate controlled axis number
is set in the parameter.
- 139 -
- Axis setting screen

On the axis setting screen, the following items can be specified:
• M1 : connector number for pulse module 1
For an axis that uses pulse module 1, enter a connector
number using a number in the range of between 1 and the
maximum number of axes for pulse module 1. When pulse
module 1 need not be used, enter 0. If a number that falls
outside the valid range is entered, the message FORMAT
ERROR is displayed.
• M2 : connector number for pulse module 2
For an axis that uses pulse module 2, enter a connector
number using a number in the range of between 1 and the
maximum number of axes for pulse module 2. When pulse
module 2 need not be used, enter 0. If a number that falls
outside the valid range is entered, the message FORMAT
ERROR is displayed.
• 1DSP
Enter 1 for the following axes, each of which exclusively
uses a DSP, which is usually shared by two axes. If a number
other than 0 or 1 is entered, the message FORMAT ERROR
is displayed.
- High-speed current loop axis
- High-speed interface axis
• SPOS
When setting a spindle positioning axis, enter a spindle
number from 1 to 4. If a number other than 0 to 4 is entered,
a warning indicating that the data falls outside the valid
range is issued.
• CS
Enter spindle number ( 1 to 4 ) for the Cs contour controlled
axis. If a number other than number other than 0 to 4 is
entered, the message FORMAT ERROR is displayed.
• TNDM
Enter odd and even numbers for the master and slave axes
for tandem control. These numbers must be consecutive and
in the range of between 1 and number of controlled axis. If a
number that falls outside the valid range is entered, the
message FORMAT ERROR is displayed.
• EGB
When using the EGB function, enter successive odd and
even numbers for the slave and dummy axes. Numbers from
1 to the number of controlled axes may be entered. If a
number that falls outside the range is entered, a warning
indicating that the data is not within the valid range is issued.
When the [AUTO SETING] soft key is pressed on the axis setting
screen after data entry, the message DATA IS OUT OF RANGE
is displayed if any of the following conditions is satisfied.
• Both M1 and M2 are nonzero for an axis.
• Any two of the 1-DSP, SPOS, CS, TNDM, and EGB are
nonzero for an axis.
• A duplicate value is specified for M1.
- 140 -
• A duplicate value is specified for M2.

• A duplicate value is specified for SPOS.
• A duplicate value is specified for CS.
• A duplicate value is specified for TNDM.
• An invalid master/slave axis pair is specified for TNDM.
• A duplicate value is specified for EGB.
• An invalid slave/dummy axis pair is specified for EGB.
- 141 -
Parameter
1080 Address conversion table value (ATR) for slave 1
NOTE

[Data type] Integer
[Valid data range] From 0 through 7 or 16 or 40 or 48
This parameter is automatically specified when the FSSB setting mode is the
automatic setting mode (bit 0 of parameter No.1090 is set to 0).
When the mode is the manual setting mode (bit 0 of parameter No. 1090 is set to 1),
be sure to directly enter the desired value.
Set the address conversion table values for slaves 1 to 10.
The term slave is a generic name for a servo amplifier or pulse module connected to
the CNC via an FSSB optical cable. Slaves are assigned numbers 1 to 10, the slave
nearest the CNC being assigned 1. A 2-axis amplifier consists of two slaves, and a
3-axis amplifier consists of three slaves. Set the appropriate value for this parameter
depending on whether a slave exists and, if it exists, whether the slave is an amplifier
or pulse module, as follows:
- If the slave is an amplifier:
Set the value equal to the setting of parameter No. 1023 for the axis to which
the amplifier is to be assigned, minus 1.
- If the slave is a pulse module:
Set 16 for the first pulse module (connected nearer the CNC) and 48 for the
second (connected farther from the CNC).
- If a slave does not exist:
- Set 40
- 142 -
NOTE
1 When using the electronic gear box (EGB) function
Although EGB and dummy axes do not require amplifiers,
assume that they are connected to dummy amplifiers. Thus, as
the address conversion table value for an non-existing slave, set
the value equal to the setting of parameter No. 1023 for the EGB
axis minus 1, instead of “40.”
2 If the system has 11 or more controlled axes, parameter No. 1100
to No. 1109 and No. 1110 to No. 1119, as well as parameter No.
1080 to No. 1089, are added as its address conversion table value
parameters.These parameters are associated with slaves as
described below:
No. 1080 to No. 1089 :
The slaves are linked via an FSSB optical fiber cable leading to the
first axis card (on the main board).
No. 1100 to No. 1109 :
second axis card (on the first additional-axis board)
No. 1110 to No. 1119 :
third axis card (on the second additional-axis board).
#7 #6 #5 #4 #3 #2 #1 #0
1090 ASE FMD

[Data type] Bit
#0 FMD Specify the FSSB setting mode:

0: Automatic setting mode.
When the relationships between axes and amplifiers and other
information are entered from the FSSB setting screen and
automatic setting is performed, parameters Nos. 1023, 1027,
1028, 1080 to 1089, and 1092 to 1097 are automatically
specified.
1: Manual setting mode.
Parameters Nos. 1023,1027,1028, 1080 to 1089, and 1092 to
1097 must be specified manually.
#1 ASE When the FSSB setting mode is the automatic setting mode (bit 0 of
parameter No. 1090 is set to 0), automatic setting is:
0: Not completed.
1: Completed.
This bit is automatically set to 1 when automatic setting is completed.
- 143 -
#7 #6 #5 #4 #3 #2 #1 #0
1092 DSP

[Data type] Bitaxis
#0 DSP Usually, do not directly enter any value, because this parameter is
specified on the FSSB setting screen. This parameter need not be
specified in the manual setting mode.
0: Two axes use a single DSP. (Ordinary axes)
1: A single axis uses a single DSP exclusively.
#7 #6 #5 #4 #3 #2 #1 #0
1093 PM2 PM1 FSL

[Data type] Bitaxis
#0 FSL The interface between the servo amplifier and the servo software is:
0: Fast type.
1: Slow type.
The servo data transfer interface is divided into two types, Fast and Slow. The
following conditions must be satisfied:
- When a 1-axis amplifier is used, either Fast or Slow type can be used.
- When a 2-axis amplifier is used, the Fast type cannot be used for both types.
The Slow type can be used for both axes.
- For a 3-axis amplifier, the condition for a 2-axis amplifier applies to its first and
second axes, while the condition for a 1-axis amplifier applies to its third axis.
- The Fast type must be used for an axis for which an odd number is set for
parameter No. 1023.
The Slow type can, however, be used for EGB workpiece axes, learning control
axes, high-speed current loop axes, and high-speed interface axes.
- Only the Slow type can be used for an axis for which an even number is set for
parameter No. 1023.
(Be sure to set this bit to 1.)
- 144 -
#6 PM1 Specifies whether to use the first pulse module.

0: Do not use.
1: Use.
#7 PM2 Specifies whether to use the second pulse module.

0: Do not use.
1: Use.
1023 Servo axis number of each axis
NOTE

Specify the number of the servo axis that corresponds to each
control axis. Normally, set each servo and control axis to the same
numbers.
The control axis number and servo axis number of an axis with an
absolute position detector must be the same.
- If FSSB setting mode is automatic setting mode (bit 0 of

parameter No. 1090 is set to 0), setting is made automatically by
inputting data to the FSSB setting screen. In manual setting
mode (bit 0 of parameter No. 1090 is set to 1), however, data
must be entered directly.
- The servo axes are associated with servo amplifiers by setting
parameter Nos. 1080 to 1089.
- For spindle motor axes such as the spindle positioning axis and
Cs contour control axis, 0 must be set.
- For axes under tandem control and electronic gear box (EGB)
control, a pair of two axes must be set. Set these axes as follows:
Tandem axis : Set 1, 3, 5, or 7 for the master axis. For the
slave axis to be used with the master axis, set
a value greater than the value set for the
master axis by one.
EGB axis : Set 1, 3, 5, or 7 for the slave axis. For the
dummy axis to be used with the slave axis, set
a value greater than the value set for the slave
axis.
- 145 -
1027 Spindle number of a spindle positioning
1028 Spindle number of a Cs contour control axis

[Valid data range] 0-4
Set the axis attribute for each control axis, in combination with parameter No.
1023.
Specify the control axis on which to perform spindle positioning, by setting the
spindle number (not the motor number) for this parameter. The following
restrictions are imposed:
- Set 0 for those control axes on which spindle positioning is not to be performed.
- A single spindle cannot be allocated to multiple control axes.
- As many spindle positioning axes as the number of spindles can be set.
- A spindle positioning axis must be placed from the end of a control axis.
Example 1) Servo axis: X, Y, Z

Spindle positioning axis: C (S1)
Number of spindles: 1
Controlled- Parameter Parameter Parameter
axis number No. 1020 No. 1023 No. 1027
1 88(X) 1 0
2 89(Y) 2 0
3 90(Z) 3 0
4 67(C) 0 1
Example 2) Servo axis: X, Z

Spindle positioning axis: C(S1), B(S2)
1 88(X) 1 0
2 90(Z) 2 0
3 67(C) 0 1
4 66(B) 0 2
NOTE
Note that this parameter is changed when automatic setting is
performed on the FSSB setting screen.
- 146 -
1094 Connector number of the 1-st pulse module
1095 Connector number of the second pulse module

This parameter is automatically specified when the FSSB setting mode is the
automatic setting mode (bit 0 of parameter No. 1090 is set to 0).
When the mode is the manual setting mode (bit 0 of parameter No. 1090 is set to
1), be sure to directly enter the desired value.
When using a pulse module, set the value equal to the connector number of the
pulse module used on the axis, minus 1. Thus, set 0 to 7 for connector numbers 1
to 8. In addition, bits 6 and 7 of parameter No. 1093 must be set separately. For
an axis on which a pulse module is not used, set 0.
Any connector can be used on an axis. Connector numbers must, however, be
used starting with the smallest one. For example, connector number 4 cannot be
used without using connector number 3.
Example)
Control First Second No.1094 No.1095 No.1093
ed axis connecter No. connecter No. (#7,#6)
X 1 Not used 0 0 0,1
Y Not used 2 0 1 1,0
Z Not used 1 0 0 1,0
A Not used Not used 0 0 0,0
B 2 Not used 1 0 0,1
C Not used 3 0 2 1,0
1096 Slave and dummy axis numbers for the EGB function (on the FSSB setting
screen only)

When using the EGB function, set consecutive odd and even
numbers for the slave and dummy axes.
Usually, do not directly enter any value, because this parameter is
- 147 -
1097 Master and slave numbers for tandem control (on the FSSB setting screen
only)

When performing tandem control, set consecutive odd and even
numbers for the master and slave axes.
Usually, do not directly enter any value, because this parameter is
- 148 -
Example of axis configuration and parameter setting
- Example1
Fig. 1.5.3 (h)
Fig. 1.5.3 (i)
The connection of slaves (servo amplifiers) and controlled axes is

determined by parameter Nos. 1023 and 1080 to 1089. In the example
shown in Fig. 1.5.3. (h), slaves 2, 3, and 4 are connected to A, Y, and Z.
By changing parameter Nos. 1081 to 1083 from 1, 2, and 3 to 2, 3, and
1, they are connected to Y, Z, and A, as shown in Fig. 1.5.3 (i).
- 149 -
- Example2
M1/M2 : First/Second pulse module
Fig. 1.5.3 (j) Example of axis configuration and parameter setting when the simple
electronic gearbox (EGB) function is used
(EGB slave axis = C-axis; EGB dummy axis = C-axis
Although slave 8 does not exit, it is assumed that an ordinary amplifier

exists for the EGB dummy axis.
- 150 -
Example3
If the system has 11 or more controlled axes, parameter No. 1110 to No.
1109 and No. 1110 to No. 1119 as well as parameter No. 1080 to No.
1089 are added as address conversion table value parameters.Shown
below are example parameter settings for the following configuration:
- There are three groups of eight parallel axes (X1 to X8, Y1 to Y8,
and Z1 to Z8)
- Each axis is provided with a scale feedback function.
- Each string of slaves consists of: 2-axis amplifier, 2-axis
amplifier, 2-axis amplifier, 2-axis amplifier, first pulse module,
and second pulse module
No. 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089
Value 0 1 2 3 4 5 6 7 16 48
No. 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109
Value 0 1 2 3 4 5 6 7 16 48
No. 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119
Value 0 1 2 3 4 5 6 7 16 48
No. 1023 1093#0 1093#6 1093#7 1094 1095

FSL PM1 PM2
X1 1 0 0 1 0 0
X2 2 1 0 1 0 1
X3 3 0 0 1 0 2
X4 4 1 0 1 0 3
X5 5 0 1 0 0 0
X6 6 1 1 0 1 0
X7 7 0 1 0 2 0
X8 8 1 1 0 3 0
Y1 9 0 0 1 0 0
Y2 10 1 0 1 0 1
Y3 11 0 0 1 0 2
Y4 12 1 0 1 0 3
Y5 13 0 1 0 0 0
Y6 14 1 1 0 1 0
Y7 15 0 1 0 2 0
Y8 16 1 1 0 3 0
Z1 17 0 0 1 0 0
Z2 18 1 0 1 0 1
Z3 19 0 0 1 0 2
Z4 20 1 0 1 0 3
Z5 21 0 1 0 0 0
Z6 22 1 1 0 1 0
Z7 23 0 1 0 2 0
Z8 24 1 1 0 3 0
NOTE
1 Parameter No. 1094 and No. 1095 are set to the
connector number for each pulse module in each
string of slaves (linked to one optical cable) minus 1.
In the above example, two pulse modules that can
connect four axes are used.
- 151 -
NOTE
2 The position detector of each axis can be connected
only the pulse module connected with the same axis
control card. The position detector of each axis
cannot be connected to the pulse module connected
with other axis control cards.
Alarm and message

SV0060 FSSB:OPEN READY TIME OUT The FSSB was not in a ready to open state during
initialization.
A probable cause is an axis card malfunction.
SV0061 FSSB:ERROR MODE The FSSB entered the error mode.
Probable causes are an axis card or amplifier malfunction.
SV0062 FSSB:NUMBER OF AMP. IS The number of amplifiers identified by the FSSB is less
INSUFFICIENT than the number of controlled axes.
The set number of axes or the amplifier connection is
erroneous.
SV0063 FSSB:CONFIGURATION ERROR The FSSB configuration error occurred. Or, there is a
difference in the type of connected amplifier and FSSB
setting.
SV0064 FSSB:AXIS SETTING NOT Setting of axes was not completed in the automatic setting
COMPLETE mode.
SV0065 FSSB:OPEN TIME OUT FSSB did not open even though FSSB initialization was not
completed. Or, the connection between the CNC and
amplifier is incorrect.
SV0066 FSSB:ID DATA NOT READ Amplifier information cannot be read as FSSB is not
assigned. Or, the connection between the CNC and
amplifier is incorrect.
SV0067 FSSB:CONFIGURATION The FSSB configuration error occurred. (Detected in
ERROR(SOFT) software). Or, there is a difference in the type of connected
amplifier and FSSB setting.
SV0070 FSSB DISCONNECT FSSB communications was broken; the FSSB
communications cable was disconnected, or broken; the
amplifier power supply turned OFF; or, the low voltage
alarm occurred on the amplifier.
SV0071 ILLEGAL AMP. INTERFACE The axes of a 2-axis amplifier were assigned to a fast-type
interface; or, the axis setting was incorrect.
SV0072 SEND CNC DATA FAILED An FSSB communications error prevented correct data
from being sent or received by the slave.
SV0073 SEND SLAVE DATA FAILED An FSSB communications error prevented correct data
from being sent or received by the servo software.
SV0074 READ ID DATA FAILED Failed to read amplifier ID information during power ON.
SV0075 MOTOR/AMP. COMBINATION The maximum current of the motor is different from the
maximum current of the amplifier; the connection between
the axis and amplifier is incorrect; or, the parameter(No.
1788) setting is incorrect.
SV0076 ILLEGAL SETTING OF AXIS The setting is incorrect even though functions requiring
hardware for 2 axes are built into one axis.
- 152 -
1.5.4 Servo Warning Details Signal
Overview
The αi series servo amplifier now provides a signal that indicates a
warning state before an alarm is issued.
This signal allows the operator to retract the tool to a safe location from
the time a warning state is indicated until a servo alarm is issued.
Signals
Servo warning details signal
SVWRN1 <F178#4>, SVWRN2 <F178#5>, SVWRN3 <F178#6>, SVWRN4 <F178#7>,
[Function] Before one of the following alarms is issued, this signal reports the
occurrence of a warning state via the following warning interface
independent of the conventional alarm interface.
[Output condition] The warning details signal will be output as follows depending on the
state of the servo amplifier.
Alarm No. Alarm message SVWRN4 SVWRN3 SVWRN2 SVWRN1 Remarks

SV0444 INV. COOLING FAN FAILURE 1 0 0 0 (*2)
SV0601 INV. RADIATOR FAN FAILURE 1 0 0 1 (*3)
SV0443 CNV. COOLING FAN FAILURE 1 1 0 0 (*2)
SV0606 CNV. RADIATOR FAN FAILURE 1 1 0 1 (*3)
SV0431 CNV. OVERLOAD 1 1 1 0 (*2)
SV0607 CNV. SINGLE PHASE FAILURE 1 1 1 1 (*1)
(*1) MCC turns OFF at least in five seconds after the warning state
occurs.
(*2) MCC turns OFF in about one minute after the warning state
occurs.
(*3) MCC does not turn OFF even if the warning state occurs.
The above alarms will be issued after MCC turns OFF.

The alarms marked with (*3) will be issued after MCC is turned OFF
due to an external cause such as an emergency stop.
The priority for the warning details signal is: (*1) > (*2) > (*3). If,
therefore, the warning details signal for an alarm marked with (*3) is
being output, but the warning state corresponding to an alarm marked
with (*1) or (*2) occurs, the warning details signal changes to that for
the alarm marked with (*1) or (*2). If the warning details signal for an
alarm marked with (*2) is being output, but the warning state
corresponding to the alarm marked with (*1) occurs, the warning
details signal changes to that for the alarm marked with (*1).
The warning details signal is set to "0" when all causes of the alarms
are cleared.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F178 SVWRN4 SVWRN3 SVWRN2 SVWRN1
- 153 -
1.6 SETTINGS RELATED TO COORDINATE SYSTEMS
1.6.1 Machine Coordinate System
General
A machine coordinate system uses a machine-specific point as its
origin. The machine coordinate system is set so that the reference
position has the coordinates set in parameter No. 1240 when a
reference position return operation is performed. A desired coordinate
system can be selected using the G53 command, and the tool can be
moved to a position along the axes of the coordinate system by means
of rapid traverse.
Parameter
1240 Coordinates of the first reference position in the machine coordinate system
NOTE

table(A))
Set the coordinates of the reference position in the machine coordinate
system.
Caution
CAUTION
Before G53 can be specified, a machine coordinate
system must be set. So, after the power is turned on,
manual reference position return or reference
position return based on G28 must be performed at
least once. This requirement, however, is not
applicable when an absolute-position detector is
mounted.
Reference item
Series15i/150i-MB Operator’s Manual II-7.1 Machine coordinate
(Programming) system
(B-63784EN)
- 154 -
1.6.2 Workpiece Coordinate System/Addition of Workpiece

Coordinate System Pair
General
A coordinate system used for machining a workpiece is referred to as a
workpiece coordinate system. A workpiece coordinate system is to be
set with the CNC beforehand (setting a workpiece coordinate system).
A machining program sets a workpiece coordinate system (selecting a
workpiece coordinate system). A set workpiece coordinate system can
be changed by shifting its origin (changing a workpiece coordinate
system).
Setting a workpiece coordinate system

A workpiece coordinate system can be set using one of three methods:
(1) Method using G92
A workpiece coordinate system is set by specifying a value after
G92 in the program.
(2) Method of using G54 to G59
Six workpiece coordinate systems are set in advance, using the
MDI panel, and the workpiece coordinate system to be used is
selected using program commands G54 to G59.
Selecting a workpiece coordinate system

The user can choose from set workpiece coordinate systems as
described below.
(1) Selecting a workpiece coordinate system set by G92
Once a workpiece coordinate system is selected, absolute
commands work with the workpiece coordinate system.
(2) Choosing from six workpiece coordinate systems set using the
MDI panel
By specifying a G code from G54 to G59, one of the workpiece
coordinate systems 1 to 6 can be selected.
G54 : Workpiece coordinate system 1
Workpiece coordinate system 1 to 6 are established after
reference position return after the power is turned on. When the
power is turned on, G54 coordinate system is selected.
Changing workpiece coordinate system

The six workpiece coordinate systems specified with G54 to G59 can
be changed by changing an external workpiece zero point offset value
or workpiece zero point offset value.
Three methods are available to change an external workpiece zero
point offset value or workpiece zero point offset value.
(1) Inputting from the MDI panel
- 155 -
(2) Programming by G10 or G92 (G50)

(3) Using external data input (refer to 15.2)
Workpiece coordinate Workpiece coordinate Workpiece coordinate Workpiece coordinate

system 1 (G54) system 2 (G55) system 3 (G56) system 4 (G57)
ZOFS2 ZOFS3
ZOFS4
ZOFS1
Workpiece coordinate
ZOFS5 system 5 (G58)
EXOFS
Machine zero point
ZOFS6 Workpiece coordinate
system 6 (G59)
EXOFS : External workpiece zero point offset value
ZOFS1-ZOFS6 : Workpiece zero point offset value
Fig. 1.6.2 Changing an external workpiece zero point offset value or workpiece zero point offset value
Addition of workpiece coordinate system pair

Besides the six workpiece coordinate systems (standard workpiece
coordinate systems) selectable with G54 to G59, 48 or 300 additional
workpiece coordinate systems (additional workpiece coordinate
systems) can be used.
Parameter
1220 Common offset from the workpiece reference point for all axes

[Unit of data] mm, inch, degree (input unit)
table(A))
This is one of the parameters that set the position of the origin in a work
coordinate system (G54 to G59). While the offset of the origin of a
workpiece coordinate system differ for each work coordinate system, this
parameter provides an offset common to all workpiece coordinate
systems. Normally, this parameter is set automatically by signal input
(external data input) from the machine.
- 156 -
1221 Offset of the origin of workpiece coordinate system 1 (G54)

[Minimum unit of data]Depend on the increment system of the applied axis
table(A))
Set the offset of the origin of each of the workpiece coordinate systems 1
to 6 (G54 to G59).
Reference item
Series15i/150i-MB Operator’s Manual II-7.2 Workpiece coordinate
(Programming) system
(B-63784EN)
- 157 -
1.6.3 Rotation Axis Roll-over
General
The roll-over function prevents coordinates for the rotation axis from
overflowing. The roll-over function is enabled by setting bit 2 of
parameter ROL 1009 to 1.
In the absolute mode, the specified value is converted to the remainder
obtained by dividing the specified value by 360 degrees. The
difference between the converted value and the current value indicates
the angular displacement. The movement by angular displacement is
always made in the shorter direction. That is, if the difference between
the converted value and the current value is greater than 180 degrees,
the movement to the specified position is made in the opposite
direction. If the difference is 180 degrees, the movement is made in the
normal direction. In the incremental mode, a specified value directly
indicates an angular displacement.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROP ROS ROT

[Data type] Bitaxis

parameter No. 1260.
- 158 -
parameter No. 5425.
#7 #6 #5 #4 #3 #2 #1 #0
1009 ROL

[Data type] Bitaxis
#2 ROL Specifies whether the roll-over function for a rotation axis is executed.
0: Not executed.
1: Executed.
NOTE
This bit is valid only for a rotation axis.
1260 Movement of one rotation of a rotary axis

Set the value of movement of one rotation of a rotary axis.
Note
NOTE
1 This function is applicable only to rotation axes.
2 This function cannot be used together with the index
table indexing function and rotary axis control
function.
Reference item
Series15i/150i-MB Operator’s Manual II-19.7 Rotation axes roll over
(Programming)
(B-63784EN)
- 159 -
1.6.4 Cutting/Rapid Traverse In-position Check
Overview
The cutting-/rapid traverse-specific in-position check enables an
effective area for the in-position check to be reduced for a cutting feed
block, in which a high precision is required.
It also enables the effective area to be increased in a rapid traverse
block, in which it is desirable to reduce the time required for
positioning the tool.
Function details
Setting parameter CCI (bit 4 of parameter No. 1800) to 1 enables an
effective area for cutting feed to be newly specified using parameter No.
1838.
In this case, both rapid traverse and cutting feed effective areas must be
specified for all axes. For axes that do not need this function, specify
the same effective area in parameter Nos. 1827 and 1838.
The following paragraphs explain the relationships between the in-

position check made using this function at the end of a block and the
next block.
1. When a rapid traverse block ends

An in-position check is made always using the effective area for
rapid traverse (parameter No. 1827).
Rapid traverse Rapid traverse
Rapid traverse effective area
Rapid traverse
Cutting feed
Rapid traverse in-position check

Fig. 1.6.4(a) In-Position Check at the End of a Rapid Traverse Block
- 160 -
1. When a cutting feed block ends

(1) If the next block is a cutting feed block, an in-position check
is made using a cutting feed effective area (parameter No.
1838).
Cutting feed
Cutting feed effective area
Cutting feed
Cutting feed in-position check
Fig. 1.6.4(b) When the Next Block Is a Cutting Feed Block
(2) If the next block is a rapid traverse block, an in-position

check is made using one of the parameters described below.
1) If parameter CIN (bit 5 of parameter No. 1800) = 0
A rapid traverse effective area (parameter No. 1827) is
applied.
Cutting feed Rapid traverse in-position check
Rapid traverse
Rapid traverse effective area
Fig. 1.6.4(c) When the Next Block Is a Rapid Traverse Block

(Parameter CIN = 0)
2) If parameter CIN (bit 5 of parameter No. 1800) = 1

A cutting feed effective area (parameter No. 1838) is
applied.
Cutting feed Cutting feed in-position check
Rapid traverse
Cutting feed effective area
Fig. 1.6.4(d) When the Next Block Is a Rapid Traverse Block

(Parameter CIN = 1)
- 161 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1800 CIN CCI

[Data type] Bit
#4 CCI Specifies what parameter is to be used to specify a cutting feed

effective area as follows:
0: Parameter common to rapid traverse (No. 1827)
1: Parameter dedicated to cutting feed (No. 1838)
It is possible to specify a cutting feed effective area (parameter No.

1838) separately from a rapid traverse effective area (parameter No.
1827).
Parameter CCI (bit 4 of parameter No. 1800) is used to determine
which (this function or the conventional in-position check) to select.
Once the function is enabled, it applies to all axes. If you do not want
to apply the function for a specific axis, set the same data in parameter
Nos. 1827 and 1838 for the axis.
#5 CIN Specifies a cutting feed effective area when the CCI is 1 as follows:
0: If the next block is a cutting feed block, the effective area
specified in parameter No. 1838 is used. If the next block is a
rapid traverse block, the effective area specified in parameter No.
1827 is used.
1: The effective area specified in the dedicated parameter (No. 1838)
is used regardless of what the next block is.
The following table lists the relationships between the cutting feed and
rapid traverse parameters.
Parameter CIN (bit 5 of parameter No. 1800)
0 1
Parameter CCI 0 Rapid traverse → rapid traverse No.1827 Rapid traverse → rapid traverse No.1827
(bit 4 of parameter
Rapid traverse → cutting feed No.1827 Rapid traverse → cutting feed No.1827
No. 1800)
Cutting feed → cutting feed No.1827 Cutting feed → cutting feed No.1827
Cutting → rapid traverse No.1827 Cutting → rapid traverse No.1827
1 Rapid traverse → rapid traverse No.1827 Rapid traverse → rapid traverse No.1827
Rapid traverse → cutting feed No.1827 Rapid traverse → cutting feed No.1827
Cutting feed → cutting feed No.1838 Cutting feed → cutting feed No.1838
Cutting → rapid traverse No.1827 Cutting → rapid traverse No.1838
Parameters CCI and CIN can also apply to the Cs axis.
- 162 -
1827 Effective area for an individual axis

[Unit of data] Detection unit
This parameter specifies an effective area for an individual axis.

If a difference between the machine position and the specified position
(absolute value of the positional deviation) is smaller than the effective
area, it is assumed that the machine has reached the specified position,
that is, is in the effective area.
If parameter CCI (bit 4 of parameter No. 1800) = 1, a rapid traverse
effective area for an individual axis is used.
1838 Cutting feed effective area for an individual axis

This parameter specifies a cutting feed effective area for an individual

axis.
It is used when parameter CCI (bit 4 of parameter No. 1800) = 1.
5879 Effective area for Cs contour control

[Data type] Integer spindle
This parameter specifies an effective area when Cs contour control is

performed.
When parameter CCI (bit 4 of parameter No. 1800) = 1, a rapid traverse
effective area for an individual axis is used.
5813 Cutting feed effective area for Cs contour control

This parameter specifies a cutting feed effective area when Cs contour

control is performed.
It is used when parameter CCI (bit 4 of parameter No. 1800) = 1.
- 163 -
1.7 PARALLEL AXIS CONTROL
General
When a machine tool is provided with multiple heads and multiple
tables, and multiple, identical workpieces are machined at the same
time, multiple controlled axes having the same axis name can be
operated at the same time by the use of a move command that specifies
only one program axis. This operation is called parallel operation.
Two or more axes which operate in parallel at the same time upon the
execution of a command that specifies only one program axis are called
parallel axes.
This function is useful for automatic operation, MDI operation, and
manual numeric commands. In manual operation, the parallel function
cannot be used. Each controlled axis operates independently.
In parallel operation, controlled axes related to one program axis
operate in the same way. With the use of an input signal sent from the
machine side, only the specified axis is selected among multiple
parallel axes and operated (parking).
Y2
Z2
Y1
Z1
Fig. 1.7 (a)
In the above figure, Y1 and Y2 are parallel axes and operate at the same
time with one address-Y command. Z1 and Z2 are also parallel axes
and operate at the same time with one address-Z command.
Parallel-axis movement has the following two conditions. One of the
two conditions is selected by the use of an input signal from the
machine side.
- Normal (parking off):
Operation is performed as specified by the command.
- Parking (parking on):
No operation is performed and the command is ignored.
- 164 -
- Tool length compensation and tool offset in a parallel axis
To apply tool length compensation to each axis, specify a difference

between an H code number and the offset number assigned to the H
code number, namely, a bias, for each axis in a parameter. A tool offset
can also be specified in the same way.
Specify a bias for tool length compensation in parameter No. 6021.
Specify a bias for a tool offset in parameter No. 6020.
Head-1 tool Head-2 tool
ε1
ε2
Programmed position
Fig. 1.7 (b)
(Example)
Head Specified Bias Offset Offset
offset number to be
number used
Head 1 07 10 17 ε1
Head 2 07 20 27 ε2
When parallel operation is performed with the third and fourth axes
serving as the Z1 and Z2 axes, for example, assume that as a bias for
each axis, 10 and 20 are specified in parameter No. 6021 for the Z1 and
Z2 axes, respectively. When tool length compensation command
G43H07; is specified, tool length compensation is applied with the
value of the head-1 offset number 17 (= 07 + 10) serving as the offset
for the head-1 tool and the value of the head-2 offset number 27 (= 07 +
20) serving as the offset for the head-2 tool.
NOTE
The offset corresponding to offset number 00,
namely, H00, is always zero irrespective of the bias.
- Amounts of travel on parallel axes

The amounts of travel on parallel axes differ between an incremental
command and an absolute command, as follows:
(1) Incremental command
- Rapid traverse and linear interpolation
The amounts of travel on all parallel axes are the same.
- Circular interpolation and helical interpolation
The amounts of travel on all parallel axes are the same. In
other words, identical circles or arcs are interpolated at the
same time.
- 165 -
(2) Absolute command

- Rapid traverse and linear interpolation
The absolute coordinates of the end point are identical for all
parallel axes. In other words, if the start points differ, the
amounts of travel on the parallel axes differ.
- Circular interpolation and helical interpolation
Interpolation is performed using the data for the axis that has
the lowest number among the controlled axes and for which
parking is not specified. The same data as the interpolated
data is output for the other parallel axes.
In other words, even for an absolute command, if an axis
starts operating at a position different from that of the axis to
which interpolation is to be applied, the tool moves to a
position other than the specified end point.
- Feedrate calculation
In linear interpolation, a feedrate in parallel operation is calculated for
an axis along which the amount of travel is the longest among all the
parallel axes. The feedrate calculation does not reflect the data for the
other parallel axes.
Limitation
- Synchronization control and twin-table control
Among those parallel axes having the same axis name, that axis having
the lowest controlled-axis number is called the master axis of the
parallel axes.
Those axes other than the master axis are called slave axes.
When parallel axis control and synchronization control are used at the
same time, the following limitations apply.
(1) Synchronization control or twin-table control cannot be applied to
the slave axes of parallel axes.
(2) A slave axis to which synchronization control and twin-table
control are applied cannot serve as the master axis of the parallel
axes.
- Manual operation
In manual operation, even a parallel axis operates independently.
In a manual numeric command, parallel operation is performed in the
same way as in automatic operation.
- Cutter compensation
Cutter compensation cannot independently be applied to each parallel
axis. The same compensation is applied to all parallel axes.
- 166 -
Signals
Parking signals
PK1<G65#4>, PK2<G69#4> , ...
[Classification] Input signals
[Function] Ignores a programmed command for a parallel axis to disable motion.
A parking signal is assigned to each controlled axis, with the number
suffixed to each signal name indicating the number of the controlled
axis.
PKx
x : 1 ..... Used for the parking the first axis
2 ..... Used for the parking the second axis
3 ..... Used for the parking the third axis
: :
: :
[Operation] In automatic operation, the operation of a parallel axis for which the
parking signal is set to 1 is disabled by ignoring the programmed
command. In manual operation, the parking signals are invalid. The
parking signals are valid, however, for a manual numeric command.
NOTE
1 The parking signals cannot be set to 1 for all the
parallel axes. That for the first axis must be set to 0.
2 In general, a parking signal can be switched from 1
to 0 or from 0 to 1 only when the control unit is reset.
To switch a parking signal with an M command
during automatic operation, the following conditions
must be satisfied:
1) Commands such as those for cutter
compensation, tool length compensation, and
tool coordinate system rotation must have
already been cancelled.
2) Those M codes that are to be used must have
been set as non-buffered M codes (parameter
No. 2411 to 2418).
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G065 PK1
the Appendix A.1.
- 167 -
Parameter
1021 Subscripts of the axis names of parallel, synchronization control, and

tandem control axes

[Valid data range] From 0 through 9 or 65 through 90
To distinguish the axes controlled in parallel operation mode, synchronization
control mode, and tandem control mode, specify a suffix for each axis.
Setting Meaning
0 Set 0 for those axes not controlled in parallel
operation mode, synchronization control, or
tandem control.
1-9 A set number is used as a suffix.
65-90 A set alphabetic character (ASCII code) is used as
a suffix.
Example: For an axis whose axis name is X, the following will be indicated:
Setting Axis name indicated on screens such as position

display screen
0 X
1 X1
77 XM
83 XS
6020 Bias set for the tool offset number for each axis

[Valid data range] From 0 through the number of the tool offsets
For parallel operation, set a bias for the tool offset number for each axis.
Namely, the value set in this parameter is added to the specified offset
number, and the resultant offset data is used as the tool offset for the
axis.
- 168 -
6021 Bias set for the tool length compensation number for each axis

[Valid data range] From 0 through the number of the tool offsets
For parallel operation, set a bias for the tool length compensation number for each
axis. Namely, the value set in this parameter is added to the specified offset
number, and the resultant offset data is used as the tool length compensation value
for the axis.
Alarm and message

PS0180 ALL PARALLEL AXES IN PARKING All of the axis specified for automatic operation are parked.
Note
NOTE
1 An independent signal specified for each axis, such
as an overtravel or interlock signal, functions
independently even for a parallel axis.
2 If the following commands are specified for an axis
in parking mode, they operate as if they had not
been specified and no processing is performed.
(Example) G92, G52, G53, G92.1, G10
ORIGIN/PRESET operation for coordinates on the
actual position screen
3 During automatic operation, a parking signal is
recognized only when a program is read (buffered),
so that parking signal switching during automatic
operation does not become effective immediately.
4 Specify, in parameter No. 1022, that each axis
serves as an axis in the basic coordinate system,
when circular interpolation or cutter compensation
is performed. Specify the same setting for the
parallel axes.
(Example)
Specify "1" in parameter No. 1022 for parallel
axes X1 and X2 when they function as the X
axis.
Reference item
Series15i/150i-MB Operator’s Manual II-19.6 Parallel axes control
(Programming)
(B-63784EN)
- 169 -
1.8 TANDEM CONTROL
General
If sufficient torque cannot be obtained with one motor (when driving a
large table, for example), two motors can be used to produce movement
along one axis.
The master axis alone is used for positioning, and the slave axis is used
only to generate torque.
With this function, double the amount of torque can be obtained.
Main motor
Table
Ball screw
Sub-motor
Tandem control is basically handled as involving the control of one

axis by the NC control unit. However, tandem control is handled as
involving the control of two axes in servo parameter management and
servo alarm monitoring.
- 170 -
Master Slave
axis axis
Pulse Pulse
Power line coder Power line coder
Servo Servo
amplifier amplifier
PWM PWM
Rotor Rotor
Current position Current position
loop loop
PRM.1980 Velocity PRM.1980 Velocity

Preload (L) + feedback Preload (M) + feedback
+ +
Inverted? Inverted?
PRM. 1879 PRM. 1879

Velocity
loop PRM. 1952#2
Average?
-
+
Scale
Built-in Separate detector
Position detector
loop
PRM.1815#1
-
+
Command pulse
Tandem Control Block Diagram
- 171 -
Explanation
- Axis configuration in tandem control
The limitations below are imposed on axis configuration in tandem
control.
(1) Up to four sets of tandem control can be used.

(2) Tandem control is handled as involving two controlled axes, but is
handed as involving one axis in a programmed command and
manual feed.
(3) Tandem control is handled as involving two axes in servo
parameter management and servo alarm monitoring.
(4) The servo axis numbers (parameter No. 1023) of the master axis
and slave axis must be set so that an odd number and the
subsequent even number are assigned, respectively.
Example: When the servo axis number (parameter No. 1023) of
the master axis is 1, the servo axis number of the slave
axis must be 2. When the servo axis number of the
master axis is 3, the servo axis number of the slave axis
must be 4.
(5) For the slave axis, bit 6 (DSP) of parameter No. 1004 must be set
to 1 to disable position display.
(6) Assign the same axis name to the master axis and slave axis.
(7) A suffix can be assigned to an axis name; examples are X1, X2,
XM, and XS. By assigning a suffix to the same axis name, axes
that have the same axis name can be distinguished from each other
when displayed on the screen; in addition, when an axis-by-axis
alarm is issued, the axis in question can be identified.
Parameter No. 1021 is used to set a suffix.
An example of exercising tandem control on the X-axis and Y-axis

with a machine that involves five axes (X, Y, Z, A, and B) is given
below.
Number of controlled axes (optional parameter) = 7
Axis Axis name Axis name Suffix Servo axis Tandem axis
No. displayed (parameter (parameter number (Bit 6 of
No. 1020) No. 1021) (parameter parameter
No. 1023) No. 1817)
1 XM 88 77 1 1 Tandem control master axis
2 XS 88 83 2 1 Tandem control slave axis
3 YM 89 77 3 1 Tandem control master axis
4 YS 89 83 4 1 Tandem control slave axis
5 Z 90 0 5 0
6 A 65 0 6 0
7 B 66 0 7 0
- 172 -
- Preload function
By applying an offset to a torque controlled by position (velocity)
feedback, tension can be maintained at all times with opposing torques
applied to the master axis and slave axis. With this function, the effect
of backlash that occurs between the master axis and slave axis due to
the tandem connection of two motors through a mechanism such as a
gear can be reduced. This function, however, does not reduce the
backlash inherent to a mechanical system, such as that between a ball
screw and table.
For example, by setting X for the master axis and -X for the slave axis
as preload values, tension is maintained by the preload torques even
during a stop.
Master axis Slave axis

X -X
CAUTION
1 Set as small a preload value as possible. Never set a
value that exceeds the rated torque. Otherwise, an
overload alarm is issued because a torque is output
even during a stop. Set a value that is slightly larger
than the friction value. As a guideline, set a torque
that is about one-third of the rated torque.
2 If the direction of one motor is opposite to that of the
other motor (if a value with the opposite sign is set in
parameter No. 1879), set a preload value with the
same sign.
- Velocity feedback averaging function

As can be seen from the tandem control block diagram, the motor of the
slave axis is not subject to velocity control. For this reason, the
operation of a machine with a large backlash may become unstable
because the slave axis vibrates, for example, due to gear backlash. In
this case, machine operation can be made stable by exercising velocity
control on the slave axis as well. This function is referred to as the
velocity feedback averaging function. This function is enabled by
setting bit 2 (VFB) of parameter No. 1952.
- Improvement in closed loop system stability

For a closed loop system employing a linear scale, for example, two
functions are available which can improve the system reliability and
which allow a higher position gain.
- Dual position feedback function
- Machine velocity feedback function
For details of these functions, refer to the "FANUC AC SERVO
MOTOR αi series Parameter Manual (B-65270EN)."
- 173 -
- Notes on tandem control stability

The key to tandem control stability is that feedback capability is
available. The feedback capability allows the master to move the slave
or vice versa through the connected transmission mechanism. If this
capability is not available, machine operation becomes unstable. In
this case, machine adjustment is required.
- Axis-related signal connection

When DI/DO signals to be connected to each axis are to be connected
to tandem control axes, the signals need to be connected to the master
axis only. Connecting the signals to the slave axis has no effect.
However, the signals below must be connected as required.
(1) Controlled axis removal signal and servo-off signal

These signals must be connected so that the signals for both the
master axis and slave axis are entered at the same time.
(2) Overtravel limit signal
The overtravel limit signal for the slave axis must be set so that the
signal sends "1" at all times.
If a stroke limit needs to be detected on the slave axis as well, the signal
detected on the slave axis must be sent as the overtravel limit signal of
the master axis.
- Motor connection
When making a motor connection, follow the servo axis numbers.
Moreover, connect a feedback cable for the slave axis as well.
(Example of position feedback cable connection)
Axis control Master axis motor feedback cable

JF1
Slave axis motor feedback cable

JF2
Separate detector
adaptor Separate detector feedback cable
JF21
- Servo alarm
Servo-related alarms such as those for motor overload are displayed
separately for the master axis and slave axis.
- 174 -
Parameter
- Setting data (parameter)
When set for tandem control axes, the parameters to be set for each axis
are divided into three types:
(1) Parameters in which the same data must be set for the master axis
and slave axis
(2) Parameters that must be set for the master axis only (Parameters,
if set for the slave axis, are not used.)
(3) Parameters in which different data may be set for the master axis
and slave axis
The classification of parameters is detailed later. In general, a
parameter that does not fall into these types must be assumed to be a
parameter of type (1), and the same data must be set for the master axis
and slave axis.
CAUTION
If different data is set for the master axis and slave
axis in a parameter of type (1), tandem control does
not function normally.
- Depending on the rotation directions of the master axis and slave

axis, care must be taken in specifying the following two servo
parameters:
Parameter No. 1879 Motor rotation direction
Parameter No. 1980 Preload value
In parameter No. 1879, specify the positive direction (111) or
negative direction (-111) as required.
When specifying parameter No. 1980, use the same sign if the
rotation direction of the master axis is opposite to that of the slave
axis, and use the opposite sign if the rotation direction of the
master axis is the same as that of the slave axis.
- When a separate pulse coder is used, the master axis must be set to
use the separate pulse coder, and the slave axis must be set to use
the built-in pulse coder. Care must be taken in specifying the
following parameters:
Bit 1 of parameter No. 1815 Separate pulse coder
Bits 6 to 4 of parameter No. 1816 Detection multiplier (DMR)
Parameter No. 1891 Number of position detection feedback
pulses (PPLS)
Parameter No. 1896 Arbitrary reference counter size
Parameter No. 1977 Flexible feed gear numerator
Parameter No. 1978 Flexible feed gear denominator
For example, suppose that a motor with a serial A pulse coder is used
together with a linear scale for 1µm position detection, and that the
amount of machine travel per motor revolution is 4 mm. Then:
Master axis Slave axis
No.1815#1 1 0
No.1816 01110000 01110000
No.1891 4000 12500
No.1896 4000 4000
No.1977 0 4
No.1978 0 1000
- 175 -
- Parameters that need to be set for the master axis only
Parameter No. Description

0012#0 Mirror image
1004#2 Input multiplied by 10
1005#4 External deceleration in plus direction
1005#5 External deceleration in minus direction
1022 Parallel axis specification
1220 External workpiece coordinate shift
1221 G54 workpiece origin offset
1423 Jog feedrate
1424 Rapid traverse rate
1425 FL feedrate for manual reference position return
1427 External deceleration in rapid traverse
1815#1 Separate pulse coder
1815#5 Absolute-position detector
1952#2 Velocity feedback averaging function
2020 Soft operator's panel plus-direction button
2021 Soft operator's panel minus-direction button
- Parameters in which different data may be set for the master axis and slave axis

1004#6 Disable current position display
1021 Axis name suffix
1023 Servo axis number
1879 Motor rotation direction
1980 Preload value
1815#1 Separate pulse coder
1816#6-#4 Detection multiplier (DMR)
1891 Number of position detection feedback pulses (PPLS)
1896 Reference counter size
1977 Flexible feed gear numerator
1978 Flexible feed gear denominator
- 176 -
- Parameters in which the same data is set for the master axis and slave axis

1012#3-#0 Least command increment
1005#0 Whether to perform reference position return
1005#1 Reference position return method
1005#2 Reference position return performed at low speed each
time
1005#3 Coordinate system presetting at reference position
return
1006#0 Rotation axis
1006#1 Stroke check. The machine coordinate system for G28
is of rotation axis type.
1006#2 The coordinate system for pitch error compensation is
of rotation axis type.
1006#3 Diameter/radius specification
1006#5 Reference position return direction
1020 Axis name
1240 Reference position viewed from the machine zero point
1241 Second reference position coordinate
1242 Third reference position coordinate
1243 Fourth reference position coordinate
1260 Amount of movement per revolution about a rotation
axis
1421 F0 for rapid traverse override
1600#0 Type of acceleration/deceleration for rapid traverse
1620 Time constant for linear acceleration/deceleration in
rapid traverse
1621 FL for acceleration/deceleration in rapid traverse
1622 Time constant for acceleration/deceleration in cutting
feed
1623 FL for acceleration/deceleration in cutting feed
1624 Time constant for acceleration/deceleration in jog feed
1625 FL for acceleration/deceleration in jog feed
1626 Time constant for acceleration/deceleration in a
threading cycle
1627 FL for acceleration/deceleration in a threading cycle
1628 Time constant for acceleration/deceleration in rapid
traverse of constant time type
1629 FL for acceleration/deceleration in rapid traverse of
constant time type
1802#1 Servo-off axis
1820 Command multiplier (CMR)
17XX Most digital servo related parameters
5210#0 Soft OT2
5210#1 Soft OT3
5220 First stroke limit on the plus side
5221 First stroke limit on the minus side
5222 Second stroke limit on the plus side
5223 Second stroke limit on the minus side
- 177 -
#7 #6 #5 #4 #3 #2 #1 #0
1817 TDM

[Data type] Bitaxis
#6 TDM Specifies whether to validate tandem control.

0: Does not validate tandem control.
1: Validate tandem control.
Set this parameter for both master and slave axes.
1875 Load-inertia ratio

(Load inertia)/(Motor inertia) * 256
For tandem control, set
(Load inertia)/(Motor inertia) * 256/2
to both the master and the slave axis.
1879 Direction of the motor revolution

Specify the direction of the motor revolution.
In the tandem control, switch over the revolution direction by this
parameter if it is different among the master axis and the slave axis.
#7 #6 #5 #4 #3 #2 #1 #0
1952 VFB

[Data type] Bitaxis
#2 VFB In the tandem control, the averaging function of the velocity feedback is,
0: valid.
1: invalid.
This parameter should be set only for the master axis.
- 178 -
1980 Pre-load value for each axis (Tcmd offset)

[Unit of data] (Amplifier limit)/7282
In the tandem control, this parameter is used to suppress the backlash.
The set value should be slightly bigger than the friction.
A typical value is the 1/3 of the rated torque.
(Example)
If the limit on the amplifier current is 40 A, the following settings specify
two opposing 3 A torques:
3/(40/7282) = 546
Master side = 546
Slave side = 546
Alarm and message

SV0055 ILLEGAL TANDEM AXIS The setting of parameter No. 1023 is illegal in tandem
control.
SV0056 ILLEGAL TANDEM PAIR The setting of parameter No. 1020 or TDM parameter No.
1817#6 is illegal in tandem control.
Reference item
Series15i/150i-MB Operator’s Manual II-19.4 Tandem control
(Programming)
(B-63784EN)
- 179 -
1.9 SYNCHRONOUS CONTROL
General
When one axis is driven by two servo motors as in the case of a large
gantry machine, a command for one axis can drive two motors
synchronously. Moreover, for synchronous error compensation,
feedback information from each motor allows a positional difference
(synchronous error) between the two motors to be detected. If a
synchronous error beyond a set value occurs, an alarm is issued to stop
movement along the axes.
An axis used as the reference for synchronous control is referred to as a

master axis (M-axis). An axis along which movement is made in
synchronism with the master axis is referred to as a slave axis(S-axis).
Z
Xs
(slave axis)
Xm
(master axis)
Fig. 1.9 (a) Example of Machine Where Xm and Xs Are Synchronous Axes
- 180 -
1.9.1 Configuration of Synchronous Control Axes
Master axis and slave axis for synchronous control

An axis used as the reference for synchronous control is referred to as a
master axis (M-axis). An axis along which movement is made in
synchronization with the master axis is referred to as a slave axis.
A synchronous control axis configuration is determined by setting the
axis number of a master axis in parameter No. 7702 for a slave axis.
Synchronous operation and normal operation

Operation that involves a movement along a slave axis in
synchronization with the master axis with synchronous control turned
on is referred to as synchronous operation. Operation that involves
independent movement along the master axis and slave axis
respectively with synchronous control turned off is referred to as
normal operation.
Two methods of operation are supported. One method switches
between synchronous operation and normal operation by using an input
signal. The other method uses synchronous operation at all times. The
method to use is determined by bit 1 (SYN) of parameter No. 1817.
- Switching between synchronous operation and normal operation with an input

signal
When bit 1 (SYN) of parameter No. 1817 is set to 0 for the slave axis,
the SYNCx signal (with x representing a slave axis number) is used to
switch between synchronous operation and normal operation. When
SYNCx = 1, synchronous operation is selected. When SYNCx = 0,
normal operation is selected.
When this switching capability is used, synchronous error
compensation is disabled.
- Using synchronous operation at all times

When bit 1 (SYN) of parameter No. 1817 is set to 1 for the slave axis,
synchronous operation is selected at all times, regardless of the state of
the SYNCx signal.
Axis names of synchronous control axes

The same name or different names may be assigned to the master axis
and slave axis.
- Restrictions imposed when the same axis name is used for the master axis and
slave axis
If the same name is assigned to both the master axis and slave axis,
manual operation alone is possible in normal operation. Automatic
operation and the use of manual numeric commands are disabled.
- 181 -
- Assigning suffixes to axis names

A suffix can be assigned to an axis name; examples are X1, X2, XM,
and XS. By assigning a suffix to the same axis name, those axes that
have the same axis name can be distinguished from each other when
displayed on the screen; in addition, when an axis-by-axis alarm is
issued, the axis in question can be identified.
Parameter No. 1021 is used to set a suffix.
Setting multiple slave axes

One master axis can have multiple slave axes.
Example:
In the example below, the X1 and X2 axes are synchronized with the
XM axis.
Axis Controlled Axis Suffix Master axis Operation

name axis name No.1021 number
display number No.1020 No.7702
XM 1 88 77 0
Y 2 89 0 0
X1 3 88 1 1 Movement is made in
synchronization with
the XM axis.
X2 4 88 2 1 Movement is made in
synchronization with
the XM axis.
When multiple slave axes are involved, synchronous error

compensation, synchronization, synchronous error checking are
performed for each axis independently.
Combination with tandem control

Tandem control can be applied to both the master axis and slave axis.
The same axis arrangement restriction as that for normal tandem
control is applicable. There is no restriction specific to synchronous
control.
Axis selection for screen display

On a screen such as the current position display screen, a slave axis is
also displayed. The display for a slave axis can be disabled by setting
bit 6 (DSP) of parameter No. 1004 to 1 for the slave axis.
Axis selection in actual speed display

When bit 1 (SYN) of parameter No. 1817 is set to 1 to enable the use of
synchronous operation at all times, the slave axis is excluded from
calculation for actual speed display.
When bit 1 (SYN) of parameter No. 1817 is set to 0, a composite speed
involving the slave axis is displayed in the actual speed display. By
setting the axis selection signal for axis speed display *ACTFx to 1, the
slave axis can be excluded from calculation for actual speed display.
- 182 -
1.9.2 Synchronous Error Compensation
If a synchronous error which is greater than the zero width value set in
parameter No. 1912 occurs, a compensation pulse calculation is made
to minimize the synchronous error, and the required pulses are added to
the command pulses for the slave axis. This compensation is not
applied in the servo off state, servo alarm state, follow-up, and
adjustment mode.
Compensation pulses are calculated by applying a compensation gain
to the synchronous error between the master axis and slave axis.
Before synchronous error compensation can be performed, bit 1 (SYN)
of parameter No. 1817 must be set to 1 to perform synchronous
operation at all times. Moreover, synchronization must have already
been established by a manual reference position return operation.
Master axis
machine position
+
Synchronization Compensation pulses
K1
error counter Added to the command
- Compensation gain for the slave axis
Slave axis
machine position Compensation
pulse counter
Synchronous error compensation smooth suppress function

In normal synchronous error compensation, if a synchronous error
larger than the synchronous error zero width set in parameter No. 1912
occurs, synchronous error compensation is performed using the gain
specified in parameter No. 1915, as shown in the figure below. When a
synchronous error smaller than the synchronous error zero width
occurs, the gain becomes 0, and synchronous error compensation is not
performed.
Synchronization error
compensation gain
Kd
0 A Synchronization error
A : Synchronous error zero width (parameter No. 1912)

Kd : Synchronous error compensation gain
(parameter No. 1915)
With this function, another set of the parameters for synchronous error
zero width and synchronous error compensation gain (B and Ks in the
figure below) can be specified for smooth synchronous error
suppression even when a smaller synchronous error occurs.
- 183 -
Synchronization error
compensation gain
Kd
Ks
0 B A Synchronization error
A : Synchronous error zero width (parameter No. 1912)

B : Synchronous error zero width 2 (parameter No. 1917)
(0 < B < A)
Kd : Synchronous error compensation gain (parameter No. 1915)
Ks : Synchronous error compensation gain (parameter No. 1918)
(0 < Ks < Kd)
Er : Current synchronous error between the master axis and slave
axis
K : Current synchronous error compensation gain corresponding
to Er
(1) When Er < B, compensation is not performed. (K = 0)

(2) When B < Er < A, compensation is performed using the
following gain:
( Er − B)( Kd − Ks)
K = Ks +
A−B
(3) When A < Er, compensation is performed using the gain K =
Kd.
- 184 -
1.9.3 Synchronization Alignment
When the power is turned on, or the emergency stop state is canceled,
the master axis and slave axis under synchronous control are not
always placed in the same position. At this time, the synchronization
alignment function matches the position of the master axis with the
position of the slave axis.
Synchronization alignment method

The synchronization alignment method depends on whether to perform
synchronous error compensation.
- Synchronization alignment when synchronous error compensation is performed

When synchronous error compensation is performed (with bit 2 (CLP)
of parameter No. 1803 for the slave axis set to 0), synchronization is
established using the same method as that for synchronous error
compensation. This means that a positional difference between the
master axis and slave axis is regarded as being a synchronous error, and
the pulses matching the positional difference multiplied by the
synchronous error compensation gain are output to the slave axis. So,
if no synchronous error compensation gain is set in parameter No. 1915,
synchronization alignment is not performed.
If a synchronous error zero width is set in parameter No. 1912,
synchronization alignment is no longer performed when the positional
difference between the master axis and slave axis becomes equal to or
less than the synchronous error zero width.
- Synchronization alignment based on machine coordinates

To establish synchronization when synchronous error compensation is
not performed (with bit 2 (CLP) of parameter No. 1803 for the slave
axis set to 1), bit 0 (SYC) of parameter No. 1010 must be set to 1 so that
synchronization alignment based on the machine coordinates can be
enabled.
This method of synchronization alignment establishes synchronization
by outputting the command pulses for the slave axis that match the
machine coordinate difference between the master axis and slave axis.
The command pulses matching a machine coordinate difference are
output at one time, so that the machine makes a sudden large movement
if a large compensation value is involved. So, parameter No. 7724 is
used to set a maximum allowable compensation value used for
synchronization. Set such a maximum compensation value that a
sudden machine movement has no adverse effect. If a compensation
value greater than the setting of this parameter is specified, an alarm
(OT513) is issued, thus disabling synchronization alignment. When a
maximum compensation value of 0 is set, synchronization is not
established.
- 185 -
Synchronization alignment upon power-up

Synchronization upon power-up is established based on manual
reference position return or absolute position detection.
Until synchronization alignment is completed, synchronous error
compensation is not performed. However, a synchronous error alarm
check is made.
- Synchronization alignment based on manual reference position return

When a manual reference position return operation is performed on the
synchronous control axes, the master axis and slave axis are positioned
to their respective reference positions in the same sequence as the
normal reference position return sequence.
When synchronous error compensation is used, the synchronous error
counter is reset upon completion of reference position return operation
on both axes. Then synchronous error compensation starts.
(1) Grid method (not using the reference position proximity signal)
The sequence is the same as the normal grid method for only one
axis. However, only the master axis deceleration signal is used.
When the deceleration signal is set to 0, the movements on the
master axis and slave axis decelerate to stop, then an FL feedrate
is used. When the deceleration signal is set to 1, movement is
made on the master axis and slave axis to their respective grid
points, at which point they stop.
NOTE
If the positional difference between the master axis
and slave axis is large, a reference position shift
occurs.
In the example below, the slave axis involves a large
positional difference, so that the position one grid
from the actual reference position is regarded as
being a reference position. In this case, the
reference position proximity signal needs to be used.
(Example) When the reference position of the slave axis is shifted by one grid
*DEC
Master axis speed
Master axis grid

Actual reference
position
Slave axis speed
Slave axis grid
Actual reference Stop at the position

position shifted by one grid.
- 186 -
(2) Grid method (using the reference position proximity signal)

The same operation as that for the grid method that does not use
the reference position proximity signal is performed until an FL
feedrate is reached. After the deceleration signal is set to 1 during
movement at the FL feedrate, the master axis and slave axis stop at
their first grid points detected after the reference position
proximity signal is set to 0. The reference position proximity
signal needs to be set for both the master axis and slave axis.
- Synchronization alignment based on absolute position detection

When an absolute-position detector is used for position detection, the
machine positions on the master axis and slave axis are found for
automatic synchronization alignment when the power is turned on.
Synchronization alignment after emergency stop cancellation, etc

Synchronization is also established when servo position control is
switched from off to on, such as upon emergency stop cancellation,
servo alarm cancellation, servo-off cancellation, and so forth. When
axis removal is canceled, however, synchronization is not established;
in this case, synchronization needs to be established by manual
reference position return operation as required when the power is
turned on.
- 187 -
1.9.4 Synchronous Error Check
A synchronous error is monitored at all times. If an error greater than a

certain limit is detected, an alarm is issued, and movement on the axis
is stopped.
When synchronous error compensation is applied, a check covering
positional deviations is also made.
When synchronous error compensation is not applied, a synchronous
error check based on machine coordinates is made.
Check covering positional deviations

When synchronous error compensation is applied, a check covering
positional deviations is also made. An actual machine position shift is
checked, taking servo positional deviations into consideration.
Depending on the magnitude of the synchronous error, an OT alarm for
causing a gradual stop or an SV alarm for immediately turning off the
servo system is issued. This check function is enabled when a value
other than 0 is set as a maximum allowable synchronous error in
parameter No. 1913 or No. 1914. When making a synchronous error
check by using this method, disable synchronous error check based on
machine coordinates (described later), by setting parameter No. 7723
to 0.
- Excessive synchronous error alarm 2 (SV24)

If a synchronous error greater than the value set in parameter No. 1913
is detected, synchronous control alarm 2 is issued.
Until synchronization is established at power-up, the value set in
parameter No. 1913 multiplied by the coefficient set in parameter No.
1910 is used for judgement. If synchronous control error alarm 2 is
issued, the motor stops immediately in the same way as for other servo
alarms. This means that a positional difference between the master
axis and slave axis remains unchanged, disabling alarm cancellation.
In such a case, the synchronous error needs to be corrected manually by
selecting adjustment mode, described later.
- Excessive synchronous error alarm 1 (OT30)

If a synchronous error greater than the value set in parameter No. 1914
is detected, synchronous control alarm 1 is issued.
If synchronous control alarm 1 is issued, the motor is decelerated and
stopped. At this point, synchronous error compensation has yet to be
enabled, so that the synchronous error is reduced by compensation. So,
when the synchronous error falls below the maximum allowable value,
the alarm can be reset. If the alarm cannot be reset, reduce the
synchronous error in adjustment mode as in the case of excessive
synchronous error alarm 2.
- 188 -
Synchronous error check based on machine coordinates

When synchronous error compensation is not applied, a synchronous
error check based on the machine coordinates is made.
The machine coordinates on the master axis are compared with those
on the slave axis. If the error between the master axis and slave axis is
greater than the value set in parameter No. 7723, an OT513 alarm is
issued, and the machine is stopped.
This function can check for the machine position shift that can occur
when servo position control is turned off as in the case of an emergency
stop, servo alarm, or servo off.
When the input signal is used to switch between synchronous operation
and normal operation, a synchronous error check is made even in
normal operation. So, even if the synchronous control selection signal
(SYNCx) is set to 0 by mistake during synchronous operation, damage
to the machine can be avoided.
Synchronization error check based on positional deviation

The servo positional deviation for master and slave axes are monitored
during synchronization control. If the positional deviation exceeds a
limit specified in parameter No. 7799, alarm OT513 is issued, and a
synchronization control positional deviation error alarm signal
(F153.1) is output.
Alarm OT513 is issued for both master and slave axes.
- 189 -
1.9.5 Recovery from Excessive Synchronous Error Alarm
Two methods of recovery from an excessive synchronous error alarm

are available. One uses adjustment mode, and the other uses normal
operation.
If the input signal is used to switch between synchronous operation and
normal operation, only the method using normal operation is usable.
If synchronous operation is used at all times, only the method using the
adjustment mode is usable.
Synchronous error correction using adjustment mode

If the input signal is not used, but synchronous operation is used at all
times (with bit 1 (SYN) of parameter No. 1817 set to 1), this correction
method is used.
When the adjustment mode is used, a synchronous error can be
corrected by making a movement on the master axis or slave axis
independently with the synchronous error check capability temporarily
disabled.
In adjustment mode, synchronous error compensation is not performed,
and no error check is made. So, an alarm (OT31) is issued as a
warning.
(1) Select adjustment mode, then select an axis for master axis
manual feed.
Set parameter ADJ (bit 1 of parameter No. 1803) for either the
master axis or slave axis to 1 to place it in adjustment mode. This
enables movement of the axis for which this parameter is set to 1
for master axis manual feed.
Setting this parameter to 1 issues an OT31 (synchronous control
adjustment mode) alarm.
(2) Press the RESET button to reset the excessive synchronous error
alarm.
Under this condition, neither synchronous error compensation nor
error check is performed. Extreme care is required.
(3) Select a manual mode (jog, incremental feed, or handle).
(4) While checking the synchronous control error, move the master
axis or slave axis in whichever direction decreases the error. If
parameter MVB (bit 3 of parameter No. 1803) = 1, axis movement
in the direction that causes the synchronous control error to
increase is suppressed.
(5) If the synchronous control error settles within the alarm

permission value, return parameter ADJ (bit 1 of parameter No.
1803) to the previous state to switch the mode from adjustment to
normal synchronization. Synchronous error compensation and
synchronous control error check are resumed.
(6) Press the RESET button to reset the adjustment mode alarm.
- 190 -
Recovery using normal operation
This method is used if the input signal is used to switch between

synchronous operation and normal operation.
When OT513 is issued, the procedure described below can be used for
recovery.
(1) Set SYNCx (with x representing a slave axis number) to 0 for

normal operation.
(2) In parameter No. 7723 for specifying a maximum allowable

synchronous error, set a value greater than the currently set value.
Then, cancel the alarm by issuing a reset.
(3) Make a movement on the master axis or slave axis by the manual
handle, for example, to match the machine coordinates of the
master axis with those of the slave axis as closely as possible.
(4) Return the maximum allowable synchronous error set in parameter

No. 7723 to the original value.
- 191 -
1.9.6 Torque Difference Alarm Detection for Synchronous Control
If the master and slave axes move independently under synchronous

control, the machine may be damaged. To prevent any possible
breakdown, an alarm can be issued if the torque command difference
between the axes becomes abnormal.
[System configuration]
Position gain Master axis torque

+ command
Velocity
Kp
control
Master axis -
position
command Master axis position
feedback
Torque command
+ difference Comparison to
threshold values
- Alarm detected
Position gain
+
Velocity
Kp
control
Slave axis Slave axis torque
-
position command
command
Slave axis position

feedback
Determine the threshold parameters according to the following

procedure.
1 Set the following parameters as stated.

Parameter No. 1716 = 14564:
The alarm detection threshold is set to the maximum.
Bit 3 of parameter No. 2208 = 1:
The Servo Free Data screen is displayed.
2 Set the following values on the Servo Free Data screen.

Data 1 parameter 1: 0
Parameter 2: 178
The absolute value of a torque difference between the two
synchronous axes is displayed in the decimal field for the master
axis.
- 192 -
3 Read the maximum torque difference absolute values while

normal operation is underway. Set the threshold parameter to a
value having a margin against the maximum torque difference
absolute value.
If it is difficult to read the torque difference absolute value from
the Servo Tune screen, the following steps can be used to observe
the torque difference absolute value with an oscilloscope.
4 Set parameter Nos. 1726 and 1774 with 0 and 178 respectively.
5 Connect the check board to CH7 and set the rotary switch on the
check board to 1 to observe the channel.
6 A conversion formula for the observed value is 1 V = 410 (set

threshold setting). Read the maximum value during normal
operation, and set the parameter to a value incorporating a margin.
- Enabling/disabling alarm detection
Alarm detection is enabled when the time specified in the parameter

elapses after the servo ready signal SA <F000#6> becomes 1. It is
disabled when the input signal NSYNCA (G158.3) becomes 1.
[Timing chart]
SA<F000#6> 1
0
Alarm detection Enabled

Disabled
Value set in parameter No. 1842
(512 ms if the parameter has not been specified)
If the servo ready signal SA <F000#6> is 0, torque difference alarm

detection is not performed.
NOTE
A servo axis number combination for master and
slave axes must be, for example, (1, 2) or (3, 4), in
which the master axis is assigned an odd number and
the slave axis is assigned the even number that is
one greater than the master axis.
- 193 -
Signal
Synchronous control selection signal

SYNC1<G066#2>, SYNC2<G070#2>, ...
[Function] Notifies the control unit whether synchronous operation, independent
operation, or normal operation is selected under synchronous control
and twin table control.
Under synchronous control, this signal is valid only when bit 1 (SYN)
of parameter No. 1817 is set to 0.
[Operation] Depending on the combination of SYNCm and SYNCs, control is
exercised as indicated in the table below; m represents a master axis
number, and s represents a slave axis number.
SYNCm SYNCs Remarks
Synchronous operation 1 1 (*1)
Independent Independent 0 1 (*3)
operation slave axis
operation
Independent 0 0 (*2)
master axis
operation
Normal operation 0 0
*1 SYNCm may be set to 1 or 0 in manual operation under
synchronous control and twin table control.
*2 Independent master axis operation is exactly the same as normal
operation.
*3 Independent operation is not applicable in manual operation under
synchronous control and twin table control.
Synchronous control torque difference detection disable signal NSYNCA<G158#3>

[Function] This signal is intended to disable alarm detection when the
synchronous control torque difference alarm function being used.
[Operation] Setting this signal to 1 disables synchronous control torque difference
alarm detection.
Synchronization control positional deviation error alarm signal SYNER <F153#1>

[Function] This signal indicates to the outside that an alarm condition has occurred
when the synchronization error check based on positional deviation is
in use.
[Operation] The servo positional deviation for master and slave axes are monitored
during synchronization control. If the positional deviation exceeds a
limit specified in parameter No. 7799, alarm OT513 is issued, and a
synchronization control positional deviation error alarm signal
(F153.1) is set to "1".
Causing a reset clears the alarm condition, thus resulting in the signal
becoming "0".
- 194 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G066 SYNC1
G067 *ACTF1
G158 NSYNCA
G384 *NZ1
The above addresses of SYNC1, *ACTF1, and *NZ1 are the signal
addresses for the first axis.
the Appendix A.1.
For details of the reference position proximity signal *NZx, see Section
4.1, "Reference Position Return."
#7 #6 #5 #4 #3 #2 #1 #0
F153 SYNER
Handling axis-by-axis signals

Some axis-by-axis signals are input to and output from the master and
slave separately. The others are input to and output from the master
only. The following tables list the signal types.
- Input signal
Address bit Symbol Signal name Axis- Master
specific only
G064 0 *+Lx Overtravel signal ¡
G064 1 *-Lx Overtravel signal ¡
G064 2 *+EDx External deceleration signal ¡
G064 3 *-EDx External deceleration signal ¡
G064 4 *ITx Axis-by-axis interlock signal ¡
G064 5 *DECx Deceleration signal for reference position return ¡
G064 6 *SVFx Servo off signal ¡*1
G064 7 DTCHx Controlled-axis removal signal ¡*1
G065 0 +Jx Feed axis/direction select signal ¡
G065 1 -Jx Feed axis/direction select signal ¡
G065 2 MIx Mirror image signal ¡
G065 3 MLKx Axis-by-axis machine lock signal ¡
G065 4 PKx Parking signal ¡
G066 0 +MITx +Minus direction manual feed interlock ¡
G066 1 -MITx -Minus direction manual feed interlock ¡
G066 2 SYNCx Synchronous control select signal ¡
G066 3 PCAXx PMC axis control signal ¡
G066 4 SBKx PMC axis Block stop signal ¡
G066 5 STPx PMC axis Axis control halt signal ¡
G066 6 RSTx PMC axis Reset signal ¡
G066 7 PMCAx PMC axis control command read strobe signal ¡
G067 2 RASTx Automatically set reference position number ¡
signal
G067 3 DVALx V-ready off alarm invalidation signal ¡*1
G067 4 *ACTFx Actual cutting feedrate display axis select signal ¡
- 195 -

specific only
G067 6 VCSKPx Velocity command skip signal ¡
G067 7 SCNTRx Spindle contour control mode switching signal ¡
G368 OVxX7-0 Override signal for PMC axis control on each axis ¡
G384 0 +EXLx Axis-direction-by-axis-direction stored stroke limit ¡
switching signal
G384 1 -EXLx Axis-direction-by-axis-direction stored stroke limit ¡
switching signal
G384 2 +LMx Stroke limit externally setting signal ¡
G384 3 -LMx Stroke limit externally setting signal ¡
G384 4 *NZx Reference position proximity signal ¡
G384 7 MSBKx Block stop inhibit signal ¡
G385 CDxX7-0 PMC axis control command code signal ¡
G386 FDxX15-0 PMC axis feedrate specification signal ¡
G388 DTxX31-0 PMC axis control data signal ¡
- Output signal
specific only
F064 0 ZPx Reference position return completion signal ¡
F064 1 ZP2x Second reference position return completion ¡
signal
F064 2 MVx Axis travel in progress signal ¡
F064 3 MDx Axis travel direction signal ¡
F064 4 ZP3x Third reference position return completion signal ¡
F064 5 ZP4x Forth reference position return completion signal ¡
F064 6 INPx In-position signal ¡
F064 7 MDTCHx Controlled-axis removal in progress signal ¡
F065 0 MMIx Mirror image confirmation signal ¡
F065 1 MMLKx Axis-by-axis machine lock confirmation signal ¡
F065 2 ZRFx Reference position establishment signal ¡
F065 5 FRPx Floating reference position return completion ¡
signal
F066 0 TRQLx Torque limit reach signal output ¡
F066 1 TRQMx Torque control mode signal ¡
F066 2 AMRx Linear motor activation phase establishment ¡
signal
F066 3 EGBMx EGB mode signal ¡
F066 5 BUFx Buffer full signal ¡
F066 6 DENx Distribution completion signal ¡
F066 7 CNCAx Axis control command read completion signal ¡
F067 7 MSCNTRx Spindle contour control mode switching ¡
confirmation signal
NOTE
1 In synchronous mode, a signal indicated by *1 must
be turned on or off for the master and slave axes
simultaneously.
2 The above table presents the address for the first
axis only. For the addresses for the second and
other axes, refer to the signal table in the appendix.
- 196 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1010 SYC

[Data type] Bitaxis
#0 SYC Specifies whether to use the synchronization function with machine

coordinates in the synchronous control function.
0: Not used
1: Used
This parameter can be set for a slave axis.
When using synchronous error compensation, set this parameter to
0.
1716 Torque command difference threshold for torque difference alarm detection
for synchronous control

An alarm is issued if the absolute value of a torque command difference
between two axes subjected to synchronous control exceeds this value.
Specify the same value for master and slave axes of synchronous
control.
If the value is 0, torque difference alarm detection is disabled.
A servo axis number combination for master and slave axes subjected to
synchronous control must be, for example, (1, 2) or (3, 4), in which the
master axis is assigned an odd number and the slave axis is assigned
the even number that is one greater than the master axis number.
- 197 -
#7 #6 #5 #4 #3 #2 #1 #0
1803 MVB CLP ADJ

[Data type] Bitaxis
#1 ADJ Specifies the axis along which to move in adjustment mode in

synchronous control.
0: Axis along which to move in adjustment mode.
1: Not an axis along which to move in adjustment mode.
When this parameter is set to "1," the axis enters adjustment mode.
For an axis for which this parameter is set to "1," movement is performed
with a master axis move command.
Specify the bit for only one of the master and slave axes.
If a single master axis has multiple slave axes, set this bit to 1 for that
axis for which a synchronous error alarm is issued to recover the axis.
When alarms are issued for multiple axes, recover one axis, then change
this parameter to recover another axis.
#2 CLP Specifies whether to compensate for synchronous error in synchronous

control.
0: Compensates for synchronous error.
1: Does not compensate for synchronous error.
(Set this bit only for the master axis.)
#3 MVB Specifies whether to validate a command to move the machine in the

direction of increasing the synchronous error in the adjustment mode.
0: Ignores the command.
1: Validates the command.
If a single master axis has multiple slave axes, reducing the synchronous
error on one axis by means of movement along the master axis may
result in increase in the synchronous error on another slave axis. When
this parameter is set to "0," the master axis cannot move in either
direction. Use ADJ (bit 1 of parameter No. 1803) to allow movement
along a slave axis, and perform the appropriate adjustment operation.
- 198 -
#7 #6 #5 #4 #3 #2 #1 #0
1817 SYN

[Data type] Bitaxis
#1 SYN Specifies whether to execute synchronous control.

0: Executes synchronous control when the synchronous control selection
signal SYNCx for the slave axis is "1."
1: Always executes synchronous control.
Set this parameter only for a slave axis.
1842 Torque difference alarm detection timer

[Data type] Integer
[Unit of data] msec
Specify the time allowed before the beginning of torque difference alarm
detection for synchronous control after the servo ready signal
(SA[F000#6]) becomes 1.
If the parameter is 0, 512 ms is assumed.
1910 Multiplication of the maximum permissible synchronous error immediately

after power-on

[Data type] Integer
Synchronous error alarm 2 is checked with the value equal to the
maximum permissible error (parameter No. 1913) multiplied by the
value of this parameter until synchronization is established
immediately after power-on.
If the value exceeds 32767, it is clamped to 32767.
- 199 -
1912 Dead zone for the synchronous error on each axis

When the synchronous error does not exceed the setting, it is not
compensated for.
Specify this parameter only for a slave axis.
1913 Maximum permissible synchronous error for synchronous error alarm 2

Specify the maximum permissible synchronous error for synchronous
error alarm 2.
1914 Maximum permissible synchronous error for synchronous error alarm 1

Specify the maximum permissible synchronous error for synchronous
error alarm 1.
1915 Compensation gain of the synchronous error for each axis

The gain of synchronous error compensation is set.
As many pulses as the number of compensation pulses for every 8-msec
sampling period, obtained from the following equation, are output to
the slave axis.
This setting is made for the slave axis only.
Ci
Compensation pulses = synchronization error ×
1024
Ci: Compensation gain
- 200 -
1917 Synchronous error zero width 2 for an individual axis

Specify the synchronous error zero width 2 for synchronous error
smoothing suppression.
The setting made for this parameter must be smaller than the value
NOTE
The setting made for this parameter must be smaller than the
value specified in parameter No. 1912.
1918 Synchronous error compensation gain 2 for an individual axis

Specify the synchronous error compensation gain 2 for synchronous
error smoothing suppression.
The setting made for this parameter must be smaller than the value
NOTE
The setting made for this parameter must be smaller than the
value specified in parameter No. 1915.
#7 #6 #5 #4 #3 #2 #1 #0
1930 SMS

[Data type] Bitaxis
#4 SMS Specifies whether to enable the synchronous error compensation

smoothing suppress function.
0: Disabled
1: Enabled
- 201 -
#7 #6 #5 #4 #3 #2 #1 #0
7601 SRF

[Data type] Bit
#4 SRF Specifies how the slave axis and master axis operate with G28, G30,
and G53 in synchronous control.
0: Independent movements are made to specified positions on the
slave axis and master axis.
1: The same operation is performed on the slave axis and master
axis.
7633 M code for turning off synchronization in synchronous control and twin table
control

[Data type] Integer
Specify an M code for switching from synchronous operation to
independent operation or normal operation.
The M code set in this parameter is not buffered.
7634 M code for turning on synchronization in synchronous control and twin table
control

[Data type] Integer
Specify the M code that causes switching from independent or normal
operation to synchronous operation.
The M code specified for this parameter is treated as an M code without
buffering.
- 202 -
7702 Master axis number in synchronous control or twin table control
NOTE
After this parameter has been set, the power must be
off turned off then back on for the setting to become
effective.

Select an axis that is to be synchronized in synchronous control or twin
table control.
Example: Assume the following controlled axis configuration:
First axis : X-axis
Second axis : Y-axis
Third axis : Z-axis
Fourth axis : U-axis
To synchronize the U-axis with X-axis, set the parameters as follows:

X :0
Y :0
Z :0
U :1
7723 Maximum error in synchronous error checking based on machine

coordinates

This parameter sets the maximum allowable difference between the
master axis and the slave axis machine coordinate value when the
synchronous error check based on machine coordinates is used. If the
difference of machine coordinates exceeds the value specified in this
parameter, an alarm (OT513) is issued.
Set this parameter to the slave axis.
- 203 -
7724 Maximum compensation value in synchronization alignment based on

machine coordinates

This parameter sets the maximum compensation value for
synchronization alignment. If a compensation value exceeds the value
specified with this parameter, an alarm (OT513) is issued, and the
compensation alignment is not performed.
Set this parameter to the slave axis.
7799 Limit value for synchronization error check based on position deviation

Alarm OT513 is issued if the absolute positional deviation difference
between the master axis and slave axis during synchronization control
exceeds the value specified in this parameter.
Set a desired value for the slave axis.
When 0 is set in this parameter, no check is made.
- 204 -
Notice related to axis-type parameter setting

Axis-type parameters for axes controlled in synchronization are
grouped into the following four categories:
(1) Parameters in which the same data must be set for both the master
axis and slave axis.
(2) Parameters in which data must be set only for the master axis (data
for the slave axis is not used).
(3) Parameters in which the data to be set may differ between the
master axis and slave axis.
(4) Parameters in which data must be set only for the slave axis (data
for the master axis is not used).
The category of each parameter is explained below. If the category of a

parameter is unknown, assume it to be in category (1), and set the
parameter with the same data for both the master axis and slave axis.
CAUTION
1 If different values are set in a type (1) parameter for
the master axis and slave axis, the axes may fail to
operate under synchronization control normally.
2 If the master and slave axis use different types of
motors or detectors, the type (1) parameters
indicated by *1 must be specified for individual axes
separately.
3 If a signal is used to switch between synchronous
operation and normal operation, type (2) parameters
must also be specified for the master axis and the
slave axis separately.
- 205 -
(1) Parameters in which the same data must be specified for both the master axis and
slave axis
Number Meaning of parameter
0012#7 Axis detach
1005#0 Reference position return function effective
1005#2 Automatic reference position return (G28) uses the same sequence as manual reference position return
1005#3 Enables the presetting the workpiece coordinate system at a manual reference position return.
1005#4 Enables an external deceleration signal in the positive direction for an individual axis at cutting feed.
1005#5 Enables an external deceleration signal in the negative direction for an individual axis at cutting feed.
1005#6 Enables a machine lock for an individual axis.
1005#7 Enables an controlled-axis removal signal for an individual axis.
1006#0 Specifies whether a specific axis is a rotation axis.
1006#1 A machine coordinate system for a stroke check and automatic reference position return is a rotation
axis type.
1006#2 A machine coordinate system for stored pitch error compensation is a rotation axis type.
1006#3 Specifies that a diameter-programming be used for each axis
1006#5 Direction for a manual reference position return.
1007#6 Method of reference position setting without dogs
1007#7 Enables the reference position setting without dogs
1008#4 Enables the automatic reference position setting signal
1008#7 Linear scale with reference marks is used.
1009#3 A move command for an individual axis is based on diameter programming
1009#7 Disables data input from the high-speed high-precision machining setting screen
1012#3-0 Increment system for each axes
1013#0 Ten times least input increment
1027 Spindle number for the spindle position axis
1028 Spindle number for the Cs contour controlled axis
1029 Axis number for the linear axis to which a rotation axis belongs
1070 Axis controlled synchronously with an individual axis under PMC axis control
1092#0 One axis occupies one DSP.
1093#6 *1 The first pulse module is used.
1093#7 *1 The second pulse module is used.
1097 *1 Master slave number for a tandem controlled axis (for FSSB setting screen only)
1240 Coordinate data for the first reference position in the machine coordinate system
1241 Coordinate data for the second reference position in the machine coordinate system
1242 Coordinate data for the third reference position in the machine coordinate system
1243 Coordinate data for the fourth reference position in the machine coordinate system
1260 Travel distance per rotation of a rotation axis
1409#3 Follow-up is performed under torque control.
1421 F0 feedrate
- 206 -

1522 Acceleration/deceleration after interpolation time constant (for finishing)
1529 Feed-forward coefficient (for finishing)
1542 Acceleration/deceleration after interpolation time constant (for semifinish machining)
1549 Feed-forward coefficient (for semifinish machining)
1562 Acceleration/deceleration after interpolation time constant (for rough machining)
1569 Feed-forward coefficient (for rough machining)
1600#0 Rapid traverse acceleration/deceleration is a constant time type.
1600#4 Cutting feed and dry run acceleration/deceleration is an exponential type.
1600#5 Jog feed acceleration/deceleration is an exponential type.
1600#7 Rapid traverse acceleration/deceleration of constant acceleration time type
1604#0 Acceleration/deceleration type for manual handle interrupt or simultaneous automatic/manual operation
(interrupt type)
1620 Time constant for rapid traverse linear acceleration/deceleration
1621 FL feedrate for rapid traverse linear acceleration/deceleration
1622 Time constant for cutting feed acceleration/deceleration
1623 FL feedrate for cutting feed post-interpolation acceleration/deceleration
1624 Time constant for jog feed acceleration/deceleration
1625 FL feedrate for jog feed acceleration/deceleration
1626 Acceleration/deceleration time constant for threading cycle
1627 FL feedrate for threading cycle acceleration/deceleration
1628 Time constant for fixed-time rapid traverse acceleration/deceleration
1629 FL feedrate for fixed-time rapid traverse acceleration/deceleration
1635 Time constant for cutting feed acceleration/deceleration after interpolation in look-ahead acc/dec mode
1636 Time constant (T2) for rapid traverse bell-shaped acceleration/deceleration
1644 Parameter 1 for setting acceleration/deceleration for feedrate command for PMC axis control
1645 Parameter 2 for setting acceleration/deceleration for feedrate command for PMC axis control
1660 Maximum allowable acceleration for acceleration/deceleration before interpolation
1663 Allowable acceleration for each axis for the deceleration based on acceleration of fine HPCC function
1665 Allowable acceleration for each axis for the deceleration based on circular interpolation acceleration (for
normal mode)
17XX *1 Servo-related parameters (excluding types (2), (3), and (4))
18XX *1
19XX *1
26XX *1
5210#0 Enables stored stroke check 2.
5220 Positive-direction coordinate data No.1 for stored stroke limit 1 for an individual axis
5221 Negative-direction coordinate data No.1 for stored stroke limit 1 for an individual axis
5226 Mark 2 interval for linear scale with reference marks
5227 Distance between the origin of the linear scale with reference marks and the reference position
- 207 -

5425 Amount of travel distance per rotation for rotation axis type pitch error compensation
5426#5 Bidirectional pitch error compensation is used.
5426#6 Interpolation-type straightness compensation function is used.
5426#7 Interpolation-type pitch error compensation is used.
7767 Allowable total travel distance for torque control
7768 Cancellation limit for torque control
(2) Parameters that must be set up only for the master axis
0012#0 Sets a mirror image for an individual axis.
0012#1 Enables scaling.
1006#6 Sets the normal-direction control function.
1007#0 Specifies whether to enable a fixture offset for an individual axis.
1007#2 Determines the direction of rotation according to the sign of a specified value in an absolute command.
1007#3 Specifies that an absolute command always be used for a rotary controlled axis.
1007#4 Rounds off the current position display of a controlled rotary axis in a relative coordinate system to
within one rotation.
1007#5 Selects the direction of rotation that corresponds to a shorter way in G90 mode for rotary axis control
1008#1 More than one controlled rotary axis
1009#2 Enables rotation axis roll-over
1014#0 Uses the axis as a rotary axis for tool length compensation along the tool axis, three-dimensional handle
feed, and tool length compensation in a specified direction.
1014#1 Specifies a rotary axis to be used for tool length compensation along the tool axis, three-dimensional
handle feed, and tool length compensation in a specified direction.
1022 Specifies which individual axis corresponds to which axis in the basic coordinate system.
1197 Maximum chopping feedrate
1220 Common workpiece origin offset for an individual axis
1221 Workpiece origin offset in workpiece coordinate system 1 (G54)
1409#1 Unit of data specified in cutting feed commands for PMC axis control
1409#2 Method for specifying rapid traverse rate for PMC controlled axis
1409#5,6 Unit of feedrate data specified for feed per revolution under PMC axis control.
1409#7 Unit of feedrate data specified for continuous feed under PMC axis control.
1422 Maximum cutting feedrate
1423 Jog feed rate
- 208 -

1425 FL feedrate for a manual reference position return
1427 External deceleration rate for rapid traverse
1430 Upper-limit feedrate for feed per revolution of PMC axis control
1472 Rotation speed for normal-direction controlled axis
1478 Allowable feedrate difference in determining the feedrate according to corner feedrate difference
1524 Corner feedrate difference (for finishing)
1534 Acceleration rate for acc/dec (for finishing)
1535 Max acceleration for deceleration based on acceleration (for finishing)
1544 Corner feedrate difference (for semifinish machining)
1554 Acceleration rate for acc/dec (for semifinish machining)
1555 Max acceleration for deceleration based on acceleration (for semifinish machining)
1564 Corner feedrate difference (for rough machining)
1574 Acceleration rate for acc/dec (for rough machining)
1575 Max acceleration for deceleration based on acceleration (for rough machining)
2020 Positive-direction specification button on software operator's panel
2021 Negative-direction specification button on software operator's panel
2214#0 In three-dimensional handle interrupt mode, the manual interrupt amount display is not updated.
2511 Allowable difference between the end point specified in spiral interpolation or conical interpolation and
the end point obtained from an increment/decrement amount and count
4881 Coordinate data for the center of a drawing range
4882 Coordinate data for the upper end of a drawing range
4883 Coordinate data for the lower end of a drawing range
6020 Offset number bias for a tool position offset for an individual axis
6021 Offset number bias for tool length compensation for an individual axis
6024 Distance (L) between the tool tip position of a standard tool and the reference measurement plane
6240 Direction in which the tool is retracted after G76 or G87 orientation
6240 Direction in which the tool is retracted after G76 or G87 orientation
6240 Direction in which the tool is retracted after G86.1 or G87 orientation
6240 Direction in which the tool is retracted after G86.1 or G87 orientation
6421 Axis-by-axis scaling factor
6820 Direction and overtravel amount in single-direction positioning (G60)
7110 Sequence of axes subjected to dry run at program restart
7516 Rotation angle for rotation axis
7517 Rotation angle offset for rotation axis
7518 Origin compensation amount for rotation axis
7543 Head for three-dimensional handle feed to which an individual axis belongs under parallel axis control or
twin table control.
7629 Retraction amount for tool retract and return
7703 Drawing axis selection
7716 Rotation axis rotation angle for head 2 under parallel axis control or twin table control
- 209 -

7717 Rotation axis rotation angle offset for head 2 under parallel axis control or twin table control
7718 Rotation axis origin compensation amount for head 2 under parallel axis control or twin table control
7796 Retraction amount
(3) Parameters in which the data to be set may differ between the master axis and
slave axis
1004#6 Axis position is not displayed on the position and program check screens.
1009#4 Set values are not displayed on the workpiece origin offset setting screen.
1020 Programmed axis name
1021 Axis name subscript for parallel, synchronous, and tandem controlled axes
1023 Servo axis number
1093#0 A slow-type interface is used between the servo amplifier and servo software.
1094 Connector number for the first pulse module
1095 Connector number for the second pulse module
1803#1 Specifies an axis to be moved in adjustment mode for synchronization control
1803#3 Under synchronization control, an axis can be moved in the direction in which the error increases in
adjustment mode.
1844 Grid shift amount for the reference position shift function
1849 Backlash compensation for rapid traverse
1850 Grid shift/reference position shift amount
1851 Backlash compensation amount
1879 Motor rotation direction
1980 Preload value for an individual axis (Tcmd offset)
5420 Pitch error compensation point number for reference position
5421 Number for the farthest pitch error compensation point on the negative side
5422 Number for the farthest pitch error compensation point on the positive side
5423 Pitch error compensation magnification
5424 Pitch error compensation point interval
5427 Number for the farthest both-way pitch error compensation point on the negative side (for movement in
the negative direction)
5428 Pitch error compensation value at the reference position when the axis moves to it in a direction
opposite to the origin return direction
5430 Number for the farthest second cyclic pitch compensation point on the negative side
5431 Number for the farthest second cyclic pitch compensation point on the positive side
5432 Second cyclic pitch compensation point interval
5433 Second cyclic pitch error compensation magnification
5461-5464 Compensation point number for inclination compensation
5471-5474 Compensation amount for inclination compensation
- 210 -
(4) Parameters in which data must be set only for the slave axis
1010#0 Machine coordinate data-based synchronization function is used for synchronization control.
1803#2 Disables synchronous error compensation.
1817#1 Always perform synchronization control.
1817#6 Specifies tandem controlled axes.
1912 Synchronous error zero width for an individual axis
1913 Maximum allowable synchronous error for excessive synchronization error alarm 2
1914 Maximum allowable synchronous error for excessive synchronization error alarm 1
1915 Compensation gain of the synchronous error for each axis
1917 Synchronous error zero width 2
1918 Synchronous error compensation gain 2
1930#4 The synchronous error smooth suppress function is enabled.
7702 Axis number for the master axis of synchronous control or twin table control
7723 Maximum allowable error for synchronous error check based on machine coordinate data
7724 Maximum compensation amount for synchronous based on machine coordinate data
Diagnostic data display

A synchronous error and synchronous error compensation value are
displayed on the diagnosis screen.
3500 Synchronous error compensation value for each axis

[Meaning] The cumulative amount of compensation pulses (synchronous error
compensation value) output to the slave axis is displayed. This value is
displayed against a slave axis number.
3501 Synchronous error of each axis

[Meaning] The positional difference between the master axis and slave axis
(synchronous error) is displayed. This value is displayed against a
slave axis number.
- 211 -
Alarm and message

OT0030 SYNC EXCESS ERROR ALARM 1 The synchronous error amount is greater than the value set
to parameter No. 1914 by the synchronous error check.
OT0031 SYNCHRONIZE ADJUST MODE The system is in the synchronous control adjustment
mode.
OT0513 SYNC EXCESS ERROR (1) The difference in the machine coordinate value between
the synchronous axes is equal to or greater than the
synchronize error limit set in parameter No. 7723.
(2) The compensation value during synchronization based
on the machine coordinate values was equal to or
greater than the maximum compensation value set in
parameter No. 7724.
(3) A difference in positional deviation between the master
and slave axes has exceeded the limit value specified in
parameter No. 7799 when the synchronization error
check based on positional deviation is executed.
SV0024 SYNC EXCESS ERROR ALARM 2 The synchronous error amount is greater than the value set
to parameter No. 1913 by the synchronous error check.
When synchronization alignment has not completed after
the power is turned ON, this error is judged by the value
obtained of multiplying the value of parameter No. 1913 by
the value of parameter No. 1910.
SV0350 EXCESS SYNC TORQUE The master/slave axis torque command difference
exceeded the value set in parameter No. 1716 during
synchronous control.
This alarm is issued only for the master axis.
- 212 -
Note
NOTE
1 During synchronous operation, the following
operation results according to the setting of bit 4
(SRF) of parameter No. 7601 when automatic
reference position return (G28), second, third, or
fourth reference position return (G30), or machine
coordinate system selection (G53) is specified:
1 The same movement as that for the master axis is
made on the slave axis.
2 Movement is made independently to a specified
position on the master axis and slave axis.
2 When a command involving no axis movement such
as a command for workpiece coordinate system
setting (G92) or local coordinate system setting (G52)
is specified, a coordinate system is set on the master
axis according to the programming for the master
axis.
3 During synchronous operation, axis-by-axis signals
such as those for external deceleration, interlock, and
machine lock are valid only for the master axis; those
signals for the slave axis are ignored.
Note, however, the feedrate axis selection signal
*ACTFx and the reference position proximity signal
*NZx are independently valid for each of the master
and slave axes.
4 Pitch error compensation and backlash
compensation are performed independently for each
of the master and slave axes.
5 When switching between synchronous control
selection signals SYNC1, SYNC2, and so forth from
the PMC by using a programmed M function, set the
M code in parameter No. 7633 and No. 7634 for
synchronous control switching M codes.
Reference item
Series15i/150i- Connection Manual 4.4 Reference position
MODEL B (This manual) return
- 213 -
1.10 TWIN-TABLE CONTROL
General
In twin-table control, synchronization operation, single operation, and
normal operation can be switched for two or more specified axes by a
signal input from the machine side.
In synchronization operation, an axis for which a move command can
be issued is called the master axis, and an axis for which movement is
performed in synchronization with that for the master axis is called a
slave axis.
The following operations can be performed for a machine tool having
two tables, each of which is independently driven by a separate
controlled axis.
- Synchronization operation
Use this operation for situations such as when a large workpiece placed
over the two tables is machined.
According to a move command issued to one axis, the other axis can be
operated in synchronization.
In synchronization operation, a move command for the master axis is
given to the two servo motors of the master axis and a slave axis.
Synchronous error compensation is not performed, in which a
deviation between the two servo motors is always detected and the
servo motor of the slave axis is subject to compensation such that the
deviation becomes small. Any synchronous errors are not detected,
either.
Synchronization operation is possible with automatic operation, jog
feed, manual handle feed, and incremental feed. Synchronization
operation cannot be applied to manual reference position return.
- Single operation
Use this operation for cases in which a small workpiece is machined on
either table.
With the use of a move command for the master axis, movement for the
master axis alone or for the slave axis alone can be performed.
A single operation can be applied to automatic operation. To operate
the machine manually, use a synchronization operation or normal
operation.
- Normal operation
Use this operation for cases in which different workpieces are
machined on the tables. In the same way as in normal CNC control,
specify respective axis addresses for movement for the master axis and
for the slave axis. Move commands for the master axis and the slave
axis can be specified in the same block.
Automatic operation and manual operation are performed in the same
way as in normal CNC control.
- 214 -
Signal
Synchronous control selection signal

SYNC1<G066#2>, SYNC2<G070#2>, ...
See the description of synchronous control.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7613 TWJ

[Data type] Bit
#5 TWJ Specifies how the amount of manual interrupt is reflected in the slave
axis independent mode or synchronous mode of the twin table control
function.
0: The amount of manual interrupt of the master axis only is
reflected for the master axis and slave axis.
1: The amount of manual interrupt of the master axis is reflected for
the master axis, and the amount of manual interrupt of the slave
axis is reflected for the slave axis.
7633 M code for turning off synchronization in synchronous control and twin table
control

[Data type] Integer
Specify an M code for switching from synchronous operation to
independent operation or normal operation.
The M code set in this parameter is not buffered.
7634 M code for turning on synchronization in synchronous control and twin table
control

[Data type] Integer
Specify the M code that causes switching from independent or
normal operation to synchronous operation.
The M code specified for this parameter is treated as an M code
without buffering.
- 215 -
7642 M code that causes switching to independent operation during twin table
control

[Data type] Integer
Specify the M code that causes switching from synchronous or
normal operation to independent operation.
The M code specified for this parameter is handled as an M code
without buffering.
7702 Master axis number in synchronous control or twin table control
NOTE
become effective.

Select an axis that is to be synchronized in synchronous control or
twin table control.
Example: Assume the following controlled axis configuration:
First axis : X-axis
Second axis : Y-axis
Third axis : Z-axis
Fourth axis : U-axis
To synchronize the U-axis with X-axis, set the parameters as
follows:
X :0
Y :0
Z :0
U :1
- 216 -
Note
NOTE
1 In synchronization operation, reference position return movement for
the Y axis is also applied to the V axis for an automatic reference
position return command (G28) and the second, third, and fourth
reference position return commands (G30). After the return
movement, when the tool is positioned to the reference position along
the V axis, a reference position return completion signal for the V axis
goes on in the same way as for that for the Y axis.
In principle, specify the G28 and G30 commands for normal operation.
2 In synchronization operation, the same movement is performed along
the Y and V axes for an automatic reference position return check
command (G27). After the movement, when the tool reaches the
reference positions along the Y and V axes, the respective reference
position return completion signals go on. If it is not located at the
reference positions, an alarm is indicated. In principle, specify the G27
command for normal operation.
3 To specify the G28, G30, or G27 command, manual reference position
return must have been performed after power on.
4 A command with no movement along an axis, such as the workpiece
coordinate system setting command (G92) and the local coordinate
system setting command (G52), is applied to the master axis in
synchronization operation and the command is applied to the slave
axis in slave-axis single operation by the use of a program command
for the master axis.
5 Perform manual reference position return in normal operation.
6 Signals, such as an external deceleration signal, an interlock signal,
and a machine lock signal, are effective only for the slave axis in
slave-axis single operation and are effective only for the master axis in
synchronization operation. The signals for the other side in each case
are ignored.
7 Pitch error compensation and backlash compensation are applied to
the master axis and slave axis independently.
8 Synchronous control selection signals SYNC1, SYNC2, SYNC3, ... can
be switched from the PMC side by the use of an M function of a
program command. In this case, specify an M code to be used in
parameters Nos. 7633, 7634 and 7642, which are for the M code used
for switching synchronous control and twin table control.
9 A single operation cannot be applied when the machine is operated
manually.
To operate the machine manually, use a synchronization operation or
normal operation.
Reference item
Series15i/150i-MB Operator’s Manual II-19.2 Twin table control
(Programming)
(B-63784EN)
- 217 -
1.10.1 Tool Length Compensation in Tool Axis Direction with Twin

Table Control
Overview
For a machine that applies twin table control to two heads, tool length
compensation along the tool axis can be performed simultaneously for
both heads (synchronous operation) or for each head (independent
operation).
In synchronous operation, the compensation value calculated using the
rotation axis positions of the master head is applied to the linear axes of
both the master and slave heads.
In independent operation, the compensation value calculated using the
rotation axis positions of the selected head is applied to the linear axes
of the selected head.
- Sample machine configuration

This function is explained using the following axis configuration as an
example.
Table 1.10 (a) Sample Axis Configuration
Axis Description
X Axis common to heads 1 and 2
Y Head 1 axis (master axis)
V Head 2 axis (slave axis of the Y axis)
Z Head 1 axis (master axis)
W Head 2 axis (slave axis of the Z axis)
B Head 1 axis (master axis)
J Head 2 axis (slave axis of the B axis)
C Head 1 axis (master axis)
K Head 2 axis (slave axis of the C axis)
Head 1 Z Head 2 W
Y V
C K
B J
Fig. 1.10 (a) Sample Machine Configuration
NOTE
When I, J, or K is used as an axis name, the
extended axis name option is required.
- 218 -
- Switching between synchronous and independent operation using

synchronization control select signals SYNCx
Use synchronization control select signals SYNCx to switch between
synchronous and independent operation.
Table 1.10 (b) Examples of Using Synchronization Control Select Signals

Axis Synchronization (1) Synchronous (2) Head 1 (3) Head 2
control select operation independent independent
signal operation operation
X SYNC1 0 0 0
Y SYNC2 1 0 or 1 (*) 0
V SYNC3 1 0 1
Z SYNC4 1 0 or 1 (*) 0
W SYNC5 1 0 1
B SYNC6 1 0 or 1 (*) 0
J SYNC7 1 0 1
C SYNC8 1 0 or 1 (*) 0
K SYNC9 1 0 1
(*) 0 may be specified.
SYNC1 is not used, because the X axis is common to heads 1 and 2.
(1) Synchronous operation

To simultaneously perform tool length compensation along the tool
axis for both heads, set SYNC2 to SYNC9 to "1" and specify tool
length compensation along the tool axis (G43.1).
The compensation value calculated using the positions of the master
rotation axes (B and C) is applied to the master linear axes (X, Y, and
Z) and slave linear axes (V and W).
(2) Independent operation

To perform tool length compensation along the tool axis for only one
head, set SYNC2, SYNC4, SYNC6, and SYNC8 (for head 1) or
SYNC3, SYNC5, SYNC7, and SYNC9 (for head 2) to "1" and specify
tool length compensation along the tool axis (G43.1).
When head 1 is selected, the compensation value calculated using the
positions of the head 1 rotation axes (B and C) is applied to the head 1
linear axes (X, Y, and Z).
When head 2 is selected, the compensation value calculated using the
positions of the head 2 rotation axes (J and K) is applied to the head 2
linear axes (X, V, and W).
- 219 -
- Switching between synchronous and independent operation using the

miscellaneous function
Specify the program command miscellaneous function in a single block
to switch between synchronous and independent operation. The PMC
checks the switching M code, then outputs synchronization select
signals SYNCx. Set an M code to be used in the corresponding
parameter, listed below.
Table 1.10 (c) M Code Parameter Settings

Number Description
7633 M code which turns synchronization off (master axis Mmm
independent operation)
7634 M code which turns synchronization on (synchronous Mpp
operation)
7642 M code which switches to slave axis independent Mss
operation
[Sample program]
G43.1 X_ Y_ Z_ H_ B_ C_ When no M code is specified, tool length
: compensation is performed along the master
axes.
Mss Tool length compensation is performed along the
: slave axes.
Mmm Tool length compensation is performed along the
: master axes.
Mpp Tool length compensation is performed along the
: master and slave axes.
- 220 -
Restrictions
- Changing the tool length compensation value along the tool axis
The tool length compensation value along the tool axis can be changed
for both synchronous and independent operation by three-dimensional
handle interruption. In synchronous operation, the compensation value
for head 1 is used as the compensation value for head 2, however.
- Three-dimensional handle feed/interruption

To use tool length compensation along the tool axis together with
three-dimensional handle feed/interruption under twin table control,
consistently set three-dimensional handle feed/interruption master
head select signals TLHD1A, TLHD1B, TLHD2A, and TLHD2B and
synchronization control select signals SYNCx, as listed in the
following table.
Table 1.10 (d) Master Head Select Signals and Synchronization Control
Select Signals
Type of Synchronization
Master head select signal
operation TLHD2B TLHD2A TLHD1B TLHD1A control
Select signal
Head 1 0 0 0 1 (2) in Table 1.10
independent (b)
operation
Synchronous 0 1 0 1 (1) in Table 1.10
operation using (b)
head 1 as the
master head
Head 2 1 0 0 0 (3) in Table 1.10
independent (b)
operation
Synchronous 1 0 1 0 (*)
operation using
head 2 as the
master head
* For tool length compensation along the tool axis, synchronous
operation using head 2 as the master head is not supported.
- 221 -
Signals
Synchronization control select signals

SYNC1<G066#2>, SYNC2<G070#2>, ...
[Function] Notifies the control unit of synchronous, independent, or normal
operation selected under synchronization control or twin table control.
Under synchronization control, these signals are valid only when SYN
(bit 1 of parameter No. 1817) is set to 0.
[Operation] Control is applied according to the combination of SYNCm and
SYNCs, as listed below.
Here, m indicates the axis number of the master axis while s indicates
the axis number of a slave axis.
SYNCm SYNCs Remarks
Synchronous operation 1 1 (*1)
Independent Slave axes 0 1 (*3)
operation Master axes 0 0 (*2)
Normal operation 0 0
*1 Under synchronization control or for manual operation under twin
table control, SYNCm may be set to "1" or "0."
*2 The settings for master axis independent operation are exactly the
same as those for normal operation.
*3 Under synchronization control or in manual operation under twin
table control, independent operation is not supported.
Signal addresses
#7 #6 #5 #4 #3 #2 #1 #0
G066 SYNC1
The above address is the signal address of the first axis.

For the signal addresses of the second and subsequent axes, see
Appendix A.1
- 222 -
Parameters
- Parameter for enabling this function
#7 #6 #5 #4 #3 #2 #1 #0
7540 TWN

[Data type] Bit
#2 TWN Specifies whether to perform three-dimensional handle feed/interruption

and tool length compensation in tool axis direction with twin table
control.
0: Do not perform these operations.
1: Perform these operations.
- Parameters related to tool length compensation along the tool axis
Parameters set for each axis

Parameter number Data type Description
Bit 0 of 1014 Bitaxis Rotation axis selection

Bit 1 of 1014 Bitaxis Parameter axis selection
1029 Integeraxis Linear axis to be used as the center axis
of rotation of a rotation axis
Parameters set for each head

Head 1 Head 2
7514 7714 Integer Tool axis direction
7515 7715 Integer Master rotation axis number
7516 7716 Realaxis Angular displacement of a rotation axis
7517 7717 Realaxis Offset for angular displacement of a
rotation axis
7518 7718 Realaxis Compensation value for the origin of a
rotation axis
7548 7760 Real Tool holder offset
For details of each parameter, refer to the following manual:

Parameter Manual, B-63790EN
Section 4.29, "Parameters Related to the Five-Axis Control
Function"
Set the parameters for head 2 in the same way as the parameters for
head 1.
- 223 -
- Parameters related to a twin table
7702 Integeraxis Master axis number

7633 Integer M code for turning synchronization off
7634 Integer M code for turning synchronization on
7642 Integer M code for specifying independent
operation
For details of each parameter, refer to the following manual:

Parameter Manual, B-63790EN
Section 4.30, "Other Parameters"
- Sample parameter settings

For the sample machine configuration shown in Fig. 1.10 (a), set the
parameters related to axes as listed below.
Parameters set for each axis
Parameter Settings Description
number
X Y V Z W B J C K Axis name
1 2 3 4 5 6 7 8 9 Axis number
Bit 0 of 1014 0 0 0 0 0 1 1 1 1 Rotation axis selection
Bit 1 of 1014 0 0 0 0 0 0 0 0 0 Parameter axis selection
1029 0 0 0 0 0 2 3 4 5 Linear axis to be used as the center axis
of rotation of the rotation axis
7702 0 0 2 0 4 0 6 0 8 Master axis number
1022 1 2 2 3 3 0 0 0 0 Basic coordinate system for each axis
Parameters for head 1

Parameter Data type Setting Description
number
7514 Integer 3 Tool axis direction
7515 Integer 0 Master rotation axis number
7516 Realaxis Set data for the B and C axes. Angular displacement of a rotation axis
7517 Realaxis Set data for the B and C axes. Offset value for angular displacement of
a rotation axis
7518 Realaxis Set data for the B and C axes. Compensation value for the origin of a
rotation axis
7548 Real Set data for head 1. Tool holder offset
Parameters for head 2

Parameter Data type Setting Description
number
7714 Integer 3 Tool axis direction
7715 Integer 0 Master rotation axis number
7716 Realaxis Set data for the J and K axes. Angular displacement of a rotation axis
7717 Realaxis Set data for the J and K axes. Offset for angular displacement of a
rotation axis
7718 Realaxis Set data for the J and K axes. Compensation value for the origin of a
rotation axis
7760 Real Set data for head 2. Tool holder offset
- 224 -
NOTE
1 If parameter settings conflict with each other, the movement
of the machine may differ from the expected movement.
Carefully read the explanation of parameters and make
valid settings. If the parameter settings apparently conflict
with each other, an alarm (PS0361 or PS0362) occurs.
2 Always turn the synchronization control select signals for
two rotation axes, contained in one head, on or off
simultaneously.
(Example)
Always turn the synchronization control select signals for
the B and C axes on or off simultaneously.
Always turn the synchronization control select signals for
the J and K axes on or off simultaneously.
3 Set the same value for either of the following parameters for
heads 1 and 2:
- Parameters 7514 and 7714 (tool axis direction)
If different values are set, an alarm (PS0361) is output.
4 Set values having the same meaning for either of the
following parameters for heads 1 and 2:
- Parameters 7515 and 7715
(master rotation axis number)
If values having different meanings are set, an alarm
(PS0362) is output.
5 Different values can be set for each of the following
parameters for heads 1 and 2 but, in synchronous
operation, the parameters for head 2 are not used. The
compensation value for head 1 is used as the
compensation value for head 2.
In slave axis independent operation, the compensation
value is calculated using the parameters for head 2.
- Parameters 7516 and 7716 (angular displacement of a
rotation axis)
- Parameters 7517 and 7717 (offset for angular
displacement of a rotation axis)
- Parameters 7518 and 7718 (compensation value for the
origin of a rotation axis)
- Parameters 7548 and 7760 (tool holder offset)
Reference item
FANUC Series Connection 1.10 Twin Table Control
15i/150i-MODEL B Manual (Function) 3.5 Three-dimensional
(This manual) Handle Feed
10.4.6 Tool length
compensation along the
tool axis
- 225 -
1.11 CHOPPING FUNCTION
General
When contour grinding is performed, the chopping function can be
used to grind the side face of a workpiece. By means of this function,
while the grinding axis (the axis with the grinding wheel) is being
moved vertically, a contour program can be executed to instigate
movement along other axes.
The chopping function can be executed with a program command or by
setting the switches on the machine operator's panel.
Format
G81.1 Z_Q_R_F_;
Z : Upper dead point
(When the axis for drinding is other than the Z-axis,
specify the axis address.)
Q : Distance between the upper dead point and lower
dead point
(Specify the distance as an incremental value,
relative to the upper dead point.)
R : Distance from the upper dead point to point R
(Specify the distance as an incremental value,
relative to the upper dead point.)
F : Feedrate during chopping
The units of the Q and R commands are the same
as for the increment system of the grinding axis.
Specify the F command without using a decimal
point.
G80 ; Cancels chopping
Explanation
- Basic operation
Chopping operation is performed as follows:
(1) Movement is made by rapid traverse for positioning to point R.
(2) Movement is made to the lower dead point at the rapid traverse
rate specified in F.
(3) A return is made to the upper dead point at the feedrate specified
in F.
(4) Then, back and forth movement is made repeatedly between the
upper dead point and lower dead point at the chopping feedrate
specified in F. The switch on the machine operator's panel can be
used to override the chopping feedrate.
Chopping continues even when the mode is switched to the manual
mode, or when automatic operation is stopped by the application of
feed hold. Chopping is stopped by specifying a G80 command or by a
reset, after which a return is made to point R. Chopping is stopped
immediately if an emergency stop is applied or if a servo alarm is
issued.
- 226 -
- Chopping activated by signal input

Before chopping can be started, the chopping axis, reference position,
upper dead point, lower dead point, and chopping feedrate must be set
using the parameter screen
- Feedrate up to point R
When chopping is started, the tool moves at the rapid traverse rate
(parameter No. 1420) up to point R.
For override, the chopping feedrate override signal is valid. When a
chopping feedrate override of 100% is specified, the feedrate is
clamped to 100%. Parameter CRO (bit 5 of parameter No. 1181) can be
used to enable rapid traverse override instead of chopping rate
override.
- Feedrate from point R

When chopping is started, the tool moves at the chopping feedrate
specified by the program or that specified for parameter No. 1195 from
point R until chopping is canceled. If the feedrate exceeds the
maximum chopping feedrate (parameter No. 1197), it is clamped to the
maximum chopping feedrate. If the maximum chopping feedrate is 0,
the chopping feedrate is clamped to the rapid traverse rate.
The chopping feedrate can be overridden over a range from 0% to
150%, using the chopping feedrate override signal.
- Setting chopping data

Set the following chopping data:
- Chopping axis: Parameter No.1191
- Reference point (point R) : Parameter No.1192
- Upper dead point: Parameter No.1193
- Lower dead point: Parameter No.1194
- Chopping feedrate: Parameter No.1195
- Maximum chopping feedrate: Parameter No.1197
- 227 -
- Chopping setting screen

A chopping axis, point R, top dead point, bottom dead point, and
chopping rate can be specified on the chopping screen. Point R, a top
dead point, bottom dead point, and chopping rate can be changed
during chopping. Parameter CAF (bit 7 of parameter No. 1001) can be
used to restrict chopping axis and chopping rate inputs. In addition,
input/output signals related to chopping can be monitored.
- Modifying chopping data

During chopping, point R, the upper dead point, lower dead point, and
chopping feedrate can be modified by specifying a G81.1 command. In
this case, the chopping data set in the parameters is also updated.
- Chopping after the upper dead point or lower dead point has been changed
When the upper dead point or lower dead point is changed while
chopping is being performed, the tool moves to the position specified
by the old data. Then, chopping is continued using the new data.
Before movement is made according to the post-modification data, the
chopping delay compensation function cancels the compensation set
before the modification, and starts a new chopping delay compensation
operation.
The following describes the operations performed after the data has
been changed.
- 228 -
(1) When the upper dead point is changed during movement from the
upper dead point to the lower dead point
New upper dead point
Previous upper dead point
Changing the upper dead point
Previous lower dead point
The tool first moves to the lower dead point, then to the new upper
dead point.
Once movement to the lower dead point has been completed, the
previous chopping delay compensation is set to 0, and chopping
delay compensation is performed based on the new data.
(2) When the lower dead point is changed during movement from the
upper dead point to the lower dead point
Changing the lower dead point
New lower dead point
The tool first moves to the previous lower dead point, then to the
upper dead point, and finally to the new lower dead point.
Once movement to the upper dead point has been completed, the
- 229 -
(3) When the upper dead point is changed during movement from the
lower dead point to the upper dead point
New upper dead point
Changing the upper dead point
The tool first moves to the previous upper dead point, then to the
lower dead point, and finally to the new upper dead point.
Once movement to the lower dead point has been completed, the
(4) When the lower dead point is changed during movement from the
lower dead point to the upper dead point
Changing the lower dead point
New lower dead point
The tool first moves to the upper dead point, then to the new lower
dead point.
Once movement to the upper dead point has been completed, the
- 230 -
- Chopping delay compensation function

When high-speed chopping is performed with the grinding axis, a servo
delay and acceleration/deceleration delay occur. These delays prevent
the tool from actually reaching the specified position.
The CNC measures the difference between the specified position and
the actual tool position, and performs chopping delay compensation to
compensate for the difference.
To compensate for this displacement, an amount of travel equal to the

distance between the upper and lower dead points, plus an appropriate
compensation amount, is specified. When a chopping command is
specified, the feedrate is determined so that the chopping count per unit
time equals the specified count. When the difference between the
displacement of the tool from the upper dead point and the
displacement of the tool from the lower dead point becomes smaller
than the setting of parameter No. 1881, after the start of chopping, the
control unit performs compensation.
When compensation is applied, the chopping axis moves beyond the
specified upper dead point and lower dead point, and the chopping
feedrate increases gradually.
When the difference between the actual machine position and the
specified position becomes smaller than the effective area setting
(parameter No. 1827), the control unit no longer applies compensation,
allowing the tool to continue moving at its current feedrate.
A percent compensation amount for the displacement generated by the
servo delay incurred by chopping, and the delay incurred during
acceleration/deceleration, can be specified in parameter No. 1196.
- 231 -
Point R
Upper dead point

L2 L4 L6
L1 L3 L5
Lower dead point
Time
Displacement between the tool and the upper dead point: L2, L4, L6
Displacement between the tool and the lower dead point: L1, L3, L5
Compensation starts when:

|L3 - L2| < (parameter No.1881)
Compensation value:
L3*(parameter No.1196)
When the following condition is satisfied, compensation is no longer applied,
and the tool continues to move at its current feedrate:
|L6| < effective area setting (parameter No.1827)
- Bottom dead point overshoot damp control

Bottom dead point overshoot damp control is enabled when the
chopping rate (command-specified rate overridden with a certain value,
not including a portion increased due to chopping compensation)
exceeds a value specified in parameter No. 1198. If bottom dead point
overshoot damp control is enabled, changing of the override value,
changing of the command-specified rate, and interlocking are enabled
only in the range from the top dead point to the bottom dead point.
Bottom dead point overshoot damp control is not performed if
parameter No. 1198 is 0.
- Mode switching during chopping

If the mode is changed during chopping, chopping does not stop. In
manual mode, the chopping axis cannot be moved manually. It can,
however, be moved manually by means of the manual interrupt.
- 232 -
- Reset during chopping

When a reset is performed during chopping, the tool immediately
moves to point R, after which chopping mode is canceled.
If an emergency stop or servo alarm occurs during chopping, mode is
canceled, and the tool stops immediately.
- Stopping chopping
The following table lists the operations and commands that can be used
to stop chopping, the positions at which chopping stops, and the
operation performed after chopping stops:
Operation/ Stop position Operation after

command chopping stops
G80 Point R Canceled
CHPST : “0” The tool moves to the lower Canceled
dead point, then to point R.
*CHLD : “0” Point R Restart after *CHLD
is turned “1”
Reset Point R Canceled
Emergency stop The tool stops immediately. Canceled
Servo alarm The tool stops immediately Canceled
- Single block signal

Even if the single block signal SBK is input during chopping, chopping
continues without stopping.
Limitation
- Move command during chopping

If, during chopping, an attempt is made to execute a move command on
the chopping axis, a P/S alarm (PS472) is issued.
- Canned cycle
During chopping, a canned cycle cannot be specified.
When the chopping command (G81.1) or the cancel command (G80) is
specified, buffering (advanced read) is suppressed. So, note that when
these commands are specified in cutter compensation mode, the
method used to create a compensation vector may change.
- Three-dimensional coordinate conversion

This function does not operate in three-dimensional coordinate
conversion mode. So, cancel three-dimensional coordinate conversion
mode before starting this function.
- PMC axis
When a chopping axis is selected as a PMC axis, chopping cannot be
started.
- 233 -
- Look-ahead acceleration/deceleration before interpolation

For a chopping axis, look-ahead acceleration/deceleration before
interpolation is not applicable.
Example
G90 G81.1 Z100. Q-25. R10. F3000 ;
- Perform rapid traverse to position the tool to Z110. (point R).
- Then, perform reciprocating movement along the Z-axis
between Z100. (upper dead point) and Z75. (lower dead
point) at 3000 mm/min. Chopping override is enabled.
Point R
(Z110.)
Upper dead point

(Z100.)
Lower dead point

(Z75.)
Time
To cancel chopping, specify the following command:

G80 ;
- The tool stops at point R.
- 234 -
Signals
Chopping hold signal*CHLD<G044#7>

[Classification] InputSignals
[Function] Stops chopping.
[Operation] When this signal is set to 0, the CNC operates as described below.
(1) When G81.1 is not specified, no operation is performed.
(2) When G81.1 is specified, chopping is stopped. The stop mode
depends on which part of the chopping operation is being
performed when this signal is set to 0.
(i) When this signal is set to 0 during movement from the upper
dead point to the lower dead point
Movement is first made to the upper dead point then to point
R before chopping is finally stopped.
(ii) When this signal is set to 0 during movement from the lower
dead point to the upper dead point
Movement is first made to the upper dead point then to the
lower dead point. Then, movement is made to point R before
chopping is finally stopped.
When this signal is set to 1, the CNC operates as described below.
(1) If chopping is currently stopped, chopping is restarted.
(2) If chopping operation is currently not stopped, no operation is
performed.
Chopping start signal CHPS<G044#6>

[Function] Starts and stops chopping.
[Operation] Setting this signal to 1 starts chopping. Again setting this signal to 0
during chopping causes chopping to be stopped.
NOTE
If an attempt to start chopping using chopping start
signal CHPST is ignored, set the signal to 0 then back
to 1.
- 235 -
Chopping feedrate override signals

*CHP1-*CHP8<G044#0-#3>
[Function] Overrides the chopping feedrate.
[Operation] The actual feedrate during chopping becomes the specified feedrate
multipled by the override value specified with this signal. The
following table lists the correspondence between the signal states and
the override value:
*CHP8 *CHP4 *CHP2 *CHP1 Override value
0 0 0 0 150%
0 0 0 1 140%
0 0 1 0 130%
0 0 1 1 120%
0 1 0 0 110%
0 1 0 1 100%
0 1 1 0 90%
0 1 1 1 80%
1 0 0 0 70%
1 0 0 1 60%
1 0 1 0 50%
1 0 1 1 40%
1 1 0 0 30%
1 1 0 1 20%
1 1 1 0 10%
1 1 1 1 0%
Chopping-in-progress signal CHPMD<F157#2>

[Function] Posts notification of chopping in progress.
[Operation] This signal is set to 1 in the following case:
- Upon chopping start signal CHPST being set to 1 to start chopping
This signal is set to 0 in the following cases:
- Upon chopping start signal CHPST being set to 0 to stop chopping
- Upon chopping being terminated by a reset.
Chopping cycle signal CHPCYL <F157#3>

[Function] Posts notification of a chopping cycle being performed between the
upper and lower dead pionts.
[Operation] This signal is set to 1 in the following case:
- Upon a chopping cycle being started between the upper and lower
dead pionts
This signal is set to 0 in the following cases:
- Once chopping has been stopped
- When the tool is stopped at the upper or lower dead point
- Upon chopping hold signal *CHLD being set to 0
- 236 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G044 *CHLD CHPST *CHP8 *CHP4 *CHP2 *CHP1
F157 CHPCYL CHPMD
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1001 CAF

[Data type] Bit
#7 CAF Specifies whether to enable chopping axis and rate data to be set on
the setting screen, as follows:
0: Enables.
1: Disables.
#7 #6 #5 #4 #3 #2 #1 #0
1181 CRO

[Data type] Bit
#5 CRO Specifies the type of override used within the range from the
chopping start position to point R, as follows:
0: Chopping override
1: Rapid traverse override
1191 Chopping axis

[Data type] Integer
Set the number of the servo axis that corresponds to the chopping axis.
1192 Chopping reference position (R position)

[Data type] Real
table(A))
Set data in absolute coordinates.
- 237 -
1193 Upper limit for chopping

[Data type] Real
table(A))
1194 Lower limit for chopping

[Data type] Real
table(A))
1195 Chopping rate

[Data type] Real
[Unit of data] mm/min, inch/min, degree/min (input unit)
[Valid data range] Refer to the standard parameter setting table (C)
1196 Chopping compensation coefficient

[Data type] Integer
[Unit of data] %
The chopping delay compensation amount is equal to the sum of the
servo delay during chopping and the delay during
acceleration/deceleration, times the coefficient set for this parameter.
If this parameter is set to 0, chopping delay compensation is not
performed.
- 238 -
1197 Maximum feedrate during chopping

[Unit of data] mm/min, inch/min, degree/min (machine unit)
Set the value that will be used to limit the chopping rate. When this
parameter is set to "0" for the chopping axis, the rapid traverse rate
(parameter No. 1420) will be used to limit the chopping rate.
1198 Chopping rate for enabling bottom dead point overshoot damp control when
the chopping rate is changed

[Data type] Real
Bottom dead point overshoot damp control is enabled when the
chopping rate (command-specified rate overridden with a certain
value, not including a portion increased due to chopping
compensation) exceeds a value specified in this parameter.
Bottom dead point overshoot damp control is disabled if the
chopping rate is lower than the value specified in this parameter.
If bottom dead point overshoot damp control is enabled, changing
the override value, changing the command-specified rate, and
interlocking are enabled only within the range between the top dead
point and the bottom dead point. Any attempt to change them
within the range between the bottom dead point and the top dead
point is ignored.
This parameter can be specified only when chopping is canceled
(has not been started). Any attempt to change the parameter is
ignored during chopping.
If this parameter is 0, overshoot damp control is disabled for all
rates.
1881 Permissible error at start of chopping compensation

[Data type] Integer
Chopping compensation is made when the difference between the
underrun amounts at the top and bottom dead centers due to the
servo position control delay is less than the setting. When 0 is
specified for this parameter, no compensation is made.
- 239 -
Alarm and message

PS0472 ILL-COMMAND IN G81.1 MODE Either G81.1 was instructed again while in the chopping
mode, or a move instruction was issued to the chopping axis.
To change the chopping conditions, cancel G80 and specify
G81.1 again.
Reference item
Series15i/150i-MB Operator’s Manual II-19.5 Chopping function
(Programming)
(B-63784EN)
- 240 -
1.12 ELECTRONIC GEAR BOX
Overview
This function rotates a workpiece in synchronization with a rotating
tool, or moves a tool in synchronization with a rotating workpiece to
enable the highly precise machining of gears and screws. The rate of
synchronization can be specified by a program. Up to two sets of
synchronous axes can be specified. With this function, in a gear
grinder, one axis serves as an axis for rotating the workpiece in
synchronization with a tool, while the other axis serves as an axis for
moving a dressing axis in synchronization with the tool.
The electronic gear box is hereinafter called an EGB function.
For examples of using the parameters for setting electronic gear box
axis configurations, see Section 1.5.3.
1.12.1 Command Description (G80.5, G81.5)
Format
ìTt üì βj ü
G81.5 í íβ0 Ll ý ; Synchronization starts
ý
î Pp þ
î þ
Master-axis travel Slave-axis travel
G80.5 β 0 ; Synchronization ends
Explanation
- Master axis and slave axis
A synchronization reference axis is called a master axis, and an axis on
which movement is made in synchronization with that on the master
axis is called a slave axis. On a hobbing machine, for example, in
which a workpiece moves in synchronization with a rotating tool, a tool
axis is called a master axis and a workpiece axis is called a slave axis.
The axes which serve as the master axis and slave axis depend on the
structure of the machine tool.
- Synchronization start
When the ratio of the master-axis travel to the slave-axis travel is
specified, synchronization starts.
Specify the master-axis travel in either of the following ways.

1. Master-axis speed
T t: Master-axis speed(1≤ t ≤1000)
2. Master-axis pulse count
P p : Master-axis pulse count(1≤p≤999999999)
Specify a pulse count on the condition that four pulses
correspond to one period in the A and B phases.
- 241 -
Specify the slave-axis travel in either of the following ways.

1. Slave-axis travel
βj : Slave-axis address
j :Slave-axis travel indicated in units of the minimum
travel increments (the range of valid settings for usual
axis movement applies)
When j = 0, the specified command is regarded as being
a command for the slave-axis speed, described below.
In this case, if L is not specified, an alarm is output.
2. Slave-axis speed
β0 L±l : β :Slave-axis address
l :Slave axis speed (1≤ l ≤21)
CAUTION
1 A move command can be issued by a program to the
slave axis or other axes during synchronization. In
this case, the command shall be an incremental
command.
2 A G27, G28, G29, G30, G30.1, G33, or G53
command cannot be issued to the slave axis in
synchronization mode.
3 Controlled-axis removal cannot be used for the
master axis or the slave axis.
NOTE
1 A manual handle interruption can be issued to the
slave axis or other axes during synchronization.
2 The maximum feedrates for the master axis and the
slave axis are limited according to the position
detectors used.
3 An inch/metric conversion command (G20 or G21)
cannot be specified in synchronization mode.
4 Only the machine coordinates for the slave axis are
updated in synchronization mode.
- 242 -
- Synchronization end
1. Canceling synchronization for each axis by issuing a command
With a G80.5 0 command, synchronization is canceled.
is the address of the slave axis. Synchronization of the slave axis
specified by is canceled.
A cancellation command can be issued only for one axis in one
block.
When 0 is not specified, the synchronization of all currently
synchronized axes is canceled.
When a synchronization cancellation command is issued, the
absolute coordinates for the slave axis are updated according to
the amount of travel during synchronization.
For a rotation axis, the value obtained by rounding off the amount
of travel during synchronization to the nearest 360 degrees is
added to the absolute coordinates.
2. Canceling synchronization by a reset
For an axis for which a parameter is set to allow synchronization
to be canceled by a reset, RSH, bit 0 of No. 7612, is set to 0,
allowing synchronization to be canceled by a reset. When a
manual absolute signal is on, the absolute coordinates are
updated.
3. Others
Synchronization is automatically canceled under the following
conditions.
(1) Emergency stop
(2) Servo alarm
(3) Overtravel (software or hardware) alarm for a slave
axis
(4) PW000 alarm (indicating that the power should be
turned off)
(5) IO alarm
- 243 -
1.12.2 Description of Commands Compatible with Those for a

Hobbing Machine
A command compatible with that for a hobbing machine can be used as

a synchronization command.
Such a command cannot be used when a canned-cycle option is
provided.
During machining, the hobbing machine synchronizes a workpiece axis
(usually the C-axis) with the hobbing axis (spindle).
When two sets are in synchronization with EGB, specify which set
starts synchronization with such a command by using parameter No.
5995.
Format
G81 T_(L_)(Q_P_); Synchronization start
G80; Synchronization end
T : Number of teeth
(range of valid settings: 1-1000)
L : Number of hub threads
(range of valid settings: -21 to +21, excluding 0)
The sign of L determines the direction of rotation for
the workpiece axis.
When L is positive, the direction of rotation for the
workpiece axis is positive (+ direction).
When L is negative, the direction of rotation for the
workpiece axis is negative (- direction).
When L is not specified, the number of hob threads is
regarded as being 1.
Q : Module or diametral pitch
In metric input, specify a module
(unit : 0.00001 mm, range of valid settings : 0.1 - 25.0
mm).
In inch input, specify a diametral pitch
(unit : 0.00001 [1/inch], range of valid settings:
0.1-254.0 [1/inch])
P :Twisted angle of a gear
(unit: 0.00001 degrees, range of valid settings : -90.0
to 90.0 degrees)
* The decimal point can be specified in Q and P.
- 244 -
Explanation
- Synchronization start
Specify P and Q to use helical gear compensation.
In this case, if only one of P and Q is specified, an alarm (PS0594) is
generated.
When a G81 command is issued to change to synchronization mode,

the EGB mode confirmation signal for the workpiece axis becomes "1"
and synchronization starts between the spindle and the workpiece axis.
During synchronization, control is performed such that the ratio of the

spindle speed to the workpiece-axis speed is the same as that of T
(number of teeth) to L (number of hob threads).
When a G81 command is again specified during synchronization
without canceling synchronization, if T and L are specified, the
synchronization coefficient is changed to that newly specified by T and
L. If T or L is not specified and only P and Q are specified, the
synchronization coefficient remains as is and helical gear
compensation is performed. With this operation, a helical gear and a
spur gear can be continuously machined.
NOTE
In a command compatible with that for a hobbing
machine, feed per revolution is performed according
to the speed of the synchronous slave axis.
- Synchronization end
Synchronization of all synchronized axes is canceled.
When a synchronization cancellation command is issued, the absolute
coordinates for the slave axis are updated according to the amount of
travel during synchronization.
For a rotation axis, the value obtained by rounding off the amount of
travel during synchronization to the nearest 360 degrees is added to the
absolute coordinates.
In a G80 block, do not specify addresses other than O or N.
- 245 -
- Helical gear compensation

For a helical gear, the workpiece axis is subjected to compensation for
movement along the Z axis (axial feed axis) according to the twisted
angle of the gear.
Helical gear compensation is performed with the following data.
Z × sin(P)
Compensation angle= × 360 (In metric input)
π×T×Q
Z × Q × sin(P)
Compensation angle= (In inch input)
π×T
Where,
Compensation angle : Absolute value with sign (degrees)
Z : Amount of travel along the Z axis after a G81 command is
issued (mm or inch)
P : Twisted angle of the gear with sign (degrees)
π : Ratio of the circumference of a circle to its diameter
T : Number of teeth
Q : Module (mm) or diametral pitch (1/inch)
Use P, T, and Q specified in the G81 block.
NOTE
An axial feed axis refers to the rotation center axis for
a workpiece axis, and is usually represented by a Z
axis. In the specifications, it is called a Z axis for
convenience.
When an axis other than the Z axis is set to an axial
feed axis, specify the number of the axial feed axis in
parameter No. 5994.
- 246 -
- Compensation direction in helical gear compensation
Parameter HDR (bit 2 of No. 7612)
When the HDR bit is set to 1
(a) (b) (c) (d)

+Z +C +C +C +C
C : +, Z : +, P : + C : +, Z : +, P : - C : +, Z : -, P : + C : +, Z : -, P : -
Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +
-Z
(e) (f) (g) (h)

+Z :+ -C -C -C -C
C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : - Compensation direction : + Compensation direction : + Compensation direction : -
When the HDR bit is set to 0 ((a), (b), (c), and (d) are the same as when the HDR bit is set to 1)
(e) (f) (g) (h)

+Z -C -C -C -C
C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +
- 247 -
1.12.3 Configuration Examples of Controlled Axes
- Gear grinder
Spindle : EGB master axis serving as a tool axis
First axis : X
Second axis : Y
Third axis : C axis (EGB slave axis serving as a workpiece axis)
Fourth axis : C axis (EGB dummy axis, which cannot be used as a
usual controlled axis)
Fifth axis : V axis (EGB slave axis serving as a dressing axis)
Sixth axis : V axis (EGB dummy axis, which cannot be used as a
usual controlled axis)
CNC
Spindle (master axis) Spindle amplifier Motor Spindle Detector
First axis X (omitted) Tool axis

Second axis Y (omitted)
Third axis - Detector

Slave axis
Position control Speed/current control Servo amplifier Motor C-axis
C +
+
EGB Workpiece axis
K1
Fourth axis Synchronization switch
Dummy axis - K1:Synchronization factor
Follow-up
Error counter
+
Fifth axis - Detector

Slave axis Position control Speed/current control Servo amplifier Motor V-axis
V + +
Dressing axis
EGB
K2
Sixth axis Synchronization switch
Dummy axis - K2:Synchronization factor
Follow-up
Error counter
+
NOTE
A sampling period of 1 ms is applied when feedback
pulses are read from the master axis; the
synchronization pulses for a slave axis are calculated
according to synchronization coefficient K; and the
pulses are specified for position control of the slave
axis.
- 248 -
- Dressing example
When the following configuration is used in a gear grinder
U axis
Rotating grinding wheel
V axis
V-axis
motor
Limit switch 1 Limit switch 2
O9500 ;
N01 G01 G91 U_ F100; Approach of dressing axis
N02 Maa S100; With Maa, the PMC rotates the grinding wheel in the positive
direction. The gear moves along the V axis in the + direction
accordingly. When the gear reaches the position of limit
switch 2 along the V axis, the PMC stops the grinding wheel
and returns FIN.
N02 U_ V_ ; Movement to the next dressing position.
N03 Mbb S100; With Mbb, the PMC rotates the grinding wheel in the
negative direction. The gear moves along the V axis in the -
direction accordingly. When the gear reaches the position of
limit switch 1 along the V axis, the PMC stops the grinding
wheel and returns FIN.
N04 U_ V_ ; Movement to the next dressing position.
Dressing is performed by repeating N02 to N04, if necessary.
..........
..........
M99 ;
- 249 -
NOTE
If the V-axis (linear axis) is synchronized with the
spindle as in the case of dressing, the range of
movement of the V-axis is determined by the rotation
of the spindle. Accordingly, to perform dressing by
back and forth movement along the V-axis over a
certain range, the PMC must perform processing such
that when a certain position on the V-axis is reached,
the spindle is first stopped then reversed.
In the above example, limit switches are provided to

set the V-axis movement range, and control is applied
to the PMC to rotate a grinding wheel until the limit
switch positions on the V-axis are reached.
A position switch function is available to allow dressing

like that described above to be performed without
using mechanical limit switches. Moreover, by
rewriting parameter No. 5280 to No. 5299 for setting a
position switch operation range with the G10
programming parameter input function, a V-axis
movement range can be specified.
- 250 -
1.12.4 Retraction Function
- Retraction function caused by an external signal

When retract signal RTRCT is set to 1 (on the rising edge of the signal),
retraction is performed according to the retract value set in parameter
No. 7796 and the feedrate set in parameter No. 7795.
The tool does not move along an axis for which the amount of
retraction is set to 0.
After retraction, retraction completion signal RTRCTF is output.
- Retraction function caused by a servo or spindle alarm

When a CNC alarm is issued as a result of a servo axis or spindle axis
error, retraction is performed according to the retract value set in
parameter No. 7796 and the feedrate set in parameter No. 7795.
This function prevents the tool and the workpiece from being damaged
when a servo alarm is issued.
CAUTION
1 Feedhold is invalid for movement during retraction.
2 Feedrate override is invalid for movement during
retraction.
NOTE
1 When a retract signal is set to "1" during automatic
operation, retraction is performed and automatic
operation is stopped.
2 Automatic operation cannot be performed during
retraction.
When cycle start is performed, a warning, "START
REJECT(RETRACT EXECUTING)," is indicated.
3 Retraction movement is performed by linear-
interpolation positioning.
4 Servo position control is stopped 400 ms after
retraction is performed by a servo alarm.
5 Retract completion signal RTRCTF is set to 0 when a
move command is specified for an axis after
retraction on all axes has been completed.
- 251 -
- Flowchart of retraction function processing by a servo or spindle alarm
Servo axis out of order Spindle out of order

Servo amplifier error Spindle amplifier out of order
Start deceleration stop Start deceleration stop for

for spindle : PMC spindle : spindle amplifier
Stop movement for all

servo axes : CNC
Is the
NO
retraction-amount
parameter No.7796
specified?
YES
NO Is EGB in
synchronization
mode?
YES
Is an
erroneous axis being used YES
as a synchronization
axis?
NO
Maintain EGB Stop EGB synchronization
synchronization : CNC : CNC
Is an
YES erroneous axis being
used as a retraction
axis?
NO
Execute retraction : CNC
Feedrate=parameter No.7795
Output retraction completion

signal RTRCTF : CNC
Is a servo axis
out of order? NO
Is a servo amplifier
erroneous?
YES
Stop position control Do not stop position
of servo. : CNC control of servo. : CNC
- 252 -
1.12.5 Automatic Phase Matching Function with Electronic Gear Box
In the EGB (electronic gear box), when synchronization start or

cancellation is specified, synchronization is not started or canceled
immediately. Instead, acceleration/deceleration is executed first.
Therefore, synchronization can be started or canceled while the spindle
is rotating.
At synchronization start, automatic phase matching is performed such
that the workpiece-axis position matches the position corresponding to
the spindle one-rotation signal. With this matching, the same operation
is performed as synchronization start caused by a one-rotation signal in
hobbing synchronization when using the conventional functions of a
hobbing machine.
The spindle corresponds to the EGB master axis and the workpiece axis
corresponds to an EGB slave axis.
Format
- Acceleration/deceleration type
G81 T_ L_ R1; Synchronization start
G80 R1; Synchronization end
T : Number of teeth (range of valid settings: 1-1000)

L : Number of hub threads (range of valid settings: -21 to
+21, excluding 0)
When L is positive, the direction of rotation about the
When L is negative, the direction of rotation about the
- Acceleration/deceleration plus automatic phase matching type

G81 T_ L_ R1; Synchronization start
G80 R2; Synchronization end
T : Number of teeth (range of valid settings: 1-1000)

L : Number of hub threads (range of valid settings: -21 to
+21, excluding 0)
When L is positive, the direction of rotation about the
When L is negative, the direction of rotation about the
- 253 -
Explanation
- Acceleration/deceleration type
Spindle
speed
Synchronization
Synchronization start command cancellation command
Workpiece
-axis
speed
Synchronization
Acceleration state Deceleration
G81R1 command
execution
Acceleration
Synchronization-set
G80R1 command execution
Deceleration
1. Specify G81R1 to start synchronization.

When G81R1 is specified, acceleration is performed on the
workpiece axis (slave axis). Once the synchronization feedrate is
reached, EGB mode check signal EGBMn is set to 1, and the
G81R1 block is terminated.
2. For cancellation, specify G80R1 while the tool is moved away
from the workpiece.
3. When G80R1 is specified, the EGB mode check signal is set to 0,
and deceleration is started immediately. When the speed is
reduced to 0, the G80R1 block is terminated.
NOTE
1 inear acceleration/deceleration applies.
2 In automatic synchronization cancellation due to the
following causes, deceleration is executed and
synchronization is canceled.
(1) Reset
(2) PW000(POWER MUST BE OFF)
(3) IO alarm
- 254 -
- Acceleration/deceleration plus automatic phase matching type
Spindle
speed
Synchronization
Synchronization start command cancellation command
Workpiece
-axis
speed
Synchro- Synchro-
Acceleration nization nization Deceleration
state state
G81R2 command
execution
Acceleration
Automatic phase synchronization
Synchronization-set signal
G80R2 command execution
Deceleration
1. Move the workpiece axis to the position that corresponds to that

of the one-rotation signal of the spindle.
2. Specify G81R2 to start synchronization.
Specify G81R2 to start synchronization. When G81R2 is
specified, the workpiece axis is accelerated. When the
synchronization speed is reached, phase synchronization is
performed automatically. Upon the completion of phase
synchronization, EGB mode check signal EGBMn is set to 1, and
the G81R2 block is terminated.
3. For cancellation, specify G80R2 while the tool is moved away
from the workpiece.
4. When G80R2 is specified, the EGB mode check signal is set to 0,
and deceleration is started immediately.
When the speed is reduced to 0, the G80R2 block is terminated.
- 255 -
CAUTION
Automatic phase matching, specify the speed in parameter No. 5984
and the movement direction in parameter PHD, bit 1 of No. 7712.
In phase matching, rapid-traverse linear acceleration/deceleration
(with the time constant specified in parameter No. 1620) is
performed.
The workpiece-axis speed is obtained by superposing the speed in
automatic phase matching onto the speed corresponding to spindle
rotation.
In consideration of this superposition, specify a position deviation
limit in parameter No. 1828.
NOTE
1 The one-rotation signal used for automatic phase synchronization is
issued not by the spindle position coder but by the separate pulse
coder attached to the spindle and used to collect EGB feedback
information. This means that the orientation position based on the
one-rotation signal issued by the spindle position coder does not
match the position used as the reference for the workpiece axis when
establishing phase synchronization for automatic phase
synchronization based on G81R2.
Moreover, the one-rotation signal of the separate pulse coder must
be turned on for each rotation of the spindle.
2 With the use of parameter No. 5985, the position at which the phase
of the workpiece axis is matched can be shifted from the position
corresponding to the one-rotation signal in automatic phase
matching.
3 When a synchronization command is issued again in a
synchronization state, movement about the workpiece axis is
performed in automatic phase matching such that the position
corresponding to the one-rotation signal of the spindle matches the
position about the workpiece axis specified in the G81R2
synchronization start command executed first.
4 In automatic phase matching, movement is performed about the
workpiece axis from the current position to the nearest phase position
in the phase matching movement direction specified by the
parameter.
5 Linear acceleration/deceleration applies to synchronization
start/cancellation.
6 The acceleration/deceleration plus automatic phase matching type
can be executed by the PHS parameter, bit 0 of No. 7712, without
specifying an R2 command in a G81 or G80 block.
7 In automatic synchronization cancellation due to the following
causes, deceleration is performed and synchronization is canceled.
(1) Reset
(2) PW000(POWER MUST BE OFF)
(3) IO Alarm
- 256 -
Signal
Retract signal
RTRCT<G042#4>
[Function] Retracts along the axis specified in the parameter.
[Operation] When this signal is set to "1," the CNC operates in the following way.
At the rising edge of this signal, retraction can be performed for the
axis for which a retract value is set in parameter No. 7796. The retract
value and retract feedrate set in parameter No. 7796 and No. 7795 are
used. Upon the completion of retraction, retract completion signal
RTRCTF is output.The retract signal is valid in either automatic
operation mode (MEM, MDI, etc.) or manual operation mode (H, JOG,
etc.). When the retract signal is set to "1" during automatic operation,
retraction is performed and automatic operation is stopped.
Retraction completion signal

RTRCTF<F041#4>
[Function] Reports that retraction is finished.
[Operation] This signal is set to "1" in the following case.
- When retraction is finished (movement is finished)
This signal is set to "0" in the following case.
- After retraction is finished, when a move command is issued
NOTE
When the retraction completion signal is "1," the
retract signal is not accepted.
EGB mode confirmation signal

EGBM1<F066#3>, EGBM 2< F070#3>, ...
[Function] Reports that synchronization is being executed by EGB. This signal is
output to a slave axis.
EGBMx
x : 1 ..... First axis synchronized by EGB
2 ..... Second axis synchronized by EGB
3 ..... Third axis synchronized by EGB
: :
: :
[Operation] This signal is set to "1" in the following case.
- During synchronization caused by EGB
This signal is set to "0" in the following case.
- When synchronization caused by EGB is released
- 257 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G042 RTRCT
F041 RTRCTF
F066 EGBM1
The above EGBM1 address corresponds to the first-axis signal address.

For details of the signal addresses for the second and subsequent axes,
see Appendix A.1 Address List.
Parameter
The following table lists the parameters related to EGB.
Data Description
number
1004 # 6 The current position is not indicated for an axis for which this parameter is set to 1.
Since the current position for an EGB dummy axis has no meaning, set this parameter to 1 to delete
the current position indication for the axis from the CRT screen.
1006 # 0 To specify a speed with L in a slave-axis amount of travel in a synchronization command, the slave
1006 # 1 axis needs to be set to a rotation axis (a parameter ROT, bit 0 of No. 1006, and a parameter ROS,
bit 1 of No. 1006, need to be set to 1).
1023 Specify on the FSSB setting screen. In FSSB manual setting, specify one of the following cases for
EGB axes.
Cases (1) (2) (3) (4) (5)
EGB slave axis 1 3 5 7 9
EGB dummy axis 2 4 6 8 10
1955 # 0 Specify an axis to be synchronized.

Specify 1 for both an EGB slave axis and EGB dummy axis.
7612 # 0 Specify whether synchronization mode is canceled by a reset.
7612 # 2 Compensation direction for helical gear compensation
7712 # 0 Specify whether acceleration/deceleration is performed in EGB synchronization start/cancellation
if an R command is not specified in a G81/G80 block. In synchronization start, when
acceleration/deceleration is performed, automatic phase matching is performed after acceleration.
7712 # 1 Movement direction in automatic phase matching
7613 # 4 Specify whether the retraction function is made valid by a servo or spindle alarm.
7711 # 6 Specify whether feed-forward control is made valid for the axial feed axis in helical compensation
5996 Pulse count of position detector per rotation about EGB master axis
5997 Pulse count of position detector per rotation about EGB slave axis
5994 Number of the axial feed axis in helical compensation
5995 Number of axis to be synchronized in a command compatible with that for a hobbing machine
5998 Controlled axis number of master axis
7795 Retraction speed
7796 Retraction amount
5984 Workpiece-axis speed in automatic phase matching
5985 Shift angle from the spindle position (that corresponding to one-rotation signal), which serves as a
reference to which the phase is matched for the workpiece axis
7729 Acceleration/deceleration value for the workpiece axis
*) For details, see 1.5.3 FSSB setting.
- 258 -
Note the following points when specifying parameters for the

electronic gear box.
1. Arrange the controlled axes such that a slave axis appears before a
dummy axis.
(Example)
Example of incorrect setting Example of correct setting
Servo axis Servo axis
Axis name number Axis name number
(No.1023) (No.1023)
X 1 X 1
Y 2 Y 2
C(dummy axis) 3 C (slave axis) 3
C(slave axis) 4 C (dummy axis) 4
2. Specify an axis that is not used or the same name as that for a slave
axis for the name of a dummy axis. Do not use a name which is
usually not allowed to be used as an axis address, such as D.
3. Specify the same values for an EGB slave axis and an EGB
dummy axis in the following parameters.
1013#0 Increment system (0.01 mm)
1013#1 Increment system (0.0001 mm)
1013#2 Ten times minimum input increment
1006#0 Inch/metric switching (rotation axis/linear axis)
1006#1 Shape of machine coordinate system (rotation
axis/linear axis)
1006#2 Shape of machine coordinate system for pitch error
compensation (rotation axis/linear axis)
1006#3 Diameter/radius setting
1421 Rapid-traverse override F0 speed
1820 Command multiplication
4. Specify the amount of travel per rotation about a rotation axis for
a slave axis in a parameter No. 1260.
5. Make the specification for a dummy axis in the following way.
1816#4, #5, #6 Detection multiplication (DMR)
Set bit 4, bit 5, and bit 6 of No. 1816 to 1 (DMR=4)
1807#3, 1815#1 Whether to use separate detectors.
Although an EGB dummy axis uses the interface of a
separate detector, set these parameters to 0.
1890 Set to 0.
6. If the following parameters are not specified, an alarm (SV0027
servo parameter invalid) may be generated. In such a case, make
the specification as described below.
18XX Specify the same value for both a slave axis and
a dummy axis.
1977, 1978 Flexible feed gear.
Set parameters Nos. 1977 and 1978 to 1 for the
dummy axis.
7. Specify as large a feed-forward coefficient as possible to reduce
the synchronization error.For details of parameter setting, see
Feed-forward setting of Geometric error suppression function in
FANUC AC SERVO MOTOR αi series Parameter Manual (B-
65270EN).
- 259 -
#7 #6 #5 #4 #3 #2 #1 #0
1004 DSP

[Data type] Bitaxis
#6 DSP Specifies whether to display axis positions in the position screen and the
program check screen.
0: Display axis positions.
1: Do not display axis positions.
NOTE
When using the electronic gear box function (EGB), specify 1 for
the dummy axis of the EGB to disable position display.

Specify the number of the servo axis that corresponds to each
control axis. Normally, set each servo and control axis to the same
numbers.
The control axis number and servo axis number of an axis with an
absolute position detector must be the same.
- If FSSB setting mode is automatic setting mode (bit 0 of
parameter No. 1090 is set to 0), setting is made automatically by
inputting data to the FSSB setting screen. In manual setting
mode (bit 0 of parameter No. 1090 is set to 1), however, data
must be entered directly.
- The servo axes are associated with servo amplifiers by setting
- For spindle motor axes such as the spindle positioning axis and
Cs contour control axis, 0 must be set.
- For axes under tandem control and electronic gear box (EGB)
control, a pair of two axes must be set. Set these axes as
follows:
EGB axis: Set 1, 3, 5, or 7 for the slave axis. For the dummy
axis to be used with the slave axis, set a value
greater than the value set for the slave axis.
- 260 -
#7 #6 #5 #4 #3 #2 #1 #0
1955 EGB

[Data type] Bitaxis
#0 EGB Specifies the axis on which to perform synchronization when using the
electronic gear box function (EGB).
0: Axis on which to perform synchronization with the EGB.
1: Not an axis on which to perform synchronization with the EGB.
Set 1 for both the EGB slave and dummy axes.
- 261 -
#7 #6 #5 #4 #3 #2 #1 #0
7612 HDR RSH

[Data type] Bit
#0 RSH Specifies whether to cancel the synchronous mode (G81, G81.5) when the
electronic gear box function (EGB) is used.
0: Cancel upon reset.
1: Do not cancel upon reset. The synchronous mode is canceled by the
G80 or G80.5 code only.
#2 HDR Helical gear compensation direction (Usually, set 1.)

Example When the rotation direction of the C-axis is the negative (-) direction, and
a left-twisted helical gear is cut:
0: Set a negative (-) value in P.
1: Set a positive (+) value in P.
When the HDR bit is set to 1
(a) (b) (c) (d)

+Z +C +C +C +C
C : +, Z : +, P : + C : +, Z : +, P : - C : +, Z : -, P : + C : +, Z : -, P : -
Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +
-Z
(e) (f) (g) (h)

+Z
-C -C -C -C
C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : - Compensation direction : + Compensation direction : + Compensation direction : -
When the HDR bit is set to 0 ((a), (b), (c), and (d) are the same as when the HDR bit is set to 1)
(e) (f) (g) (h)

+Z
-C -C -C -C
C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +
- 262 -
#7 #6 #5 #4 #3 #2 #1 #0
7712 PHD PHS

[Data type] Bit
#0 PHS Specifies whether to perform acceleration/deceleration when EGB

synchronization is started or canceled if there is no R command in a
G81/G80 block.
0: Do not perform acceleration/deceleration when EGB synchronization
is started or canceled.
1: Perform acceleration/deceleration when EGB synchronization when
EGB synchronization is started or canceled, and automatically
perform phase alignment after acceleration when synchronization
starts.
#1 PHD Specifies the direction of movement for automatic phase alignment.

0: Positive (+) direction
1: Negative (-) direction
#7 #6 #5 #4 #3 #2 #1 #0
7613 ART

[Data type] Bit
#4 ART Specifies whether the retraction function based on a servo spindle alarm
is valid.
0: Not valid.
1: Valid.
- 263 -
#7 #6 #5 #4 #3 #2 #1 #0
7711 EHF

[Data type] Bit
#6 EHF Specifies whether feed-forward control on the axial feed axis in helical
compensation is valid during cutting only or in the synchronization mode
based on G81.
0: Valid only during cutting.
1: Valid at all times in the synchronization mode based on G81.
Usually, set 0.
Feed-forward control is usually valid during cutting feed only. When
this parameter is set to 1, however, feed-forward control on the axial feed
axis in helical compensation is valid at all times during synchronization
based on the G81 command for a hobbing machine.
When bit 3 (RFW) of parameter No. 1800 is set to 1, feed-forward control
is valid, regardless of this parameter.
5996 Number of pulses from the position detector per EGB master axis rotation

Set the number of pulses from the position detector per EGB master axis
rotation.
Specify this parameter with four pulses equaling one A/B phase cycle.
- 264 -
5997 Number of pulses from the position detector per EGB slave axis rotation

Set the number of pulses from the position detector per EGB slave axis rotation.
Specify the number of pulses output by the detection unit.
Example 1:
When th EGB master axis is the spindle, and the EGB slave axis is the C-axis
CNC
n/m
α p/rev
Command pulse Detector
Slave axis ×CMR Error Speed/current Motor
counter control
Least command increment
Detection unit Gear ratio C-axis
0.001 deg
A
Synchronization Detector β p/rev

Synchronous switch coefficient
Dummy Follow-up ×CMR Error Gear ratio B

axis counter Spindle
Spindle-to-detector gear ratio B: 1/1 (The spindle and detector are connected
directly.)
Number of pulses from the detector of the spindle β: 80000 pulses/rev
(calculated assuming that four pulses are generated in one A/B phase cycle)
C-axis gear ratio A: 1/36 (The C-axis rotates one turn while the motor rotates 36
turns.)
Number of pulses from the detector of the C-axis α: 1,000,000 pulses/rev
C-axis CMR: 1
Flexible feed gear n/m: 1/100
In this case, the number of pulses per spindle rotation is obtained as follows:
80000×1/1 = 80000
So, set 80000 in parameter No. 5996.
The number of pulses per C-axis rotation by the detection unit is obtained as
follows:
1000000÷1/36×1/100 = 360000
In parameter No. 5997, set 360000.
- 265 -
(Example 2)
If the spindle-to-detector gear ratio is changed to 2/3 in the above example (three
spindle rotations for two detector rotations)
In this case, the number of pulses per spindle rotation is:
2 160000
80000 × =
3 3
There is a remainder. In this case, change the setting of parameter No. 5997 so
that the ratio between parameter No. 5996 and No. 5997 becomes the desired value.
160000
No.5996 3 = 160000 = 160000
=
No.5997 360000 360000 × 3 1080000
Therefore, it is only necessary to set No. 5996 = 160000 and No. 5997 = 1080000.
With this method, stress is placed on the correct ratio between the two parameters.
So the value of the ratio can be reduced, and the resulting numerator and
denominator can be set as the respective parameters. In this case, it is possible to
set No. 5996 = 16 and No. 5997 = 108.
If the ratio between the number of pulses for the master axis and that for the slave
axis is adjusted, but the actual number of pulses does not match the corresponding
parameter (for example, if the ratio is modified because the number of pulses is
indivisible because of a gear ratio between the master and slave axes, as in example
2), it is impossible to specify the following G81.5 commands.
G81.5 T_ C_:
If a number of rotations is specified for the master axis, and an amount of travel is
specified for the slave axis
G81.5 P_ C0 L_:
If a number of pulses is specified for the master axis, and a number of rotations is
G81.5 X_ C0 L_:
If an amount of travel is specified for the master axis, and a number of rotations is
5994 Axial-feed axis number in helical compensation

[Data type] Integer
Specify the ordinal number of an axial-feed axis in helical compensation.
NOTE
When this parameter is set to 0, the Z-axis is set as the axial-feed
axis.
When there are two or more parallel Z-axes, use this parameter
to specify which Z-axis is to be used as the axial-feed axis.
- 266 -
5995 Axis number of an axis to be synchronized using the method of command

specification for a hobbing machine

[Data type] Integer
When there are several groups of axes subject to synchronization control (the axes
for which bit 0 (SYN) of parameter No. 1955 is set to 1), an axis with which to start
synchronization is specified using the following command (for a hobbing machine):
G81 T t L ± l ;
t: Spindle speed (1 ≤ t ≤ 1000)
l: Number of synchronized axis rotations (1≤ l ≤ 21)
Synchronization between the spindle and a specified axis is established with the
ratio of ±l rotations about the synchronized axis to t spindle rotations
t and l correspond to the number of teeth and the number of threads on the hobbing
machine, respectively.
If the above command is specified without setting this parameter when there are
multiple groups of axes to be synchronized, alarm PS593 is issued.
When only one group of axes is to be synchronized, this parameter is ignored.
7795 Retract feedrate

[Data type] Real
Set a feedrate for retraction along each axis.
7796 Retract amount

table(A))
Set a retract amount for each axis.
- 267 -
5984 Speed for workpiece-axis automatic phase alignment

[Data type] Real
[Unit of data] degree/min
(When the increment system is IS-B, -999999.999 – 999999.999)
Set a speed for workpiece-axis automatic phase alignment.
5985 Angle deviation from the spindle position (position of the one-rotation
signal) used as a reference for workpiece-axis phase alignment

[Data type] Real
table(A))
Set an angle deviation from the spindle position (position of the one-
rotation signal) used as a reference for workpiece-axis phase alignment.
7729 Acceleration for workpiece axis acceleration/deceleration

[Unit of data] degree/sec/sec
[Valid data range] Refer to the standard parameter setting table (D)
(When the machine system is metric system, 0.0 - +100000.0. When the
machine system is inch system, machine, 0.0 - +10000.0)
Set an acceleration value for workpiece axis acceleration/deceleration.
- 268 -
Alarm and message

PS0593 EGB PARAMETER SETTING Erroneous EGB parameter setting
ERROR (1) The setting of SYN parameter No. 1955#0 is incorrect.
(2) The slave axes set by the G81 code are not set to rotary axes.
(ROT and ROS parameter Nos. 1006#0, #1)
(3) The number of pulses (parameter Nos. 5596, 5597) per rotation
is not set.
(4) Parameter No. 5995 is not set by the hobbing machine
compatible instruction.
PS0594 EGB FORMAT ERROR Format error in the block in which EGB was specified
(1) Nothing is specified to the master axis or slave axes in the
G81.5 block.
(2) Out of range data is specified to the master axis or slave axes in
the G81.5 block.
(3) Number of threads T is not specified in the G81 block.
(4) Out of range data is specified by one of T, L, P or Q codes in the
G81 block.
(5) Only one of P or Q codes is specified in the G81 block.
PS0595 ILL-COMMAND IN EGB An illegal instruction was issued during synchronization by EGB.
MODE (1) Slave axis was specified by G27, G28, G29, G30, G30.1, G33
and G53 G codes.
(2) Inch/metric conversion was specified by G20 or G21 G codes.
PS0596 EGB OVERFLOW An overflow occurred during calculation of the synchronization
coefficient.
PS0597 EGB AUTO PHASE FORMAT Format error in block in which G80 or G81 was specified by EGB
ERROR automatic phase alignment
(1) R is data outside of the instruction range.
PS0598 EGB AUTO PHASE Erroneous parameter settings relating to EGB automatic phase
PARAMETER SETTING alignment
ERROR (1) The acceleration/deceleration parameter is invalid.
(2) The automatic phase alignment parameter is invalid.
Reference item
Series15i/150i-MB Operator’s Manual II-19.9 Electronic gear box
(Programming) G80,G81,G80.5,G81.5
(B-63784EN)
- 269 -
1.13 EGB AXIS SKIP FUNCTION
General
In the synchronization mode supported by an electronic gear box
(EGB), this function enables a skip signal or high-speed skip signal
(both referred to as a skip signal) for an EGB slave axis. This function
has the following features:
1. If a skip signal is input while a block of the EGB axis skip
command is being executed, the function does not terminate the
block before the specified number of skip signals is input.
2. Even if a skip signal is input while a block of the EGB axis skip
command is being executed, the function does not stop the
movement on the EGB slave axis and instead continues the
movement in synchronization mode.
3. The machine coordinates when a skip signal is input and the
number of input skip signals are stored in specified custom macro
variables.
Format
G81 T_ L_ ; EGB mode on
G31.8 G91 α0 P_ Q_ ( R_ ) ; EGB skip command
α : Specifies an EGB slave axis. The value must

always be 0.
P : First variable number of the custom macro
variables which store the machine coordinates
when the skip signal is input
Q : Number of skip signals that can be input while
G31.8 is being executed (valid data range: 1 to
900)
R : Variable number of the custom macro variable
which stores the number of input skip signals. This
number is specified to check the signal input count.
Explanation
G31.8 is a one-shot G code.
When G31.8 is executed, the machine coordinates when the number of
skip signals specified in Q are written in custom macro variables
starting from the variable number specified in P are written at the end
of the skip command block.
The number of input skip signals is written in the custom macro

variable specified in R each time a skip signal is input.
- 270 -
NOTE
1 Only a single EGB slave axis may be specified for this
function. If no axis is specified or if two or more axes
are specified, alarm PS152 is output.
2 If P is omitted, alarm PS152 is output.
3 If R is omitted, the number of input skip signals is not
written in the custom macro variable.
4 The custom macro variable number of an existing
variable must be specified in P or R. If the variable
number of a non-existing variable is specified, alarm
PS114 is raised.
A shortage of variables also causes alarm PS114 to
be output.
5 Whether to use the conventional skip signal or high-
speed skip signal for this function is specified with the
HSS bit (bit 4 of parameter 7200). When the use of
the high-speed skip signal is selected, the high-speed
signal to be enabled is specified by the 9S1 to 9S4
bits (bits 0 to 3 of parameter 7210).
6 If the EGB master axis is not the spindle but another
controlled axis, the master axis must be an axis of
movement by PMC axis control.
7 A skip position is calculated from the feedback pulse
of the machine. The value is not affected by
acceleration/deceleration or by a servo system delay.
Signal
For the skip signal, see Section 14.5.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7200 HSS

[Data type] Bit
#4 HSS Specifies whether to use the high-speed skip signal when the skip
function or multistage skip function is used.
0: Not used. (The skip signal of the conventional type is used.)
1: Used. (The skip signal of the conventional type is disabled.)
- 271 -
#7 #6 #5 #4 #3 #2 #1 #0
7210 9S8 9S7 9S6 9S5 9S4 9S3 9S2 9S1

[Data type] Bit
9S1 to 9S8 A skip signal to be used for G31.8 (EGB skip command) is set.
Corresponding skip signal
Parameter High-speed skip signal DI signal
( HSS(No.7200#4)=1) ( HSS(No.7200#4)=0)
9S1 HDI0 SKIP1
9S2 HDI1 SKIP2
9S3 HDI2 SKIP3
9S4 HDI3 SKIP4
9S5 HDI4
9S6 HDI5
9S7 HDI6
9S8 HDI7
0: A corresponding skip signal is invalid.
1: A corresponding skip signal is valid.
7220 Time width from input of a skip signal until the input of the next skip signal
is enabled when the EGB skip function is used

[Data type] Integer
[Unit of data] 8msec
[Valid data range] From 3 through 127. Other values are taken as 3.
Set the time width from input of a skip signal until the input of the next skip signal
is enabled (becomes acceptable) when the EGB skip function is used.
Set a value in steps of 8 msec.
Example: When 10 is set, 80 msec is assumed.
This parameter is set to prevent the system from accepting a skip signal mistakenly.
Parameter-set time
Skip (1) (2) (3)

signal
After skip signal (1), skip signal (2) is ignored because it is input within the
parameter-set time. Skip signal (3) is valid.
- 272 -
Alarm and message

PS0114 VARIABLE NO. OUT OF RANGE An illegal No. was specified in a local variable, common
variable or a system variable in a custom macro.
A non-existent custom macro variable No. was specified in
the EGB axis skip function (G31.8), or there are not enough
custom macro variables for storing the skip position.
PS0152 G31.9/G31.8 FORMAT ERROR The format of the G31.9 or G31.8 block is erroneous in the
following cases:
• The axis was not specified in the G31.9 or G31.8 block.
• Multiple axes were specified in the G31.9 or G31.8 block.
• The P code was specified in the G31.9 or G31.8 block.
Reference item
Series15i/150i-MB Operator’s Manual II-19.9 Electronic gear box
(Programming)
(B-63784EN)
Series15i/150i- Connection Manual 14.5.1 Skip function
- 273 -
1.14 TURNING MODE AND COMPENSATION CLAMP OF DUAL

POSITION FEEDBACK
Overview
For axes controlled by the dual position feedback function, turning
mode and compensation clamp are newly available. For details on the
dual position feedback function, refer to the "FANUC AC SERVO
MOTOR αi series Parameter Manual" (B-65270EE).
- Turning mode
When the dual position feedback turning mode select signal is input to
the CNC, it selects turning mode. In turning mode, the feedback in the
closed loop for the axis set by bit 0 (STH) of parameter No. 1930 is
ignored. When a move command is issued in turning mode, only
semi-closed loop control is provided.
This function is used to switch the control method depending on the

situation; for example, a certain axis may be placed under position
control by the servo motor or may be controlled as a spindle by the
spindle motor.
In turning mode, feedback in the closed loop is ignored, which allows

all the coordinates (machine coordinates, workpiece coordinates, and
local coordinates) to be shifted by the amount of movement performed
in turning mode. Therefore, once turning mode has terminated,
reference position return is required to match the coordinates. If an
attempt is made to perform automatic operation without first
performing reference position return, alarm PS0181 is issued.
NOTE
For an axis for which turning mode is to be used, an
absolute-position detector cannot be used.
- Compensation clamp
When the dual position feedback compensation clamp signal is input to
the CNC, it stops dual position feedback compensation. As the
compensation stops, the feedback in the closed loop is halted, and
operation is performed in the semi-closed loop. Whenever the axis
subjected to dual position feedback is to be clamped mechanically,
compensation clamp must be applied. This function works on the axis
for which bit 2 (HYB) of parameter No. 1817 is set to 1.
- 274 -
Signals
Dual position feedback turning mode select signal

HBTRN <G008#4>
[Function] Selects turning mode.
[Operation] When this signal is set to 1, turning mode of dual position feedback is
entered.
Dual position feedback compensation clamp signal

*CL1 <G065#5>, *CL2 <G069#5>, ...
[Function] Stops dual position feedback compensation.
[Operation] When this signal is set to 0, dual position feedback compensation is
stopped. This signal is valid only when bit 2 (HYB) of parameter No.
1817 is 1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G008 HBTRN
G065 *CL1
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1817 HYB

NOTE
After this parameter has been set, the power must be turned off then
#2 HYB Dual position feedback compensation clamp is:

0: Not performed.
1: Performed.
NOTE
With the FANUC Series 15i, the use of a function equivalent to
FANUC Series 15B hybrid control requires the dual position
feedback function. When the compensation clamp function of
dual position feedback is used, therefore, a setting to enable dual
position feedback is required in addition to the setting of this bit.
- 275 -
#7 #6 #5 #4 #3 #2 #1 #0
1930 STH

#0 STH Turning mode of dual position feedback is:

0: Disabled.
1: Enabled.
- 276 -
1.15 DECELERATION STOP AT POWER FAILURE
Overview
If a power failure occurs during axis movement, this function
decelerates and stops the tool according to a certain acceleration value
set for each axis in parameter No. 1670 to prevent the machine from
being damaged by an overrun.
Description
- Deceleration method
In either cutting or rapid traverse, linear deceleration is performed at a
constant acceleration.
- Example of deceleration
When the feedrate along the X-axis differs from that along the Y-axis
Power failure detected

Power failure
deceleration signal
PWFL
Feedrate along X-axis

Decelerated at acceleration
set in parameter No. 1670
Feedrate along Y-axis
NOTE
1 Once deceleration has been completed after the
power failure deceleration signal is set to 1, any
movement along an axis is disabled.
2 To perform axis movement, turn the power off then
back on.
3 The torque control axis in PMC axis control, feedrate
control axis, Cs contour control axis, spindle
positioning axis, and EGB axis are not subjected to
deceleration by this function.
4 Some measures are required on the PMC ladder and
machine sides to prevent emergency stop from
occurring before deceleration is completed.
- 277 -
Signal
Power failure deceleration signal PWFL <G159#3>

[Function] Posts the detection of a power failure.
[Operation] When this signal is set to 1, the control unit operates an follows:
Immediately performs deceleration stop according to an acceleration
value set in parameter No. 1670.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G159 PWFL
Parameter
1670 Acceleration for each axis for deceleration stop at power failure

[Data type] Real number axis
[Unit of data] mm/sec/sec, inch/sec/sec, degrees/sec/sec (machine unit)
[Minimum unit of data] The increment system of the axis in question is followed.
[Valid data range] See the standard parameter setting table (D).
(For millimeter machines, 0.0 to +100000.0. For inch machines, 0.0 to
+10000.0)
Set an acceleration value by which deceleration stop is to be performed for the
target axis at power failure.
If this parameter is set to 0 for an axis, deceleration is not performed for that axis
upon a power failure.
In synchronization control and tandem control, set the same parameter value for
both the master and slave axes.
- 278 -
1.16 HIGH SPEED HRV MODE
Overview
Higher speed and higher precision HIGH SPEED HRV control can be
performed by using the servo control card, the servo amplifier, and
Separate Detector I/F Unit supporting HIGH SPEED HRV control.
Format
G05.4 Q1 ; Turns HIGH SPEED HRV mode on.
G05.4 Q0 ; Turns HIGH SPEED HRV mode off.
For details of HIGH SPEED HRV mode, refer to the "FANUC AC

SERVO MOTOR αi series PARAMETER MANUAL (B-65270EN)."
- Sample program
O12345678
:
G00 X...
G05.1 Q1 Turn fine HPCC mode on.
G01 X...Y...F...
G01 X...Y...
G00 X...Y...
G05.4 Q1 Turn HIGH SPEED HRV mode on.
G01 X...Y...
G02 I...J...R...
G00 X...Y...
G01 X...Y...
:
G05.4 Q0 Turn HIGH SPEED HRV mode off.
G01 X...Y...
:
G05.1 Q0 Turn fine HPCC mode off.
- 279 -
Restrictions
HIGH SPEED HRV mode is disabled under any of the following
conditions, even if an attempt is made to turn it on:
- Automatic operation is stopped
- PMC axis control axis
- Axis on which a chopping operation is in progress
- Axis for which the setup type of the simultaneous auto/manual
operation is selected
NOTE
1 While automatic operation is stopped, HIGH
SPEED HRV mode is disabled. When automatic
operation is resumed without a reset, the mode is
enabled again.
If a reset is performed, HIGH SPEED HRV mode
remains disabled until G5.4Q1 is issued.
2 If the servo is in the HIGH SPEED HRV disabled
state (as determined with the status of the servo
software, servo control card, servo amplifier, and
Separate Detector I/F Unit), issuing G05.4Q1
causes "PS0010 invalid G code" alarm to be issued.
To determine whether HIGH SPEED HRV is
enabled, check bit 1 (HIGH SPEED HRVOK) of the
following numbers displayed on the diagnosis
screen:
First axis: Number 3022
Second axis: Number 3042
Third axis: Number 3062
(n-th axis: 3022 + 20 x (n – 1)
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1707 HR3

#0 HR3 HIGH SPEED HRV mode is

0: Disabled.
1: Enabled.
Refer to the "FANUC AC SERVO MOTOR αi series PARAMETER MANUAL
(B-65270EN)" for details.
- 280 -
Diagnosis
- HIGH SPEED HRV status
The HIGH SPEED HRV status can be checked using diagnostic data.
#7 #6 #5 #4 #3 #2 #1 #0
3022 HRVOK HRVON
First axis: 3022

Second axis: 3042
Third axis: 3062
(n-th axis: 3022 + 20 x (n - 1)
Bit Name Internal status assumed when "1" is displayed
#0 HRVON The motor is controlled in HIGH SPEED HRV mode.
#1 HRVOK When the parameter HR3 (No.1707#0) is set to “1”,
HIGH SPEED HRV is enabled (as determined with
the status of the servo software, servo control card,
servo amplifier, and Separate Detector I/F Unit).
- 281 -
1.17 SETUP OF FSSBs IF USING HIGH SPEED HRV CONTROL
It is possible to use HIGH SPEED HRV control for up to eight axes (24
axes for systems having 11 or more controlled axes) by using the servo
control card supporting HIGH SPEED HRV control and the slave
(servo amplifier, Separate Detector I/F Units) supporting HIGH
SPEED HRV control.
If the servo control card supporting HIGH SPEED HRV control is to be
used, the following parameters must be specified in addition to
conventional FSSB setup parameters. (Specify other parameters as
usual.)
- Nos. 1120 to 1129. (For systems having 11 or more
controlled axes, parameters Nos. 1130 to 1139 and 1140 to
1149 are provided in addition to the above parameters.
In the remainder of this manual, "Nos. 1120 to 1129" are
interpreted to include Nos. 1130 to 1139 and 1140 to 1149
for systems having 11 or more controlled axes.)
Except for the following description, these parameters can be specified
in the same way as conventional FSSB setup parameters.
Axis configuration and parameter specification examples
- Example 1 (using a single FSSB: HIGH SPEED HRV control can be used if the
number of controlled axes is four or less.)
If an optical fiber cable is connected to only the first FSSB, the settings
are as shown in the figure below.
CNC
Parameter
Slave No. Nos. 1080 to
1084 Axis
Controlled Programmed Servo
axis No. axis name axis No.

1-1 0 X
2-axis amp.
1 X 1 1-2 1 Y
2 Y 2 1-3 2 Z
2-axis amp.
3 Z 3 1-4 3 C
M1
4 C 4 1-5 16 (M1)
Parameter Nos. 1120 to 1129 and

Nos. 1085 to 1089 are all 40.
Fig.1.17 (a) If using a single FSSB
NOTE
If the number of controlled axes is four or less, it is
available to use HIGH SPEED HRV control with one
Separate Detector I/F Unit. In this case, the
Requirements for performing HIGH SPEED HRV control
must be satisfied. For these requirements, refer to
“NOTES” of the end of chapter.
- 282 -
- Example 2 (using two FSSBs: HIGH SPEED HRV control can be used if the number
of controlled axes is eight or less.)
If two optical fiber cables are connected to the first and second FSSBs
separately, the settings are as shown in the figure below.
Slave No. Parameter Parameter

Nos. 1080 to Nos. 1085 Axis
1084 to 1089
CNC
Controlled Programmed Servo axis 1-1 0 40 X
axis No. axis name No. 1-2 1 40 Y
2-axis amp.
1-3 2 40 B
1 X 1 1-4 3 40 C
2 Y 2 1-5 16 40
2-axis amp. (M1)
3 Z 8
M1
4 U 5
Slave No. Parameter Parameter
1- axis amp. Nos. 1120 to Nos. 1125 to Axis
5 V 6 1124 1129
6 W 7 1- axis amp.
2-1 4 40 U
7 B 3 1- axis amp.
2-2 5 40 V
8 C 4
1-axis amp. 2-3 6 40 W
M2 2-4 7 40 Z
2-5 48 40 (M2)
Fig.1.17 (b) If using two FSSBs
NOTE
In example 2, HIGH SPEED HRV control can be used
for all eight axes.
- 283 -
Display of FSSB data

The slave numbers on the amplifier setup screen each consist of a
number that indicates an FSSB (either 1 or 2), a hyphen (-), and the
number of the slave unit connected to that FSSB. The slave numbers
are listed, starting with that of the slave unit closest to the CNC.
Fig.1.17 (c) If using a single FSSB
If slaves are connected to the second FSSB, the second slave numbers
are displayed after the first slave numbers.
Fig.1.17 (d) If using two FSSBs
- 284 -
Parameters
1120 Address translation table value (ATR) for slave 1 (second FSSB)
NOTE
After specifying these parameters, turn the power off and
then on again for the new settings to take effect.

[Data type] Integer
[Valid data range] 0 to 7, 16, 40, 48
If the servo control card supporting HIGH SPEED HRV control is to be used, these
parameters must be specified in addition to conventional FSSB setup parameters.
If the FSSB setup mode is automatic setting (bit 0 of parameter No. 1090 is 0),
these parameters are automatically specified. Be sure to specify the parameters if
the mode is manual setting (bit 0 of parameter no. 1090 is 1).
Set the address translation table values for slaves 1 to 10 of the second FSSB.
For details of the settings and restrictions, see the description of parameters Nos.
1080 to 1089.
- 285 -
NOTE
1 A total of up to ten slave units (eight amplifiers and two Separate Detector
I/F Units) can be connected to the first and second FSSBs. (For systems
having 11 or more controlled axes, a total of up to 30 slave units, 24
amplifiers and six Separate Detector I/F Units, can be connected,.)
2 For systems having 11 or more controlled axes, the parameters for the
address translation table values for the second FSSB, Nos. 1130 to 1139
and 1140 to 1149, are provided, in addition to parameters Nos. 1120 to
1129.
The usage of the parameters is summarized below:
Nos. 1120 to 1129: Slaves connected to the second FSSB of the first
servo control card (on the main board)
Nos. 1130 to 1139: Slaves connected to the second FSSB of the second
servo control card (first servo control card on the
additional axis board)
Nos.1140 to 1149: Slaves connected to the second FSSB of the third
servo control card (second servo control card on the
additional axis board)
Alarms and messages
Number Message Description

SV0456 ILLEGAL CURRENT LOOP The specified current loop is illegal. The system does not satisfy the
requirements for performing HIGH SPEED HRV control.
SV0457 ILLEGAL HI HRV (250US) An attempt was made to set up HIGH SPEED HRV control for use
when the current loop was set to 250 us.
SV0458 CURRENT LOOP ERROR The specified current loop differs from the actual current loop.
SV0459 HI HRV SETTING ERROR For two axes whose servo axis numbers (parameter No. 1023) are
consecutively even and odd numbers, HIGH SPEED HRV control is
possible for one axis and impossible for the other.
SV0468 HI HRV SETTING ERROR(AMP) An attempt was made to set up HIGH SPEED HRV control for use
with the controlled axis of an amplifier for which HIGH SPEED HRV
control could not be used.
SV5311 FSSB : ILLEGAL CONNECTION 1. This alarm is issued if axes, whose servo axis numbers (parameter
No. 1023) are even and odd numbers, are allocated to the
amplifiers connected to the FSSBs of different paths.
2. This alarm is issued if an attempt is made to set up for use of the
Separate Detector I/F Units connected to the FSSBs of different
paths. And the system did not satisfy the requirements for
performing HIGH SPEED HRV control.
- 286 -
Notes
NOTE
Requirements for performing HIGH SPEED HRV control
If HIGH SPEED HRV control is to be used, the system must satisfy the following
requirements, such as the required number of slaves, type, and connection
method:
1 If five slaves (amplifiers for four axes, and one Separate Detector I/F Unit) are
connected to a single FSSB and used with HIGH SPEED HRV control, all five
of these slaves must support HIGH SPEED HRV control. In addition, the
Separate Detector I/F Unit must be the fifth slave. If these requirements are
not satisfied, and an attempt is made to set up HIGH SPEED HRV control for
use, alarm SV0456, "ILLEGAL CURRENT LOOP," is issued.
2 The connection of the slaves must satisfy the requirements shown in the
examples below. If these requirements are not satisfied, and an attempt is
made to set up HIGH SPEED HRV control for use, alarm SV0456, "ILLEGAL
CURRENT LOOP," is issued.
<Valid example 1 with FSSB and FSSB2>
SSB1 - AMP - AMP - AMP - PM - PM
SSB2 - AMP - AMP - AMP - AMP
SSB1 - PM - AMP - AMP
SSB2 - AMP - AMP - AMP - AMP - PM
<Invalid example 1 with FSSB and FSSB2>
SSB1 - AMP - AMP - AMP - PM - PM
SSB2 - AMP - AMP - AMP - AMP - AMP
<Invalid example 2 with FSSB and FSSB2>
SSB1 - PM - AMP - AMP - AMP - AMP
FSSB2 - PM - AMP - AMP - AMP – AMP
<Valid example with FSSB and Invalid example FSSB2>
FSSB2 - amp - amp
where
AMP : Servo amplifier adapted to high-speed HRV.
PM : Separate detector interface unit adapted to high-speed HRV.
AMP : Servo amplifier which is not adapted to high-speed HRV.
3 For details of HIGH SPEED HRV control, refer to the "FANUC AC SERVO
MOTOR αi series PARAMETER MANUAL (B-65270EN)."
- 287 -
1.18 LOADING OF MULTIPLE SERVO PROGRAMS
Overview
This function allows two or more servo programs of a standard and
application series to be stored in FROM at the same time and is used for
different servo DSPs.
Using this function, it is possible to load a standard series program for
one servo DSP and an application series program for another on a
single CNC.
Parameter
1043 Series name of the servo program used
NOTE
After specifying this parameter, turn the power off, and then on again, for the
new setting to take effect.

[Invalid data range] 0 to 8
If using two or more different servo programs, set the last digit of the series name of the
servo program to be used for each axis (n in 90Bn).
For a set of axes whose servo axis numbers (settings of parameter No. 1023) are
consecutive such as (1, 2) or (3, 4), set the same value for this parameter.
Example:
If using servo program 90B0 for controlled axes 1 and 3 (servo axes 1 and 2) and
servo program 90B3 for controlled axes 2 and 4 (servo axes 3 and 4)
Controlled axis Parameter 1023 Servo program Parameter 1043
number used
1 1 90B0 0
2 3 90B3 3
3 2 90B0 0
4 4 90B3 3
NOTE
This parameter is required if two or more servo programs 90B0 or later are
to be used. If using only one servo program, set 0 for this parameter for all
axes.
If the setting for an odd-numbered servo axis differs from that for the
succeeding axis, alarm SV0455 is issued.
If the servo program specified for this parameter does not exist in FROM,
alarm SV0455 is issued.
- 288 -
Alarm and message

SV0455 SERVO SOFTWARE NOT FOUND The specified servo program cannot be found.
The setting of parameter No. 1043 is not correct, or the
servo program does not exist.
Reference item
FANUC AC SERVO MOTOR αi series PARAMETER B-65270EN
MANUAL
- 289 -
1.19 GENERAL PURPOSE RETRACT
Overview
When the retract signal RTRCT is turned to ”1” (the rising edge is
detected) in auto mode or manual mode, the axis moves (retracts) by
the amount set in the parameter No.7796.
Upon the completion of retraction, the retract completion signal
RTRCTF is output.
- Feedrate in retract is set to the parameter No.7740. Then the
feedrate override is not effective.
- During the movement in retract, feed hold is not effective.
- In case that retract signal is turned to ”1” in auto mode, the
movement of the auto mode is feed hold state and the retract
movement is done.
- The retract completion signal is turned to ”0” when any retract
axis is moved.
Signals
Retract signal
RTRCT<G042#4>
[Function] Performs retraction for the axis specified with a parameter.
[Operation] When this signal turns to ”1”, the control unit performs the following:
An axis for which an amount of retraction is specified with parameter
No. 7796 can be retracted at the positive-going edge of the signal.
The retract speed and amount of retraction are specified with parameter
Nos.7796 and 7797. The retract signal is effective both in automatic
operation mode (MEM, MDI, and etc.) and manual operation mode (H,
JOG, etc.). When the retract signal turns to ”1” during automatic
operation, retraction is performed and the CNC enters feed hold state.
Retraction completion signal

RTRCTF<F041#4>
[Function] Posts notification of the completion of retraction.
[Operation] The signal becomes ”1” when :
- Upon the completion of retraction.
In case that there are two or more retract axes, upon the
completion of retraction of all retract axes.
The signal becomes ”0” when :
- Upon the completion of retraction, when one of the retract axis is
specified after that.
NOTE
If the retraction completion signal is "1", no retraction
signal is acceptable.
- 290 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G042 RTRCT
#7 #6 #5 #4 #3 #2 #1 #0
F041 BF RTRCTF
Timing chart
(1) ON/OFF timing of RTRCT and RTRCTF signals
RTRCT
RTRCTF
Moving Retract movement Moving

command
(2) The stopping of retract by the reset
RTRCT
RTRCTF
Moving Retract
movement stopping
RST
Turn off the RTRCT signal when the RST signal becomes on.
(3) The stopping of retract by the emergency stop
RTRCT
RTRCTF
Moving Retract
movement stopping
*ESP
Turn off the RTRCT signal when the *ESP signal becomes off.
- 291 -
Parameter
7796 Retract amount

[Data type] Real axis
[Valid data range] 9 digits of a least input increment (Refer to the standard parameter
setting table (C))
(When the increment system is IS-B, -999999.999 to 999999.999)
This parameter specifies a retract amount for each axis.
7797 Retract speed (General retract)

(When the increment system is IS-B, 0 to +2400000.0)
This parameter specifies a retract speed for each axis.
Caution
CAUTION
1 Feedrate override is not supported for retracting.
2 Feed hold is not supported for retracting.
3 Even if the retract signal RTRCT is turned to ”0”
after retract operation starting, retract operation
does not stop.
- 292 -
NOTE
1 Interlock is supported for retracting.
2 Machine lock is supported for retracting. Retract completion
signal is output when retract operation is completed in the
machine lock condition.
3 The mirror image (the signal or the setting) is invalid.
Therefore, the direction of retract is the direction of the
machine coordinate. (The mirror image is valid for update of
the absolute coordinate.)
4 When retract is executed during automatic operation, the
control unit enters the feed hold state at the same time as the
retract operation starts.
5 Automatic operation is impossible when the tool is retracted.
A cycle start results in the warning message "Impossible to
start (the tool is retracted)" being displayed.
6 Nonlinear interpolation type positioning is used in retracting
the tool.
7 The acc./dec. of retract is the condition of the acc./dec. at
retract execution.
8 Retract operation stops, when Reset or Emergency–stop is
executed during retract movement. At this time, the retract
completion signal is not turned to ”1”.
9 When the servo alarm or the OT alarm of the retract axis
occurs during retract movement, retract operation stops. At
this time, the retract completion signal is not turned to ”1”.
However, when an alarm except the OT alarm or the servo
alarm occurs, retract operation does not stop.
10 Even if the retract is executed to the axis controlled by PMC,
the movement command for the PMC axis is not canceled. In
this case, the PMC axis must be canceled by the PMC axis
reset signal RSTx at the same time as the retract signal
RTRCT is turned to ”1”.
11 The retract signal RTRCT is not accepted while the retract
completion signal RTRCTF is set to ”1”.
12 Even if thread cutting is executed, retract is effective. When
the retract signal is input, the thread cutting operation is
stopped at once and retract operation is executed.
13 Even if canned cycle cutting (tapping or rigid tapping) is
executed, retract is effective. When the retract signal is input,
the canned cycle cutting operation is stopped at once and
retract operation is executed.
- 293 -
2.PREAPARATIONS FOR OPERATION B-63783EN-1/01
2 PREAPARATIONS FOR OPERATION
- 294 -
B-63783EN-1/01 2.PREAPARATIONS FOR OPERATION
2.1 EMERGENCY STOP
If you press Emergency Stop button on the machine operator's panel,

the machine movement stops in a moment.
Red
EMERGENCY STOP
Figure 2.1 (a) Emergency stop
For how to use the emergency stop button, see the manual provided by
the machine tool builder.
Signal
Emergency stop
*ESP<G000#4>
[Function] Movement of machine is stopped in emergency status.
1) Movement on a controlled axis is stopped immediately only when
deceleration by dynamic braking is applied.
2) After a stop, a reset occurs, and the reset in-progress signal is set
to 1. See NOTE below.
3) While the *ESP signal is 0, servo control (position control) is not
applied. Therefore, servo ready signal SA is set to 0. The distance
moved by the machine during this time is reflected in the current
position of the CNC, so that the position data is not lost (follow-
up). After emergency stop clearance, operation can be restarted
without having to perform reference position return again.
4) While the *ESP signal is 0, automatic operation and manual
operation cannot be performed.
NOTE
By setting bit 0 (ENR) of parameter No. 2001, an
alarm can be issued instead of performing reset
based on the emergency stop signal. In this case,
operation 2 (reset) is not performed. An emergency
stop is cleared when the reset key on the MDI panel
is pressed or another reset signal (ERS, RRW) is set
to 1 after the emergency stop signal is reset to 1.
Even if the emergency stop signal is reset to 1, the
emergency stop signal is assumed to be 0 until a
reset is applied by some other means.
- 295 -
Reset caused by an emergency stop
*ESP
Emergency stop
Reset
SA
Alarm issued upon an emergency
*ESP
*ESP, RRW, reset key
Emergency stop
Reset
SA
Fig. 2.1(b) Differences between the Causing of a Reset by an Emergency

Stop and the Issue of an Alarm upon an Emergency Stop
NOTE
For this signal, the CNC monitors not only input from
the PMC to the NC but also the interface between the
machine and the PMC. This means that the interface
(connector pins) between the machine and PMC
cannot be changed.
An overtravel is detected with the stored stroke check function. To

prevent the machine from moving beyond a software limit if a servo
feedback system error occurs, set the stroke end limit switches as
shown in Fig. 2.1(c).
- 296 -
Emergency stop limit switch
+X -X +Y -Y +Z -Z +4 -4
Relay power Emergency stop

l t l
EMG
SK
Spark killer
Fig. 2.1 (c) Connection of emergency stop limit switch
The distance from the position where the dynamic brake is applied to
that where the tool stops moving is given in the "AC Servo Motor
Descriptions."
WARNING
Software limit setting point and operating point of limit
switch for emergency stop
The stop point by the software limit goes beyond the
setting point by as much as the following distance.
R
(mm) R : Rapid traverse rate (mm/min)
7,500
The actual stopping point may exceed the position
set by a parameter (Nos.5220 and 5221) by as much
as R/7500 (mm). Set the limit switch for emergency
stop including the allowance for the above value.
Software limit setting point
Stroke end direction
R
7,500
The machine stops in this Set the limit switch for emergency stop in
this range.
- 297 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 *ESP
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2001 ENR

[Data type] Bit
#0 ENR At emergency stop:

0: The system is reset.
1: The system is not reset, but an alarm is raised. When the system is
reset, the emergency stop state is released.
Alarm and message

SV0030 EMERGENCY STOP Emergency stop occurred.
Whether or not this alarm is generated is determined by
ENR parameter No. 2001#0).
1: The control is reset by an emergency stop.
0: This alarm is generated without reset by an emergency
stop.
An emergency stop is canceled by resetting the control.
Reference item
DESCRIPTIONS
- 298 -
2.2 READY SIGNALS
Overview
The ready signals are set to 1 when the power to the CNC is turned on
and operation is ready.
Signal
CNC Ready Signal

MA<F000#7>
[Function] The CNC ready signal reports that the CNC is ready.
[Output condition] When the CNC is turned on and becomes ready for operation, the signal
is set to 1. Normally, it takes several seconds to establish this state after
the power is turned on. If a system alarm is issued, the signal is set to 0.
The signal remains set to 1, however, when an emergency stop or a
similar operation is performed.
Servo Ready Signal

SA<F000#6>
[Function] Indicates that the servo system is ready to start normal operation. If this
signal is not sent, servo control (position control) is not applied.
[Output condition] This signal is set to 1 in any of the following cases:
- When servo system diagnosis has been completed after the power
to the control unit is turned on
- When a servo alarm is cleared by a reset
- When an emergency stop is cleared
This signal is set to 0 in any of the following cases:
- When the power to the control unit is turned off
- When a servo alarm is detected
- When an emergency stop is caused
- When an error in the control unit such as a CPU or memory error
is detected
For those machine axes that are subject to braking, disable the brake
while this signal is set to 1, and enable the brake while this signal is set
to 0. Fig. 2.2(a) shows the timing chart of this signal.
- 299 -
Power on Power off
Ready signal (MA)

60 to 100 msec
Servo ready
signal (SA)
Brake on
Servo alarm Servo alarm
(Overload)
Reset
Reset Emergency stop
1 to 2 seconds About 1 second
Fig. 2.2 (a) Time chart for servo ready signal
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F000 MA SA
NOTE
In the servo off state, the servo system is not
operating, that is, position control is not applied. In
the servo off state, SA remains set to 1 until another
condition that sets SA to 0 occurs.
- 300 -
2.3 OVERTRAVEL CHECK
2.3.1 Overtravel Signal
Overview
When the tool tries to move beyond the stroke end set by the machine
tool limit switch, the tool decelerates and stops because of working the
limit switch and an OVER TRAVEL is displayed.
Signal
Overtravel signal
*+L1<G64#0>, *+L2<G68#0>, ...
*-L1<G64#1>, *-L2<G68#1>, ...
[Function] Indicates that the control axis has reached its stroke limit. There are
signals for every direction in every control axis. The +/- in the signal
name indicates the direction and the number corresponds to the control
axis.
+Lx
x : 1 ....Movement in the + direction on the first axis has reached the
stroke limit.
2 ....Movement in the + direction on the second axis has reached the
stroke limit.
3 ....Movement in the + direction on the third axis has reached the
stroke limit.
: :
-Lx
x : 1 ....Movement in the - direction on the first axis has reached the
stroke limit.
2 ....Movement in the - direction on the second axis has reached the
stroke limit.
3 ....Movement in the - direction on the third axis has reached the
stroke limit.
: :
[Operation] When it is "0" , the control unit operates as given below.

- In automatic operation, if even one axis overtravel signal turns to
"0", all axes are decelerated to stop, an alarm is given and
operation is halted.
- In manual operation, only the axis whose movement signal has
turned to "0" is decelerated to a stop, and the axis can be moved in
the opposite direction.
- Once the axis overtravel signal has turned to "0", the axis
direction is registered. Even if the signal returns to "1", it is not
possible to move that axis in that direction until the alarm is
cleared.
- 301 -
The following shows the deceleration distance at overtravel.

(i) Rapid traverse
V Command pulse
deceleration Servo system
delay
VR
t
*+Lα limit
switch t1 t2 TR
L1=VR(t1+t2+TR/2+TS)-1/6000 [mm, inch]................... (1)
L1 : Deceleration distance
VR : Rapid traverse speed (mm/min or inch/min)
t1 : Limit switch signal delay time (from limit switch operation to
*+La signal turn off (ms))
t2 : Receiver delay time 30ms
TR : Rapid traverse acceleration/deceleration time constant (ms)
TS : Servo system time constant (ms)
NOTE
Servo system time constant TS is 33 msec when the
servo unit is adjusted to the standard setting.
(ii) Cutting feed
V Command pulse
deceleration Servo system
delay
Vc
t
*+Lα limit
switch t1 t2 TR
VC : Maximum feedrate (mm/min or inch/min)

L2 : Deceleration distance
L2, t2, Same as (i).
L2=VC(t1+t2+TR/2+TS)-1/6000 [mm, inch]...................(2)
- Releasing overtravel
Press the reset button to reset the alarm after moving the tool to the
safety direction by manual operation.
- 302 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 *-L1 *+L1
The above address is the signal address for the first axis.
the address table in Appendix A.1.
Alarm and message

OT0007 + OVERTRAVEL ( HARD ) The stroke limit switch in the positive direction was triggered.
This alarm is generated when the machine reaches the stroke end.
When this alarm is not generated, feed of all axes is stopped during
automatic operation.
During manual operation, only the feed of the axis on which the alarm
occurred is stopped.
Clearing the alarm
1. When an invalid origin is set for the coordinate system
=> Correct the program.
2. When the program contains an error
Manually move the movable parts of the machine in the opposite
direction (toward the safe side), such that they are well away from the
limit switch. Then, press the RESET button on the MDI panel.
OT0008 - OVERTRAVEL ( HARD ) The stroke limit switch in the negative direction was triggered.
This alarm is generated when the machine reaches the stroke end.
When this alarm is not generated, feed of all axes is stopped during
During manual operation, only the feed of the axis on which the alarm
occurred is stopped.
Clearing the alarm
1. When an invalid origin is set for the coordinate system
2. When the program contains an error
Manually move the movable parts of the machine in the opposite
direction (toward the safe side), such that they are well away from the
limit switch. Then, press the RESET button on the MDI panel.
Reference item
Series15i/150i-MB Operator’s Manual II-6.2 Over travel
(Operation)
(B-63784EN-1)
- 303 -
2.3.2 Stored Stroke Check 1
General
When the tool tries to exceed a stored stroke check, an alarm is
displayed and the tool is decelerated and stopped.
When the tool enters a forbidden area and an alarm is generated, the
tool can be moved in the reverse direction from which the tool came.
Parameters (Nos. 5220, 5221 or Nos. 5260, 5261) set boundary.
Outside the area of the set checks is a forbidden area. The machine tool
builder usually sets this area as the maximum stroke.
Signal
Stored stroke check select signal EXLM<G172#0>

[Function] Selects stroke check 1-I (parameter Nos. 5220 and 5221) or stroke
check 1-II (parameter Nos. 5260 and 5261).
[Operation] When this signal is set to 1, stroke limit 1 is checked using parameter
No. 5260 and No. 5261 instead of No. 5220 and No. 5221. Stored
stroke limit switching is performed for all axes at the same time. This
signal is valid only when bit 3 (LMS) of parameter No. 5201 is set to 1.
Axis direction dependent stored stroke limit switch signal

+EXL1<G384#0>, +EXL2<G392#0>, ...
-EXL1<G384#1>, -EXL2<G392#1>, ...
[Function] Switches between stroke limit 1-I (parameter No. 5220 and No. 5221)
and stroke limit 1-II (parameter No. 5260 and No. 5261) for each axis
direction.
(1) +EXL1, +EXL2, ...
Stroke limit 1 (+ side) is checked using parameter No. 5260
instead of No. 5220.
(2) -EXL1, -EXL2, ...
Stroke limit 1 (- side) is checked using parameter No. 5261 instead
of No. 5221.
Stroke check external setting signals

+LM1<G384#2>, +LM2<G392#2>, ...
-LM1<G384#3>, -LM2<G392#3>, ...
[Function] Change the values of the parameters governing the stroke check (5220
and 5221).
(1) +LM1, +LM2, ...
Parameter No. 5220 is rewritten to set the machine coordinates
existing at signal input time as stroke limit values.
(2) -LM1, -LM2, ...
Parameter No. 5221 is rewritten to set the machine coordinates
existing at signal input time as stroke limit values.
- 304 -
Stroke check release signal RLSOT<G172#1>

[Function] Selects whether the stored stroke check 1 are checked.
[Operation] When this signal is set to 1, stroke limit 1 is not checked.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G384 -LM1 +LM1 -EXL1 +EXL1
The above address is the signal address for the first axis.
#7 #6 #5 #4 #3 #2 #1 #0
G172 RLSOT EXLM
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5201 DLM LMS

[Data type] Bit
#3 LMS Specifies whether to enable the stored stroke limit switching signal
EXLM.
0: Disabled.
1: Enabled.
#4 DLM Specifies whether to enable the axis-direction-specific stored stroke limit

switching signals +EXLx and -EXLx.
0: Disabled.
1: Enabled.
When this parameter is set to "1," the stored stroke limit switching signal
EXLM, common to all axes, is disabled.
- 305 -
5220 Positive (+) direction coordinate of stored stroke limit 1 of each axis I

table(A))
Set the coordinate in the positive-direction machine coordinate system of
stored stroke limit 1 for each axis.
5221 Negative (-) direction coordinate of stored stroke limit 1 of each axis I

table(A))
Set the coordinate in the negative-direction machine coordinate system
of stored stroke limit 1 for each axis.
5260 Coordinate II along each axis in the plus direction of stored stroke limit 1.

table(A))
Set a coordinate along each axis of the machine coordinate system in the
plus direction of stored stroke limit 1.
When the stored stroke limit switch signal EXLM is set to 1, or the
stored stroke limit switch signal based on the axis direction signal
+EXLx is set to 1, a stroke limit check is made using this parameter
instead of parameter No. 5220.
- 306 -
5261 Coordinate II along each axis in the minus direction of stored stroke limit 1

table(A))
Set a coordinate along each axis of the machine coordinate system in the
minus direction of stored stroke limit 1.
When the stored stroke limit switch signal EXLM is set to 1, or the
stored stroke limit switch signal based on the axis direction signal -EXLx
is set to 1, a stroke limit check is made using this parameter instead of
parameter No. 5221.
Alarm and message

OT0001 + OVERTRAVEL ( SOFT 1 ) The tool entered the prohibited area of stored stroke check
1 during movement in the positive direction.
OT0002 - OVERTRAVEL ( SOFT 1 ) The tool entered the prohibited area of stored stroke check
1 during movement in the negative direction.
Caution
CAUTION
In setting a forbidden area, if two points to be set are
the same, all area is forbidden in check 1.
Note
NOTE
1 Each check is enabled after the power is turned on
and a reference position return is performed either
manually or by using G28. If an absolute-position
detector is used, and a reference position is already
established when the power is turned on, however, a
stored stroke check is made immediately after the
power is turned on.
2 The +LMx, -LMx, and RLSOT signals are valid only
when the optional stroke limit external set function is
selected.
3 Stored stroke check 1 causes a stop immediately
before the tool enters the forbidden area.
Reference item
Series15i/150i-MB Operator’s Manual II-6.3 Stroke check
(Operation)
(B-63784EN-1)
- 307 -
2.3.3 Stroke Check 2
General
Three areas which the tool cannot enter can be specified with stored
stroke check 1, stored stroke check 2, and stored stroke check 3.
(X,Y,Z)
(I,J,K) (1) Forbidden area is inside.
(X,Y,Z)
(I,J,K)
(2) Forbidden area is outside

: Forbidden area for the tool
Figure 2.3.3 (a) Stroke check
When the tool exceeds a stored stroke limit, an alarm is displayed and
the tool is decelerated and stopped.
When the tool enters a forbidden area and an alarm is generated, the
tool can be moved in the reverse direction from which the tool came.
Stored stroke check 2 (G22, G23)

Parameters (Nos. 5222, 5223) or commands set these boundaries.
Inside or outside the area of the limit can be set as the forbidden area.
Parameter OUT (No. 5200#0) selects either inside or outside as the
forbidden area.
In case of program command a G22 command forbids the tool to enter
the forbidden area, and a G23 command permits the tool to enter the
forbidden area. Each of G22; and G23; should be commanded
independently of another commands in a block.
The command below creates or changes the forbidden area:
G 22X_ Y_ Z_ I_ J_ K_ ; (X,Y,Z)
(I,J,K)
X>I, Y>J, Z>K
X-I>ζ
ζ : Movement value / 8 msec
Y-J>ζ
2.0mm when speed is 15m/min.
Z-K>ζ
Fig. 2.3.3 (b) Creating or changing the forbidden area using a program
- 308 -
When setting the area by parameters, points A and B in the figure

below must be set.
A (X1,Y1,Z1)
B
(X2,Y2,Z2)
X1>X2, Y1>Y2, Z1>Z2

X1-X2>ζ ζ : Movement value / 8 msec
Y1-Y2>ζ 2.0mm when speed is 15m/min.
Z1-Z2>ζ
Fig.2.3.3(c) Creating or changing the forbidden area using a parameters
In stored stroke check 2, even if you mistake the order of the coordinate
value of the two points, a rectangular, with the two points being the
apexes, will be set as the area.
When you set the forbidden area through parameters (Nos. 5222, 5223),
the data should be specified by the distance from the machine
coordinate system in the least command increment. (Output increment)
If it is set by a G22 command, specify the data by the distance from the
machine coordinate system in the least input increment (Input
increment.)
The programmed data are then converted into the numerical values in
the least command increment, and the values are set as the parameters.
- Checkpoint for the forbidden area

Confirm the checking position (the top of the tool or the tool chuck)
before programming the forbidden area.
If point A (The top of the tool) is checked in Fig. 2.3.3 (d) , the distance
"a" should be set as the data for the stored stroke limit function. If point
B (The tool chuck) is checked, the distance "b" must be set. When
checking the tool tip (like point A), and if the tool length varies for each
tool, setting the forbidden area for the longest tool requires no re-
setting and results in safe operation.
The position of the B

tool after reference
position return
A a
Area boundary
Fig. 2.3.3 (d) Setting the forbidden area
- 309 -
- Forbidden area over lapping

Area can be set in piles.
Forbidden area of
stroke limit check 1
Forbidden area of
stroke limit check 2
Fig. 2.3.3 (e) Setting the forbidden area over lapping
Unnecessary limits should be set beyond the machine stroke.
- Stop position with stored stroke limit

With stored stroke check 1, the tool stops a maximum of L mm before a
set forbidden area. (Lmm = F/7500, where F denotes the rapid traverse
rate (mm/min).) Therefore, the tool does not enter the forbidden area.
With stored stroke check 2, the tool overruns a maximum of L mm.
The tool enters a set forbidden area by a maximum of L mm.
- Effective time for a forbidden area

Each limit becomes valid when reference position return has been
performed manually or by G28 after power-up. If an absolute-position
detector is used, and a reference position has already been established
when the power is turned on, however, a stored stroke check is
performed immediately after the power is turned on.
After the power is turned on, if the reference position is in the
forbidden
area of each limit, an alarm is generated immediately. (Only in G22
mode for stored stroke limit 2).
- Releasing the alarms

If the enters a forbidden area and an alarm is generated, the tool can be
moved only in the backward direction. To cancel the alarm, move the
tool backward until it is outside the forbidden area and reset the system.
When the alarm is canceled, the tool can be moved both backward and
forward.
- Change from G23 to G22 in a forbidden area

When G23 is switched to G22 in the forbidden area, the following
results.
(1) When the forbidden area is inside, an alarm is informed in the next
move.
(2) When the forbidden area is outside, an alarm is informed
immediately.
If the tool cannot be moved out of the forbidden area, press the
emergency stop button then release it, set G23 to retract the tool,
correct the setting error, if any, then perform reference position
return again.
- 310 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5200 OUT

[Data type] Bit
#0 OUT Specifies whether to use the interior or exterior of stored stroke limit 2.
0: The interior of stored stroke limit 2 is used as the inhibited area.
1: The exterior of stored stroke limit 2 is used as the inhibited area.
#7 #6 #5 #4 #3 #2 #1 #0
5210 OT2

[Data type] Bitaxis
#0 OT2 Specifies whether to check stored stroke limit 2 for each axis (valid when
OUT is set to 0.).
0: Stored stroke limit 2 is not checked for each axis.
1: Stored stroke limit 2 is checked for each axis.
NOTE
If OUT (bit 0) of parameter No. 5200 is set to 1, stored stroke limit
2 is checked for all the controlled axes.
5222 Positive (+) direction coordinate of stored stroke limit 2 of each axis

table(A))
Set the coordinate in the positive-direction machine coordinate system of
stored stroke limit 2 for each axis.
- 311 -
5223 Negative (-) direction coordinate of stored stroke limit 2 of each axis

table(A))
Set the coordinate in the negative-direction machine coordinate system
of stored stroke limit 2 for each axis.
Alarm and message

OT0003 + OVERTRAVEL ( SOFT 2 ) The tool entered the prohibited area of stored stroke check
2 during movement in the positive direction.
OT0004 - OVERTRAVEL ( SOFT 2 ) The tool entered the prohibited area of stored stroke check
1 during movement in the negative direction.
Caution
CAUTION
When the reference position return function is not
provided for an axis, no forbidden area is set for that
axis, so no forbidden-area alarm is generated for the
axis.
Note
NOTE
1 In setting a forbidden area, if the two points to be set
are the same, the area is as follows:
(1) When the forbidden area is stored stroke check
1, all areas are forbidden areas.
(2) When the forbidden area is stored stroke check
2 or stored stroke check 3, all areas are movable
areas.
2 Only the three basic axes can be specified in G22.
Reference item
Series15i/150i-MB Operator’s Manual II-6.3 Stroke check
(Operation)
(B-63784EN-1)
- 312 -
2.3.4 Stroke Limit Check Prior to Performing Movement
General
During automatic operation, before the movement specified by a given
block is started, whether the tool enters the inhibited area defined by
stored stroke limit 1 or 2 is checked by determining the position of the
end point from the current position of the machine and a specified
amount of travel. If the tool is found to enter the inhibited area defined
by a stored stroke limit, the tool is stopped immediately upon the start
of movement for that block, and an alarm is displayed.
WARNING
Whether the coordinates of the end point, reached as
a result of traversing the distance specified in each
block, are in a inhibited area is checked. In this case,
the path followed by a move command is not
checked. However, if the tool enters the inhibited
area defined by stored stroke limit 1 or 2, an alarm is
issued. (See the examples below.)
Example 1)
Inhibited area defined by
stored stroke limit 1 or 2
End point
The tool stops at point a according to stored

stroke limit 1 or 2.

stored stroke limit 1 or 2
End point
before movement.
Immediately upon movement commencing
from the start point, the tool is stopped to
enable a stroke limit check to be performed
- 313 -
Example 2)
Inhibited area defined by End point

stored stroke limit 2
The tool is stopped at point a according

Start point to stored stroke limit 2.

stored stroke limit 2
End point
Immediately upon movement commencing

from the start point, the tool is stopped to
enable a stroke limit check to be performed
before movement.
Limitations
- Manual numeric command

For manual numeric commands, no stroke limit check is made before
movement.
- Machine lock
If machine lock is applied at the start of movement, no stroke limit
check made before movement is performed.
- G23
When stored stroke limit 2 is disabled (G23 mode), no check is made to
determine whether the tool enters the inhibited area defined by stored
stroke limit 2.
- A block consisting of multiple operations

If a block consisting of multiple operations (such as a canned cycle and
Cutter Compensation) is executed, an alarm is issued at the start point
of any operation whose end point falls within a inhibited area.
- 314 -
- Polar coordinate interpolation mode

In polar coordinate interpolation mode, no check is made.

In three-dimensional coordinate conversion mode, no check is made.
- PMC axis control

No check is made for a movement based on PMC axis control.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5200 PLC

[Data type] Bit
#7 PLC Specifies whether to perform pre-move stroke check.

0: Pre-move stroke check is not performed.
1: Pre-move stroke check is performed.
NOTE
This parameter is valid only when the pre-move stroke option is
provided.
Alarm and message

OT0021 + OVERTRAVEL ( PRE-CHECK ) The tool exceeded the limit in the negative direction during
the stroke check before movement.
OT0022 - OVERTRAVEL ( PRE-CHECK ) The tool exceeded the limit in the positive direction during
the stroke check before movement.
- 315 -
2.4 ALARM SIGNALS
Overview
When the CNC placed in the alarm state, an alarm is displayed on the
screen, and the alarm-on signal is set to 1. The alarm type signal
corresponding to the type of an issued alarm is set to 1.
The speed control servo alarm ignore signal causes the CNC to ignore a
speed control servo alarm if issued.
If the voltage of the battery used to maintain the contents of memory
falls below a specified value while the power to the CNC is off, the
battery alarm signal is set to 1. When the battery used for the
absolute-position detector is approaching the end of its service life, the
absolute-position detector battery voltage decrease alarm signal is set
to 1. Once the battery reaches the end of its service life, the absolute-
position detector battery voltage zero alarm signal is set to 1.
Signal
Alarm-on signal
AL<F000#1>
[Function] Reports that the CNC is in the alarm state.
[Output condition] This signal is set to 1 in the following case:
- When the CNC is placed in alarm state.
This signal is set to 0 in the following case:
- When the alarm is released by a CNC reset or alarm cancellation.
After some alarms are released by a CNC reset or alarm cancellation,
the alarm state may occur again, and AL is issued if the causes of the
alarms are not corrected. In such a case, AL may be set to 0
momentarily.
Alarm type signal

OTALM<F006#3>, OHALM<F006#2>, SVALM <F006#1>, PSALM <F006#0>, SYALM<F006#4>
[Function] Posts the type of an issued alarm. The following signals are assigned to
the alarm types.
Type of alarm Signal output
Overtravel alarm OTALM
Overheat alarm OHALM
Servo alarm SVALM
Program/mishandling alarm PSALM
Control unit alarm SYALM
[Output condition] A signal is set to 1 in the following case:

- When the CNC is placed in the corresponding alarm state.
A signal is set to 0 in the following case:
- When the corresponding alarm is released by a CNC reset or
alarm cancellation
- 316 -
All-axis VRDY OFF alarm ignore signal

DVAL<G026#1>
See the description of the VRDY OFF alarm ignore signal in Section
2.8.
Battery voltage drop alarm signal

BATL<F040#7>
Function] Reports that the voltage of the battery used to preserve the contents of
memory while the power to the CNC is off has fallen below a specified
value.
In general, this signal is used for turning on the lamp to issue a warning
to the operator.
- When the battery voltage has fallen below a specified value
The battery needs to be replaced soon.
- When the battery voltage is above a specified value
Absolute-position detector battery voltage decrease alarm signal

PBATL<F040#6>
See the description of the absolute-position detector in Section 1.5.2.
Absolute-position detector battery voltage zero alarm signal

PBATZ<F040#5>
See the description of the absolute-position detector in Section 1.5.2.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F000 AL
F006 SYALM OTALM OHALM SVALM PSALM
G026 DVAL
F040 BATL PBATL PBATZ
- 317 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8000 NAP

[Data type] Bit
#1 NAP Specifies whether to switch the screen display to the alarm message
screen automatically when an alarm is issued.
0: Switch.
1: Do not switch.
Reference item
Series15i/150i- Connection Manual 2.8 VRDY OFF alarm
MODEL B (This manual) ignored signal
1.5.2 Absolute position
detection
- 318 -
2.5 INTERLOCK
General
This signal disables machine movement along axes. When this signal is
input during movement along axes, the tool movement is decelerated,
then stopped.
Signal
All axes Interlock signal

*IT<G000#0>
[Function] This signal is used to inhibit the machine from moving, and is effective
regardless of the selected mode.
[Operation] When the *IT signal is set to 0, movement along the axes is decelerated
and stopped, regardless of the mode that is set. During automatic
operation, however, this stop state occurs without changing the
automatic operation mode (with the STL signal set to 1, and the SPL
signal set to 0).
If there are no axis move commands during automatic operation and
blocks containing only an M, S, T, or B command (second auxiliary
function) continue, M, S, T, or B is executed until a block containing an
axis move command appears. When there are both an axis move
command and a block containing M, S, T, or B, only the M, S, T, or B
command is sent. Then the machine stops without automatic operation
being disabled. When the *IT signal is set to 1, operation resumes.
(Fig.2.5 (a), (b))
Command read
Axis move
*IT
Fig. 2.5 (a) Block containing only axis move command

(manual and automatic operation)
Command read
MF/SF/TF/BF
FIN
*IT
Fig. 2.5 (b) Block containing auxiliary functions only

(automatic operation)
- 319 -
NOTE
The overtravel amount of the motor after turning *IT
to "0" is represented by the following formula.
Qmax = Fm×1/60× (A/1000+Tc/1000+Ts/1000)
Qmax : Overtravel quantity (mm or inch)
Fm : Feedrate (mm/min or inch/min)
Tc : Cutting time constant (ms)
Ts : Servo time constant (Ts = 33ms normally)
A : Processing time of CNC
A = 50ms
When acceleration/deceleration before look-ahead

interpolation is used, the distance required for
deceleration based on acceleration/deceleration
before interpolation is added to the above formula.
Automatic operation all-axis interlock signal

*AIT<G001#0>
[Function] Disables feed for all controlled axes in automatic operation mode.
[Operation] While this signal is set to 0, feed for all controlled axes is disabled by
reducing the speeds specified for all axes involved in the automatic
operation to 0. Movement on an axis is decelerated and stopped. When
this signal is set to 1 again, the execution of all the move commands is
resumed. Manual operation is not affected by this signal. The M, S, T,
and B commands are handled in the same way as the all-axis interlock
signal. Commands other than move commands are not affected by this
signal.
Interlock signal for each axis

*IT1<G64#4>, *IT2< G68#4>, ...
[Function] Stops feed on each axis used for automatic or manual operation.
A separate interlock signal is provided for each controlled axis. The
number at the end of each signal name denotes the number of the
corresponding controlled axis.
*ITx
x: 1 ..... Interlock for the first axis
2 ..... Interlock for the second axis
3 ..... Interlock for the third axis
: :
: :
[Operation] (a) In manual operation (other than manual arbitrary direction feed)
The movement of an interlocked axis is inhibited, but the other
axes are movable. If an axis is interlocked during movement, it
stops after being decelerated, and it starts moving again when it is
released from interlock.
- 320 -
(b) In automatic operation (MEM DNC or MDI mode)(Manual

arbitrary direction feed)
If an axis is interlocked while its movement is being commanded
(the move amount is not 0, inclusive of the tool offset), all axes
movements are prevented.
If a moving axis is interlocked, all axes stop moving after being
decelerated, and they start moving again when it is released from
being interlocked.
The M, S, T, and B commands are handled in the same way as the
all-axis interlock signal.
This function is effective during dry run.
(c) When an axis is controlled with the PMC
This signal can be enabled with bit 1 (DIT) of parameter No.
2005.
The movement of an interlocked axis is inhibited, but the other
axes are movable. If an axis is interlocked during movement, it
stops after being decelerated, and it starts moving again when it is
released from interlock.
Block start interlock signal

*BSL<G001#1>
[Function] Disables the start of the next block in automatic operation.
[Operation] While this signal is set to 0, the next block to be executed in automatic
operation mode is not executed. A block currently being executed is
executed up to its completion. Automatic operation is not stopped.
The command in the next block is placed as a valid command in the
wait state; the execution of the command is restarted immediately when
the signal is set to 1.
NOTE
When cyclic operation blocks are internally created in
a canned cycle, for example, usually only the first
block is interlocked by this signal. The other blocks
are executed even if this signal is set to 0. By setting
bit 6 (SBC) of parameter No. 0010, however, this
signal can be made effective for all blocks, including
a block in a cycle.
- 321 -
Cutting block start interlock signal

*CSL<G000#1>
[Function] Disables the start of the execution of move command blocks other than
positioning blocks in automatic operation.
[Operation] While this signal is set to 0, the execution of move command blocks
other than positioning blocks in automatic operation is not started. A
block currently being executed is executed up to its completion.
Automatic operation is not stopped. The command in the next block is
placed as a valid command in the wait state; the execution of the
command is restarted immediately when the signal is set to 1.
[Usage] When the spindle is started or the spindle speed is changed, the next
cutting block can be executed at a desired spindle speed by setting this
signal to 0 until the desired spindle speed is reached.
NOTE
This signal is valid for all blocks including internally
created cyclic operation blocks in, for example, a
canned cycle.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 *CSL *IT
G001 *BSL *AIT
G064 *IT1
the Appendix A.1.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 SBC

[Data type] Bit
#6 SBC Specifies whether to stop after each block in hole-machining canned

cycles.
0: Do not stop after each block.
1: Stop after each block.
This bit is used to check programs containing canned cycles.
- 322 -
#7 #6 #5 #4 #3 #2 #1 #0
1000 XIK

[Data type] Bit
#2 XIK When axis interlock is applied during non-linear interpolation

positioning (when LRP, a bit of parameter No. 1400 is set to 0), specifies
whether to stop only the axis to which interlock was applied or all axes.
0: Stop axis to which interlock was applied. Other axes continue
operation.
1: Stop all axes.
#7 #6 #5 #4 #3 #2 #1 #0
2005 DIT

[Data type] Bit
#1 DIT Specifies whether to enable the all-axis/axis-by-axis interlock function for

the axes controlled by PMC axis control.
0: Enable the all-axis/axis-by-axis interlock function along axes under
PMC control.
1: Disable the all-axis-axis-by-axis interlock function along axes under
PMC control. (Movements along the axes are not stopped.)
- 323 -
2.6 MODE SELECTION
Overview
The mode selection signals set the basic operation modes of the control
unit. The mode selection signals include input signals used by an
external device to notify the control unit of a desired operation mode,
and output signals used for the control unit to notify an external device
of the currently selected operation mode.
Output
Mode Input signal
signal
Manual data input D MD
Automatic DNC operation T MT
operation Memory operation MEM MMEM
Program editing EDT MEDT
Manual handle feed H MH
Manual Incremental feed S MS
operation Jog feed J MJ
Manual arbitrary-direction feed AGJ MAGJ
Simultaneous automatic and manual
MOVL MMOVL
operation
- 324 -
Explanations
- Operation mode selection

When an input signal is set to 1, the corresponding operation mode is
selected. While a mode is selected, the corresponding output signal is
set to 1. As indicated in the table below, two or more operation modes
can be selected at any one time.
Mode selection input signal

Mode
T D MEM EDT MOVL H S J AGJ
Automatic operation One of these signals is set to 1. 0 0 0 0 0
One of these signals is set to 1, J and
Manual operation 0 0 0 0 0
H are set to 1, or S and H are set to 1.
One of these signals is set
Simultaneous automatic
One of these signals is set to 1 1 to 1, J and H are set to 1, or 0
and manual operation
S and H are set to 1.
One of these signals is set to 1. 1 1 0 0 0
(0:Signal set to 0, 1:Signal set to 1)
This means that, by setting the MOVL signal to 1, manual operation is

enabled even during automatic operation. By setting the J or S signals,
and H to 1 at the same time, jog feed or incremental feed, and manual
handle feed can be used without mode switching.
Background editing is possible from the MDI panel, regardless of
whether any of the above modes is set.
If a combination of selection signals not listed in the table above is

entered, the previous operation mode remains set for a certain period
(T1) after input of the combination. After time T1, the state in which
neither automatic operation mode nor manual operation mode is
selected results. If another combination of selection signals is entered
within T1, the corresponding operation mode is selected.
When all the selection signals are set to 0, one of the following can be
selected by parameter setting:
a. The previously selected operation mode remains as is.
b. The previous mode remains set for a certain period (T0). After
time T0, the state in which neither automatic operation mode nor
manual operation mode is selected results. If another
combination of selection signals is entered within T0, the
corresponding operation mode is selected.
Times T0 and T1 are set in parameter No. 2014 and No. 2015,
respectively. A value from 0 to 2 seconds can be specified as T0 and
T1.
- 325 -
- Operation upon operation mode switching

Upon a transition from one operation mode to another, the control unit
usually performs one of the operations below.
a. Immediate switching:
Operation is stopped immediately to switch to a new mode.
b. Switching upon the completion of block execution:
Operation is continued until execution of the block being
executed is completed. Next, operation is stopped, then is
resumed in a new mode.
c. Operation continuation:
The operation being executed is continued. At the same time,
operation in a new mode is performed.
When operation is stopped for operation mode switching, all
movements on axes are decelerated and stopped. The type of operation
that is performed depends on the newly selected mode and the previous
mode, as indicated in the table below.
Newly selected operation mode

Simultaneous automatic and
Automatic operation Manual operation manual operation (including
the manual handle interrupt)
Switching upon
Previous operation
Automatic operation completion of block Immediate switching Operation continuation

execution
mode
Manual operation Immediate switching Immediate switching Immediate switching

Simultaneous automatic
and manual operation Simultaneous automatic
Immediate switching
(including the manual and manual operation
handle interrupt)
The selection of a new mode is not assumed while movement based on

a move command is being decelerated according to immediate
switching, or while the previous operation is being continued after
switching upon the completion of block execution. So, during that
period, the signal output to confirm the selection mode continues to
post in the previous operation mode.
Signals
Manual data input selection signal

D <G003#3>
[Function] Selects manual data input mode.
Automatic operation is performed according to data input from the
MDI panel or an external device or according to programmed
commands entered from the MDI panel.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.
- 326 -
DNC operation selection signal

T <G003#4>
[Function] Selects DNC operation mode. Automatic operation is performed
according to programmed commands entered from an external device.
Memory operation selection signal

MEM <G003#5>
[Function] Selects memory operation mode.
Automatic operation is performed according to programmed
commands stored in memory.
Program edit selection signal

EDT <G003#6>
[Function] Selects program editing mode.
Programmed commands are stored in memory from an external device,
programmed commands stored in memory are edited, programmed
commands are output from memory to an external device, and so forth.
Jog feed selection signal

J <G003#2>
[Function] Selects jog feed mode.
Manual operation such as jog feed, manual reference position return,
and manual numeric value specification is performed.
Increment feed selection signal
S <G003#0>
[Function] Selects incremental feed mode. Incremental feed is performed.
Manual handle feed selection signal

H <G003#1>
[Function] Selects manual handle feed mode. Manual handle feed is performed.
- 327 -
Manual arbitrary-direction feed selection signal

AGJ <G003#7>
[Function] Selects manual arbitrary-direction feed mode. Manual arbitrary-
direction feed is performed.
Simultaneous automatic and manual operation selection signal

MOVL <G002#4>
[Function] Selects simultaneous automatic and manual mode. The operation mode
being applied in each of automatic operation mode and manual
operation mode depends on the mode selection signal settings.
Manual data input selection confirmation signal

MD <F003#3>
[Function] Indicates that manual data input mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
DNC operation selection confirmation signal

MT <F003#4>
[Function] Indicates that DNC operation mode is selected.
Memory operation selection confirmation signal

MMEM <F003#5>
[Function] Indicates that memory operation mode is selected.
Program edit selection confirmation signal

MEDT <F003#6>
[Function] Indicates that program editing mode is selected.
- 328 -
Jog feed selection confirmation signal

MJ <F003#2>
[Function] Indicates that jog feed mode is selected.
Increment feed selection confirmation signal

MS <F003#0>
[Function] Indicates that incremental feed mode is selected.
Manual handle feed selection confirmation signal

MH <F003#1>
[Function] Indicates that manual handle feed mode is selected.
Manual arbitrary-direction feed selection confirmation signal

MAGJ <F003#7>
[Function] Indicates that manual arbitrary-direction feed mode is selected.
Simultaneous automatic and manual operation selection confirmation signal

MMOVL<F002#4>
[Function] Indicates that simultaneous automatic and manual operation mode is
selected.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G002 MOVL
G003 AGJ EDT MEM T D J H S
F002 MMOVL
F003 MAGJ MEDT MMEM MT MD MJ MH MS
- 329 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2001 MOC

[Data type] Bit
#1 MOC If all the mode selection signals are turned off:

0: No mode is assumed.
1: The previously selected mode is assumed.
2014 Time that mode unselected status is ignored

[Data type] Integer
[Unit of data] msec
[Valid data range] From 0 through 2000
If parameter 2001 is specified to ignore the mode selection, when all the
mode selection signals are off (MOC in parameter 2001 = 0), this
parameter enables the previously selected mode to be maintained for the
specified time that mode unselected status is ignored.
Normally, specify the time needed to ignore mode signal chatter.
2015 Time that invalid mode selected status is ignored

[Data type] Integer
[Unit of data] msec
If an invalid combination of mode signals is input, the previously
selected mode is maintained for the specified time that the invalid mode
selected status is ignored. After that, the mode unselected status is
specified.
Normally, specify the time needed to ignore mode signal chatter.
- 330 -
2.7 STATUS OUTPUT SIGNAL
General
The table below lists the status output signals for notifying the state of
the CNC. See the sections listed in the table for details of each signal.
Signal name Symbol Reference item

Alarm signal AL 2.4
Battery alarm signal BATL 2.4
Reset signal RST 5.2
Rewinding signal RWD 5.2
Tapping signal TAP 11.7
Moving signal MV1, MV2, ... 1.2.5
Moving direction signals MD1, MD2, ... 1.2.5
In-position signals INP1, INP2, ... 7.2.6.1
Rapid traverse in-progress signal RPD 2.7(This section)
Threading in-progress signal THRD 6.4.1
Constant surface speed in-progress signal CSS 9.5
Inch input signal INCH 11.4
Signal
Rapid traversing signal

RPD<F001#5>
[Function] This signal indicates that a move command is executed at rapid traverse
[Output condition] "1" indicates an axis starts moving after rapid traverse has been
selected; "0" indicates that an axis starts moving after a feedrate other
than rapid traverse has been selected. This holds true for both
automatic and manual operation modes.
NOTE
1 The rapid traverse in automatic operation includes all
rapid traverses in canned cycle positioning,
automatic reference point return, etc., as well as the
move command G00. The rapid traverse in manual
operation also includes the rapid traverse in
2 Once rapid traverse has been selected, this signal
remains "1", including during a stop, until another
feedrate has been selected and movement is started.
3 In simultaneous automatic and manual operation, the
setting of this signal depends on whether rapid
traverse is used in automatic operation. This signal is
not affected by manual feed.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 RPD
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2.8 VRDY OFF ALARM IGNORE SIGNAL
General
The German VDE safety standard requires that the motor be
deactivated when the safety guard is opened. By using the VRDY OFF
alarm ignore signal, however, the CNC can be restarted without
resetting, even if the safety guard has been opened.
Signal
All-Axis VRDY OFF Alarm Ignore Signal

DVAL <G026#1>
[Function] Disables the detection of servo alarm SV0013, VRDY OFF, for all
axes.
[Operation] When this signal is set to logical 1, the control unit operates as follows:
- The control unit does not issue servo alarm SV0013, VRDY OFF,
even when the servo amplifier ready signal goes off. The control
unit, however, sets servo ready signal SA to 0. The SA signal can
remain set to 1, depending on the setting of SAK, bit 6 of
parameter No. 1800.
Each-Axis VRDY OFF Alarm Ignore Signal

DVAL1 <G67#3>, DVAL2<G71#3>, ...
[Function] Disables the detection of servo alarm SV0013, VRDY OFF, for the
corresponding axis. These signals correspond to the controlled axes.
The suffixed number of each signal corresponds to the number of the
controlled axis.
[Operation] When this signal is set to logical 1, the control unit operates as follows:
- The control unit does not issue servo alarm SV0013, VRDY OFF,
even when the servo amplifier ready signal for the corresponding
axis goes off. The servo ready signal SA, however, is set to 0. The
SA signal, however, can remain set to 1 depending on the setting
of SAK, bit 6 of parameter No. 1800.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G026 DVAL
G067 DVAL1
the Appendix A.1.
- 332 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1800 IVO SAK

[Data type] Bit
#6 SAK Specifies whether to change the state of the servo ready signal SA when
the VRDY OFF alarm ignore signal DVAL is 1 or when the VRDY OFF
alarm ignore signal for each axis, DVALn, is 1.
0: The servo ready signal SA changes to 0.
1: The servo ready signal SA retains its state of 1.
#7 IVO Specifies whether to release the emergency stop state when an emergency
stop occurs with the VRDY OFF alarm ignore signal being 1.
0: Does not release the emergency stop state until the VRDY OFF alarm
ignore signal changes to 0.
1: Releases the emergency stop state.
NOTE
Even when the system is reset when the VRDY OFF alarm ignore
signal is at 1 and the motor is de-energized, the reset state can
be released.
Alarm and message

SV0013 IMPROPER V_READY OFF The speed control ready signal (VRDY) turned OFF even
though the position control ready signal (PRDY) was ON.
- 333 -
Caution
CAUTION
1 If a reset is caused while DVALn or DVAL is set to 1
when bit 7 (IVO) of parameter No. 1800 is set to 0,
the reset state is not cleared until DVALn or DVAL is
set to 1. To exit from the reset state in this case, set
bit 7 (IVO) of parameter No. 1800 to 1.
2 When the VRDY OFF alarm ignore signal is set to 1
and the servo amplifier ready signal is set to off, the
motor is freed from the drive, but follow up is not
performed. To perform follow-up, enable the follow-
up function by setting the following parameters for
setting the servo-off state:
Bit 1 (SVF) of parameter No. 1802 = 1
Servo-off signal *SVFn (G64.6, G68.6, ...) = 0
Bit 2 (FVF) of parameter No. 1800 = 1,
or Bit 3 (FUP) of parameter No. 1802 = 1
3 With this function, it is impossible to stop the spindle
motor. To stop the spindle, cause the PMC to issue a
stop command for the spindle.
4 Never turn the motor while the MCC is off.
Otherwise, a servo alarm may be issued when the
MCC is turned on. Use the servo-off signals (SVF1
and up) to prevent the servo alarm from being issued.
5 If the power to the NC is turned on while the VRDY
OFF alarm ignore signal is set to 1, servo position
control is not turned on until the VRDY OFF alarm
ignore signal is set to 0.
6 While DVALn or DVAL is set to 1, and the servo MCC
is off, manual operation (jog feed, handle feed, step
feed) cannot be performed.
Note
NOTE
While the VRDY OFF alarm ignore signal is set to 1,
and a servo alarm other than alarm SV0013 occurs,
the control unit detects the alarm.
- 334 -
2.9 ABNORMAL LOAD DETECTION
Overview
When the machine collides, or if a defective or damaged tool is used, a
load torque greater than that applied in normal feed and cutting is
applied to the servo and spindle motors. This function detects the load
torque applied to the motors, and passes the load torque as an estimated
load torque to the PMC through the CNC. Moreover, when a torque
greater than a parameter-set value is detected, this function stops the
servo and spindle motors as soon as possible or rotates the motors by an
appropriate parameter-set amount in the direction opposite to the
forward direction to minimize damage to the machine. (The function
for rotating a motor by an appropriate amount in the opposite direction
is enabled for the servo motors only.)
This function is divided into two functions, as described below.
(1) Estimated load torque output function

The CNC calculates an estimated load torque, excluding the
motor torque, required for acceleration/deceleration at all times.
When the estimated load torque output function is enabled, the
data can be read from the PMC with the window function.
(2) Abnormal load detection alarm function
If a load torque greater than the parameter-set value is detected, this

function stops the motor, or rotates the motor in the direction opposite
to the forward direction by the amount specified in the parameter, and
causes the CNC to issue an alarm. (The function for rotating the motor
in the direction opposite to the forward direction is enabled only for
servo motors.)
NOTE
The abnormal load detection function for the spindle
motor is usable with a serial spindle only. This
function is not usable with an analog spindle.
- 335 -
Parameter setting
The method of setting the parameters to use the abnormal load
detection function is described below.
(1) Servo axis

The abnormal load detection
function is available.
Is the abnormal load Bit 0 (ABD) of parameter

detection function used? No No. 1958 = 0
Yes
Bit 0 (ABD) of parameter No. 1958 = 1
Is the abnormal load detection Only the estimated load

alarm function used? torque output function is
No enabled.
Yes
Set bit 5 (TDO) of parameter No. 1957

to 1, then monitor load torque.
<Adjustment>
Set parameter No. 1738, No. 1862, No. 1863, No. 1996, and No. 1997.
Reset bit 5 (TDO) of parameter No. 1957 to 0.
The estimated load torque output function and the

abnormal load detection alarm function are enabled.
(2) Spindle axis (Only a serial spindle is usable.)

The abnormal load detection
function is available.
Set parameter No. 3247, No. 3248, No. 3249, and 3250.
Is the abnormal load detection Only the estimated load

alarm function used? torque output function is
No enabled.
Yes
Set parameter No. 3341.
The estimated load torque output function and the

abnormal load detection alarm function are enabled.
- 336 -
Signal
Servo axis abnormal load detection signal AQSV<F155#3>
[Function] Notifies the PMC of an abnormal load detected on the servo axis.
- When an abnormal load is detected on the servo axis, Cs axis,
spindle positioning axis, or spindle axis during rigid tapping
First spindle abnormal load detection signal AQSP1<F155#6>

[Function] Notifies the PMC of the detection of an abnormal load on the first
spindle.
- When an abnormal load is detected on the first spindle subject to
speed control
Second spindle abnormal load detection signal AQSP2<F155#7>

[Function] Notifies the PMC of the detection of an abnormal load on the second
spindle.
- When an abnormal load is detected on the second spindle subject
to speed control
Third spindle abnormal load detection signal AQSP3<F154#2>

[Function] Notifies the PMC of the detection of an abnormal load on the third
spindle.
- When an abnormal load is detected on the third spindle subject to
speed control
Fourth spindle abnormal load detection signal AQSP4<F154#3>

[Function] Notifies the PMC of the detection of an abnormal load on the fourth
spindle.
- When an abnormal load is detected on the fourth spindle subject
to speed control
The functions output the following alarms and signals:

Signal output Alarm
AQSV AQSPn SV0409 SV0119/0120/
(n=1-4) 0127/0128
Servo axis O _ O _
Cs contour control axis O _ O _
Spindle positioning axis O _ O _
Rigid tapping O _ _ O
Spindle axis under _ O _ O
speed control
- 337 -
NOTE
No spindle axis subject to speed control can be
stopped from the CNC.
If necessary, stop a spindle axis subject to speed
control from the PMC by using output signal AQSPn
(n = 1 to 4).
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F155 AQSP2 AQSP1 AQSV
F154 AQSP4 AQSP3
Parameter
Parameter common to the servo axis and spindle
1738 Abnormal load detection alarm timer

[Data type] Integer
[Unit of data] msec
[Valid data range] From 0 through 32767
Specify the period of time from when an abnormal load is detected to
when a servo alarm is issued.
If 0 is set, it is regarded to be 200 msec.
Servo axis parameter
1862 Velocity control observer

The set value should be 3559.
If the velocity loop observer is used (parameter no.1808#2=1), the set
value should be 956.
1863 Velocity control observer

The set value should be 3329.
If the velocity loop observer is used (parameter no.1808#2=1), the set
value should be 510.
- 338 -
#7 #6 #5 #4 #3 #2 #1 #0
1957 TDO

[Data type] Bitaxis
#5 TDO Specifies which to output to the check board for each axis.
0: Torque command
1: Estimated load torque
#7 #6 #5 #4 #3 #2 #1 #0
1958 ABD

[Data type] Bitaxis
#0 ABD Specifies whether the estimated load torque output function is enabled
for each axis.
0: Disabled
1: Enabled
When the excessive-load alarm function is used, the estimated load
torque output function must be enabled.
- 339 -
1996 Retract amount on detecting an irregular load

If an abnormal load is detected, the direction of the motor rotation can be reversed.
This parameter sets the amount of reverse motor rotation. When a specified
feedrate is not higher than the feedrate listed below, and so the motor turns at a low
speed, the motor stops immediately without reversing the motor rotation. This is
to prevent the motor from turning in the reverse direction excessively.
Let A be this parameter value. When the feedrate is higher than the feedrate
indicated below in the detection unit used, the motor turns in the reverse direction
by A from the point at which an abnormal load is detected, then stops.
Detection unit Feedrate

10 µm A/ 0.8 mm/ min
1 µm A/ 8 mm/min
0.1 µm A/ 80 mm/min
0.01 µm A/ 800 mm/min
0.001 µm A / 8000 mm/ min
If this parameter is set to 0, the motor rotation will not reversed, but it will stop
immediately when an abnormal load is detected.
See “AC Servo Motor αi series Parameter Manual (B-65270EN)” for details.
1997 Threshold value for the detection of an irregular load

[Unit of data] Unit of the torque command
[Valid data range] From 0 through 7282 (7282 denotes the maximum available torque from
the motor)
The irregular load alarm is generated when the load for a servo axis exceeds this
value.
The set value should be bigger than the maximum value of the load torque observed
in the setting of the paramete TDO (no.1957#5) =1. The set value 7282
corresponds 4.4V of the observed value.
See “AC Servo Motor αi series Parameter Manual (B-65270EN)” for details.
- 340 -
Spindle parameter
#7 #6 #5 #4 #3 #2 #1 #0
3015 SPM

[Data type] Bitspindle
#1 SPM Specify if the monitoring function of the load torque of the spindle is
available or not.
0: Not available
1: Available
3247 Time constant for the magnetic flax compensation in monitoring the spindle
load (for the high speed characteristics of the main side)

[Data type] Integerspindle
[Unit of data] msec
This parameter is used to compensate the delay in the generated
magnetic flax of the spindle motor.
The set value 0 means there is no delay.
The standard value depends on the motor model.
3248 Torque constant for monitoring the spindle load (for the high speed
characteristics of the main side)

This is a constant obtained from the maximum output torque and the
inertia of the motor.
The standard value depends on the motor model.
3249 Observer gain 1 for monitoring the spindle load (for the main side)

The standard set value is 500.
- 341 -
3250 Observer gain 2 for monitoring the spindle load (for the main side)

The standard set value is 500.
3341 Threshold value for the detection of an irregular load on the spindle

[Unit of data] 0.01%
The irregular load alarm is generated when the load for a spindle
exceeds this value.
The set value is the ratio of the load to the maximum output torque of
the spindle motor (the unit is 0.01%). The detection of the irregular
load is not effective if the set value is 0.
Alarm and message

(1) Servo axis

SV0409 DETECT ABNORMAL TORQUE An abnormal load was detected on the servo motor, or
during Cs axis or spindle positioning.
(2) Spindle

SV0119 ABNORMAL TORQUE(1ST SPDL) An abnormal load was detected at the No. 1 spindle motor.
This alarm is canceled by resetting the control.
SV0120 ABNORMAL TORQUE(2ND SPDL) An abnormal load was detected at the No. 2 spindle motor.
SV0127 ABNORMAL TORQUE(3RD SPDL) An abnormal load was detected at the No. 3 spindle motor.
SV0128 ABNORMAL TORQUE(4TH SPDL) An abnormal load was detected at the No. 4 spindle motor.
- 342 -
B-63783EN-1/01 3.MANUAL OPERATION
3 MANUAL OPERATION
- 343 -
3.MANUAL OPERATION B-63783EN-1/01
3.1 JOG FEED/INCREMENTAL FEED
General
- Jog feed
In the jog mode, turning a feed axis and direction selection signal to "1"
on the machine operator's panel continuously moves the tool along the
selected axis in the selected direction.
- Incremental feed
In the incremental feed mode, turning a feed axis and direction
selection signal to "1" on the machine operator's panel moves the tool
one step along the selected axis in the selected direction. Increment
feed travel distance selection signal DISTn is used to set an amount of
travel. A value from 0 to 99,999,999 can be specified.
The jog feedrate is specified in a parameter (No.1423)

The jog feedrate can be adjusted with the jog feedrate override dial.
With the rapid traverse selection switch the tool can be moved at the
rapid traverse rate regardless of the jog feedrate override signal.
Signal
The following signals determine the way in which jog feed or
incremental feed is executed.
Selection Jog feed Incremental feed

Mode selection J, MJ S, MS
Selection of the axis to move +J1, -J1, +J2, -J2, +J3, -J3, ...
Selection of the direction to move the axis
Selection of the move amount DIST0-DIST26
Selection of feedrate *JV0-*JV15, RT, ROV1, ROV2
The only difference between jog feed and incremental feed is the
method of selecting the feed distance. In jog feed, the tool continues to
be fed while the following signals selecting the feed axis and direction
are "1": +J1, -J1, +J2, -J2, +J3, -J3, etc. In incremental feed, the tool is
fed by one step.
The distance of the step is selected by the manual handle feed move
distance select signal DIST0 to DIST26.
For the signals selecting the mode, see Section 2.6, "Mode Selection
Signals." For rapid traverse override signals ROV1 and ROV2, see
Section 7.1.7.1, "Feedrate Override Signals."
Other signals are described below.
- 344 -
Feed Axis and Direction Selection Signal

+J1<G65#0>, +J2<G69#0>, ... , -J1<G65#1>, -J2<G69#1>, ...
[Function] Selects a desired feed axis and direction in jog feed or incremental feed.
The sign (+ or -) in the signal name indicates the feed direction. The
number following J indicates the number of the control axis.
xJy
x : + ..... Feed in positive direction
- ..... Feed in negative direction
y : 1 ..... First axis is fed
2 ..... Second axis is fed
3 ..... Third axis is fed
: :
[Operation] When the signal is high, the control unit operates as described below.
- When jog feed or incremental feed is allowed, the control unit
moves the specified axis in the specified direction.
- In jog feed, the control unit continues to feed the axis while the
signal is "1".
Jog mode
+J1
1st axis move
- In incremental feed, the control unit feeds the specified axis by the
step distance which is specified by the manual handle feed move
distance selection signals DIST0 to DIST26. Then the control
unit stops it. Even if the signal is set to "0" while the axis is being
fed, the control unit does not stop feeding it.
To feed the axis again, set the signal to "0", then set it to "1" again.
Incremental feed mode
+J1
1st axis move
NOTE
1 If both the positive direction and negative direction
signals of the same axis are simultaneously set to
"1", neither the positive direction nor the negative
direction is selected. The control unit assumes that
both these signals are set to "0".
2 If the feed axis and direction selection signals are
set to "1" before the jog feed mode or incremental
feed mode is selected, these signals are invalidated.
After the jog feed mode or incremental feed mode is
selected, set these signal to "0", then set them to "1"
again.
- 345 -
Jog mode
or incremental feed mode
+J1
1st axis
+J1 is Axis is fed again after signals

ineffective have turned to "0" once.
during this
i d
NOTE
3 If the control unit is reset while the feed axis and
direction selection signals are set to "1" or if a feed
axis and direction signal turns to "1" while the control
unit is in the reset state, the signal cannot be
validated by releasing the reset state. After the reset
state is released, set these signals to "0", then set
them to "1" again.
Incremental feed mode

(TEACH IN HANDLE mode)
Reset
+J1
1st axis move J1 is
ineffective
during this
period.
Axis is fed again after
Move is stopped signals have turned to "0"
by resetting once.
Manual Feedrate Override Signal *JV0-*JV15 <G014, G015>

[Function] Selects a feedrate in jog feed or incremental feed. These signals are
sixteen binary code signals, which correspond to the override values as
follows:
15
Override value (%) = 0.01 × å {2
i =0
i
× Vi }
where
Vi = 0 when the *JVi signal is "1"
Vi = 1 when the *JVi signal is "0"
The override value is assumed to be zero when all of the signals, (*JV0
to *JV15) are set to "1" or "0". When this occurs, the feed is stopped.
The override value can be specified in the range of 0% to 655.34% in
units of 0.01%. Some examples are listed below.
- 346 -
*JV0-*JV15 Override value

12 8 4 0 (%)
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0.01
1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 1 0.10
1 1 1 1 1 1 1 1 1 0 0 1 1 0 1 1 1.00
1 1 1 1 1 1 0 0 0 0 0 1 0 1 1 1 10.00
1 1 0 1 1 0 0 0 1 1 1 0 1 1 1 1 100.00
0 1 1 0 0 0 1 1 1 0 1 1 1 1 1 1 400.00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 655.34
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
[Operation] If rapid traverse selection signal RT is "0" during jog feed or

incremental feed, the manual feedrate specified by the parameter (no.
1423) is overridden by the value specified by the JVi signal.
NOTE
The JVi signals also serve as the override signals
during dry run in automatic operation mode.
Manual rapid traverse selection signal <G006#7>

[Function] Selects a rapid traverse rate for jog feed or incremental feed.
[Operation] When the signal turns to "1", the control unit operates as described
below:
- The control unit executes the jog feed or incremental feed at a
rapid traverse rate. The rapid traverse override is validated.
- When the signal is switched from "1" to "0" or vice versa during
jog feed or incremental feed, the feedrate is decelerated until it
reaches zero, then increased to the specified value. During
acceleration and deceleration, the feed axis and direction
selection signal can be kept "1".
Jog feed mode

or incremental feed mode
+J1
RT
1st axis move

Rapid traverse rate
Feedrate selected by manual feedrate override signal
- 347 -
WARNING
After the power is turned on, the stroke limit function
does not work until the reference position return is
completed. During this period, the control unit
ignores the RT signal, if it is set to "1", and keeps
moving the tool at a feedrate selected by the manual
feedrate override signal. A parameter RPD (No.
1400#2) can be specified so that the rapid traverse
is validated before the reference position return is
completed.
Incremental feed amount selection signal DIST0-DIST26<G020-G023>

[Function] Selects a feed amount per incremental feed step. This signal is a 27-
point binary signal, and is related to a feed amount as follows:
26
Feed amount = Least input increment × å{2 i × Vi }
i =0
where, Vi = 0 when DISTi is 0
Vi = 1 when DISTi is 1
A value from 0 to 99,999,999 can be selected. If a value that falls

outside this range is specified, 0 is assumed.
[Operation] Each time one step is fed by increment feed (with the feed axis
direction selection signal set to 1 after being set to 0), the tool is fed by
the feed amount specified by this signal.
NOTE
1 The least input increment is used for specification.
This means that the same specified value represents
a different feed amount, depending on whether
metric input or inch input is used. When a different
increment system is used for each axis, the same
specified value does not represent the same feed
amount.
2 With bit 3 (MPN) of parameter No. 2001, an
increment feed amount can be specified using
manual handle feed amount selection signals MP1,
MP2, and MP4, instead of specifying an arbitrary
value with this signal. See Section 3.2, "Manual
Handle Feed."
- 348 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G006 RT
G014 *JV7 *JV6 *JV5 *JV4 *JV3 *JV2 *JV1 *JV0
G020 DIST7 DIST6 DIST5 DIST4 DIST3 DIST2 DIST1 DIST0
G023 DIST26 DIST25 DIST24
#7 #6 #5 #4 #3 #2 #1 #0
G065 -J1 +J1
the Appendix A.1.
- 349 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 RPD

[Data type] Bit
#2 RPD Specifies whether manual rapid traverse can be performed during the
period from the power on to reference position return.
0: Cannot be performed.
1: Can be performed.
1423 Jogging feedrate for each axis

Set the jogging feedrate for each axis for when the jog feedrate dial is
turned to 100%.
#7 #6 #5 #4 #3 #2 #1 #0
1600 JGE

[Data type] Bitaxis
#5 JGE Specifies the method of acceleration/deceleration used during jogging.

0: Linear acceleration/deceleration is used. However, when the bell-
shaped acceleration/deceleration option is selected, bell-shaped
acceleration/deceleration is used.
1: Exponential acceleration/deceleration
1624 Jog acceleration/deceleration time constant for each axis

[Unit of data] msec
For each axis, set the time constant used for acceleration/deceleration
during jog feed.
- 350 -
1625 FL feedrate for each axis for acceleration/deceleration during jog feed

For each axis, set the FL feedrate used for acceleration/deceleration
during jog feed.
#7 #6 #5 #4 #3 #2 #1 #0
2001 MPN

[Data type] Bit
#3 MPN Specifies whether the incremental feed is specified with the incremental
feed selection signals DIST0 to DIST26 or with the manual handle feed
selection signals MP1, MP2, and MP4.
0: Specified with the incremental feed selection signals DIST0 to
DIST26.
1: Specified with the manual handle feed selection signals MP1, MP2,
and PM4.
2016 Manual feedrate override clamp value

[Data type] Integer
This parameter specifies the value used to clamp the manual feedrate
override when an override value larger than the manual feedrate
override clamp value is input. This parameter is valid only when the
basic machine interface (BMI) is used.
Caution
CAUTION
For incremental feeding along an axis under
diameter programming, the tool moves in units of the
diameter.
- 351 -
Note
NOTE
Time constant and method of automatic
acceleration/ deceleration for manual rapid traverse
are the same as G00 in programmed command.
Reference item
Series15i/150i-MB Operator’s Manual II-3.2 Jog feed
(Operation) II-3.3 Incremental feed
(B-63784EN-1)
- 352 -
3.2 MANUAL HANDLE FEED
General
In the manual handle feed mode, the tool can be minutely moved by
rotating the manual pulse generator. Select the axis along which the
tool is to be moved with the handle feed axis selection signal.
The minimum distance the tool is moved when the manual pulse
generator is rotated by one graduation is equal to the least input
increment. Or the distance the tool is moved when the manual pulse
generator is rotated by one graduation can be magnified by 10 times or
by one of the two magnifications specified by parameters (No. 1414
and 1418).
The handle magnifications can be selected by the manual handle feed
move distance selection signal.
Up to three manual pulse generators can be connected.
- A command to the MPG exceeding rapid traverse rate

The feedrate is clamped at the rapid traverse rate and generated pulses
exceeding the rapid traverse rate are not ignored but accumulated in the
CNC.(No longer rotating the handle does not immediately stop the tool.
The tool is moved by the pulses accumulated in the CNC before it
stops.)
Signal
Manual Handle Feed Axis Selection Signals

HS1A-HS1D<G011#0-#3>, HS2A-HS2D<G011#4-#7>, HS3A-HS3D<G010#0-#3>
[Function] Selects the axis of manual handle feed. A set of four code signals, A, B,
C, and D is provided for each manual pulse generator. (Up to three
generators can be used.) (For two-path, these signals are provided for
each manual pulse generator and each path.) The number in the signal
name indicates the number of the manual pulse generator to be used.
HSxA
x : 1 ..... First manual pulse generator
2 ..... Second manual pulse generator
3 ..... Third manual pulse generator (M series)
Code signals A, B, C, and D correspond to the feed axes as listed in the
following table:
- 353 -
Manual handle feed axis selection Feed axis

HSnD HSnC HSnB HSnA
0 0 0 0 No selection (None of axis is fed)

0 0 0 1 1st axis
0 0 1 0 2nd axis
0 0 1 1 3rd axis
0 1 0 0 4th axis
0 1 0 1 5th axis
0 1 1 0 6th axis
0 1 1 1 7th axis
1 0 0 0 8th axis
1 0 0 1 9th axis
1 0 1 0 10th axis
1 0 1 1 11th axis
1 1 0 0 12th axis
1 1 0 1 13th axis
1 1 1 0 14th axis
1 1 1 1 15th axis
Manual Handle Feed Amount Selection Signal

MP1, MP2, MP4 <G006#2-#4>
(Incremental Feed Signal)
[Function] This signal selects the distance traveled per pulse from the manual
pulse generator during the manual handle feed or manual handle
interrupt.
The table below lists the signal-to-distance correspondence.
Travel distance select signal for Distance traveled

manual handle feed (Manual handle feed/interrupt)
MP4 MP2 MP1
0 0 0 Least input increment × 1
*1
0 1 0 Least input increment × m
*2
0 1 1 Least input increment × n
*1 Scale factors m is specified using parameter No 1414.

*2 Scale factors m is specified using parameter No 1418.
By setting bit 3(MPN) of parameter No. 2001, MP1, MP2, and MP4
can be used to specify an incremental feed amount. In this case, feed
amounts are set as indicated below.
- 354 -
Manual handle feed amount Distance traveled (increment feed)

selection signal
MP4 MP2 MP1
0 0 0 Least input increment x 1
CAUTION
Because the least input increment is used as the
units for manual handle and incremental feed, the
same value represents a different distance
depending on whether the metric or inch input
system is used.
For an axis under diameter programming, the tool
moves by the diameter value.
NOTE
See Section 3.4, "Manual Handle Interrupt" for
manual handle interrupts, and Section 3.1, "Jog
Feed/Incremental Feed" for incremental feed.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G006 MP4 MP2 MP1
G010 HS3D HS3C HS3B HS3A
G011 HS2D HS2C HS2B HS2A HS1D HS1C HS1B HS1A
- 355 -
Parameter
1413 Maximum number of buffered manual handle feed pulses

[Data type] Integer
The permissible flow amount is set. If such a handle feed that
momentarily exceeds the rapid traverse rate is specified, the handle
pulses for the excess of the rapid traverse rate are not discarded,
but are accumulated according to the setting.
( setting )
( rapid traverse rate ) × 2
Permissible flow amount =
7500
Normally, 0 may be set.
1414 Magnification m of manual handle feed

[Data type] Integer
Set the magnification m for when movement selection signals MP1 and MP2 for
manual handle feed are 0 and 1, respectively.
Travel amount select signal Amount of travel

MP4 MP2 MP1 (manual handle feed)
*1
*2
*1 To be set in parameter No.1414.
- 356 -
1418 Magnification n of manual handle feed

[Data type] Integer
Set the magnification rate for when movement selection signals MP1 and MP2 for
manual handle feed are 1.
Travel amount select signal Amount of travel

MP4 MP2 MP1 (manual handle feed)
*1
*2
Warning
WARNING
Rotating the handle quickly with a large
magnification such as x100 moves the tool too fast
or the tool may not stop immediately after the handle
is no longer rotated or the distance the tool moves
may not match the graduations on the manual pulse
generator. The feedrate is clamped at the rapid
traverse rate.
Caution
CAUTION
Rotate the manual pulse generator at a rate of five
rotations per second or lower.
Reference item
Series15i/150i-MB Operator’s Manual II-3.4 Manual handle feed
(Operation)
(B-63784EN-1)
- 357 -
3.3 MANUAL HANDLE CONNECTED TO I/O LINK
General
Instead of an ordinary manual handle connected to the main CPU board,
a manual handle connected to the I/O Link (operator's panel unit,
distributed I/O) can be used.
- Method of setting I/O-Link-connected manual handles

The method of setting I/O-Link-connected manual handles is described
below.
(1) Select an interface for each handle by using the corresponding

parameter as indicated below.
0 1
ParameterIH1 The first manual handle is The first manual handle is
(No.2070#0) connected as usual. connected to the I/O Link.
ParameterIH2 The second manual handle The second manual handle
(No.2070#1) is connected as usual. is connected to the I/O Link.
ParameterIH3 The third manual handle is The third manual handle is
(No.2070#2) connected as usual. connected to the I/O Link.
(2) Set the address value (PMC X address) of each manual handle in
the corresponding parameter (No. 2071 through No. 2073).
(3) Turn on the power again.

The I/O-Link-connected manual handles are enabled.
If an incorrect address is specified in step (2), 0 is automatically
set for interface selection in bits 0 to 2 of parameter No. 2070, and
-1 is automatically set as the address value in parameter No. 2071
to No. 2073. Thus, the use of the I/O-Link-connected manual
handles is disabled.
CAUTION
If I/O-Link-connected manual handles cannot be
enabled when the power is turned on again, check
whether bits 0 to 2 of parameter No. 2070, and
parameter Nos. 2071 to No. 2073 are set correctly.
- 358 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2070 IH3 IH2 IH1

[Data type] Bit
#0 IH1 Specifies whether to use an I/O-Link-connected manual handle for the

first manual handle.
0: Not used. (An ordinary manual handle is used.)
1: Used.
NOTE
When this parameter is set to "1" and the power is turned off and
then on again, if the appropriate address value is not set for
parameter No. 2071, this parameter is automatically set to "0" so
that the I/O-Link-connected manual handle cannot be used.

second manual handle.
1: Used.
NOTE

third manual handle.
1: Used.
NOTE
- 359 -
2071 Address value of the first I/O-Link-connected manual handle
NOTE

[Data type] Integer
Specifies the address value (X address of the PMC) of the first I/O-Link-
connected manual handle.
NOTE
When an I/O-Link-connected manual handle is specified for the
first manual handle, but the specified address value is not
appropriate, this parameter is automatically set to -1.
2072 Address value of the second I/O-Link-connected manual handle
NOTE

[Data type] Integer
Specifies the address value (X address of the PMC) of the second I/O-
Link-connected manual handle.
NOTE
second manual handle, but the specified address value is not
- 360 -
2073 Address value of the third I/O-Link-connected manual handle
NOTE

[Data type] Integer
Specifies the address value (X address of the PMC) of the third I/O-
Link-connected manual handle.
NOTE
third manual handle, but the specified address value is not
Warning
WARNING
When an I/O-Link-connected manual handle is
used, the assigned address specified in the
parameter is used as the manual handle interface.
So, if an incorrect address is specified, and the value
of the address changes, it is assumed that the
handle is moved, thus resulting in movement along
the axis.
Reference item
Series15i/150i-MB Operator’s Manual II-3.4 Manual handle feed
(Operation)
(B-63784EN-1)
- 361 -
3.4 MANUAL HANDLE INTERRUPTION
General
Rotating the manual pulse generator during automatic operation can
increase the distance traveled by the amount corresponding to the
handle feed. The axis to which the handle interrupt is applied is
selected using the manual handle interrupt axis select signal. The
minimum travel distance per graduation is the least command
increment.
The minimum travel distance can be increased by tenfold or by two
scale factors (parameter Nos. 7113 and 7114). Each scale factor can be
selected using the manual handle travel distance select signal (Section
3.2, "Manual Handle Feed").
Warning
WARNING
The travel distance by handle interruption is
determined according to the amount by which the
manual pulse generator is turned and the handle feed
magnification (x1, x10, xm, xn (m and n are set by
parameter Nos.1414 and 1418)) Since this
movement is not accelerated or decelerated, it is very
dangerous to use a large magnification value for
handle interruption.
Note
NOTE
1 No handle interrupt can be used in manual operation
mode (for example, job feed mode and manual
handle feed mode).
2 Handle interruption is disabled when the machine is
locked or interlocked.
- 362 -
3.5 THREE-DIMENSIONAL HANDLE FEED
Three-dimensional handle feed includes three special handle feed

modes, a function for changing the tool length compensation in the
longitudinal direction of the tool, and two screen display functions. The
three-dimensional handle feed function is used to execute special
handle feed for a five-axis diesinking machine. These handle feed
modes function even during manual handle interrupt.
- Special handle feed modes
1 Mode of handle feed in the longitudinal direction of the tool
2 Mode of handle feed in the transverse direction of the tool
3 Mode of rotational handle feed around the center of the tool
tip
* These three modes are called as special handle feed modes.
- Function for changing the tool length compensation in
- the longitudinal direction of the tool
- Screen display functions
1 Function that displays the coordinate of the tool tip
2 Function that displays the number of pulses in a manual
interrupt and the traveled distance
The following variables are used in expressions described in the
subsequent sections:
Xp, Yp, Zp : Number of handle feed pulses for the axes (integrated
value)
Hp : Number of specified handle feed pulses (integrated
value)
A, B, C : Machine coordinate of the A-, B-, and C-axes
L : Distance from the center of rotation of the tool to the tool
tip
- 363 -
Handle feed interruption in the longitudinal direction of the tool

In tool axis direction handle feed, the tool is moved in the tool axis
direction by the rotation of the manual pulse generator.
B
C
Longitndinal direction
of the tool
Z
Workpiecie C
B
Y
Tool axis direction handle feed is enabled when the following four
conditions are satisfied:
(1) Handle mode is selected.
(2) Tool axis direction handle feed mode signal ALNGH is set to 1.
(3) In parameter No. 7553, the axis number of the first manual pulse
generator is set as the axis for tool axis direction handle feed
mode.
(4) A manual handle feed axis is selected for the axis number set in
parameter No. 7553.
- Pulses distributed to each axis
When handle feed/interruption in the longitudinal direction of the tool
is performed, pulses are distributed to the axes according to the
machine configuration as explained below.
- 364 -
- Rotary axes B and C (with the Z-axis representing the tool axis)
Zp
Hp
B
Yp
Y
Xp
C
Xp=Hp×sin(B)×cos(C)
Yp=Hp×sin(B)×sin(C)
Zp=Hp×cos(B)
- Rotary axes A and C (with the Z-axis representing the tool axis)
Hp
Zp
A
Yp
Xp
Y
C
Xp=Hp×sin(A)×sin(C)
Yp=-Hp×sin(A)×cos(C)
Zp=Hp×cos(A)
- 365 -
- Rotary axes A and B (with the X-axis representing the tool axis)
Xp
Hp
B
Zp
Z
Yp
A
Xp=Hp×cos(B)
Yp=Hp×sin(B)×sin(A)
Zp= -Hp×sin(B)×cos(A)
- Rotary axes A and B (with the A-axis being the master and the Z-axis representing
the tool axis)
Z
Hpz
A
HPzb
Zp
Y
Xp
X
Yp
Hpz : Hp when the machine position of the A-axis is 0 and the machine position of the B-axis is 0
Hpzb: Hp when rotation is performed about the B-axis only
Xp=Hp×sin(B)
Yp=-Hp×cos(B)×sin(A)
Zp=Hp×cos(B)×cos(A)
- 366 -
- Rotation axes A and B (with the B-axis being the master axis and the Z-axis
representing the tool axis)
Z
A
Hpz
B
Hpza
Zp
X Xp
Yp
Hpz : Hp when the machine position of the A-axis is 0 and the machine position of the B-axis is 0
Hpza: Hp when rotation is performed about the B-axis only
Xp=Hp×cos(A)×sin(B)
Yp=-Hp×sin(A)
Zp=Hp×cos(A)×cos(B)
Tool axis right-angle direction handle feed

In tool axis right-angle direction handle feed, the tool is moved at right
angles to the tool axis by the rotation of the manual pulse generator.
B
C
Longitudinal devection
of the tool
Workpiece
Z
C
B
Y
Tool axis right-angle direction handle feed is enabled when the

following four conditions are satisfied:
(2) Tool axis right-angle direction handle feed mode signal RGHTH
is set to 1.
(3) In parameter No. 7551 and No. 7552, the axis numbers of the first
manual pulse generator are set as the axes for tool axis right-angle
direction handle feed mode.
(4) Manual handle feed axes are selected for the axis numbers set in
parameter No. 7551 and No. 7552.
- 367 -
- Pulses distributed to each axis

When handle feed/interruption in the transverse direction of the tool is
performed, pulses are distributed to the axes according to the machine
configuration as explained below.
- Rotation axes B and C (with the Z-axis representing the tool axis)
- When handle feed is performed in the transverse direction of the
tool (in the X-axis direction)
Z
Hp (X direction)
Zp
C
Yp
Xp
Xp=Hp×cos(B)×cos(C)
Yp=Hp×cos(B)×sin(C)
Zp=-Hp×sin(B)

tool (in the Y-axis direction)
Z
HP (Y direction)
Xp
Yp
X
C
When three-dimensional handle feed in the transverse direction of the tool (in the Y-axis direction) is
performed with the B- and C-axes set, the tool moves in the X-Y plane since no Z-axis movement is
generated.
Xp=-Hp×sin(C)
Yp=Hp×cos(C)
Zp=0
- 368 -
- Rotation axes A and C (with the Z-axis representing the tool axis)
tool (in the X-axis direction)
Hp (X direction)
Yp
Xp Y
When three-dimensional handle feed in the transverse direction of the tool (in the X-axis direction) is
performed with the A- and C-axes set, the tool moves in the X-Y plane since no Z-axis movement is
generated.
Xp=Hp×cos(C)
Yp=Hp×sin(C)
Zp=0
- When handle feed is performed in the transverse direction of the tool (in the Y-axis
direction)
Hp (Y direction)
C
Zp
Yp
Xp
Xp=-Hp×cos(A)×sin(C)
Yp=Hp×cos(A)×cos(C)
Zp=Hp×sin(A)
- 369 -
- Rotation axes A and B (with the X-axis representing the tool axis)
tool (in the Y-axis direction)
Hp(Y direction)
Zp
Yp Z
When three-dimensional handle feed in the transverse direction of the tool (in the Y-axis direction) is
performed with the A- and B-axes set, the tool moves in the Y-Z plane since no X-axis movement is
generated.
Xp=0
Yp=Hp×cos(A)
Zp=Hp×sin(A)
- When handle feed is performed in the transverse direction of the tool (in the Z-axis
direction)
Hp(Z direction)
A
Xp
Zp
Yp
Xp=Hp×sin(B)
Yp=-Hp×cos(B)×sin(A)
Zp=Hp×cos(B)×cos(A)
- 370 -
Rotational Handle Feed Around the Center of the Tool Tip
Select the mode of rotational handle feed around the center of the tool
tip and rotate the handle of the manual pulse generator. When the
rotation axis (A-, B-, or C-axis) is moved, the X-, Y-, and Z-axes are
adjusted so that the movement of the rotation axis does not shift the tool
tip.
If this mode is selected in the manual handle interrupt mode in
automatic operation, rotation around the center of the tool tip by the
manual pulse generator is superimposed on the movement by automatic
operation.
O1 (Tool rotation center)
With the relative relationship between the

tool tip position (P1) and workpiece held as
is, the rotation axis is turned while the X-, Y-,
and Z-axes are adjusted so that the tool
rotation center moves from 01 to 02.
O2
P1 (Tool tip position)
Workpiece
Tool tip center rotation handle feed is enabled when the following four
(2) Tool tip center rotation handle feed mode signal RNDH is set to 1.
(3) In parameter No. 7554 and No. 7555, the axis numbers of the first
manual pulse generator are set as the axes for tool tip center
rotation handle feed mode.
(4) Manual handle feed axes are selected for the axis numbers set in
- Pulse distribution to basic axes

In the case of rotation around tool tip, linear axis movement (Xp, Yp,
Zp) calculated by the equation below is output simultaneously with
rotation of the rotary axis. As a result, the tool tip position hardly
moves. (The tool tip may move when the rotary axis is rotated at high
speed.) The pulse distribution to basic axes by rotational handle
feed/interruption around tool tip is as follows according to your
machine tool confirmation:
- 371 -
- Rotation axes B and C (with the Z-axis representing the tool axis)
Z
Bp
Zp T1
Yp
T2
B
Xp C
X Cp
T1 :Tool rotation center position

T2 :Tool rotation center position after movement
Bp, Bp, Cp :Angular displacement of the rotation axis
Movement amount of linear axis

Xp=L× [sin(B+Bp) ×cos(C+Cp)-sin(B)×cos(C)]
Yp=L× [sin(B+Bp) ×sin(C+Cp)-sin(B)×sin(C)]
Zp=L× [cos(B+Bp)-cos(B)]
Angular displacement of the rotation axis

Bp=Hp or Cp=Hp
- Rotation axes A and C (with the Z-axis representing the tool axis)
Z
Ap
Zp T1
Yp
T2
A
C
Xp
X Cp
T1 : Tool rotation center position

T2 : Tool rotation center position after movement
Ap, Cp : Angular displacement of the rotation axis

Xp=L× [sin(A+Ap)×sin(C+Cp)-sin(A)×sin(C)]
Yp=L× [sin(A+Ap)×cos(C+Cp)-sin(A)×cos(C)]
Zp=L× [cos(A+Ap)-cos(A)]

Ap=Hp or Cp=Hp
- 372 -
- Rotation axes A and B (with the X-axis representing the tool axis)
X
Bp
Xp T1
Zp
T2
B
A
Yp
Y Ap
T1 : Tool rotation center position

T2 : Tool rotation center position after movement
Ap, Bp : Angular displacement of the rotation axis

Xp=L× [cos(B+Bp)-cos(B)]
Yp=L× [sin(B+Bp)×sin(A+Ap)-sin(B)×sin(A)]
Zp=-L× [sin(B+Bp)×cos(A+Ap)-sin(B)×cos(A)]

Ap=Hp or Bp=Hp
Changing tool length compensation in the longitudinal direction of the tool

Select the mode of changing the tool length compensation in the
longitudinal direction of tool when both the following modes are
selected: Mode of tool length compensation in the longitudinal
direction of the tool (G43.1) and mode of manual handle interrupt
(MOVL and H are on). Then rotate the handle of the manual pulse
generator. The tool length compensation is changed in the longitudinal
direction of the tool.
The change is cleared to zero when a reset or the G49 command is
executed or when the offset number is changed.
Tool axis direction tool length compensation value modification mode

is enabled when the following five conditions are satisfied:
(1) Manual handle interrupt mode is selected.
(2) Tool axis direction tool length compensation mode (G43.1) is set.
(3) Tool axis direction tool length compensation mode (G43.1) is set.
(4) In parameter No. 7556, the axis number of the first manual pulse
generator is set as the axis for tool axis direction tool length
compensation value modification mode.
(5) A manual handle feed axis is selected for the axis number set in
parameter No. 7556.
- 373 -
Tool holder offset

The length unique to the machine tool from the rotation center of a
rotary axis (A and B axes, A and C axes, B and C axes) around which
the tool axis rotates to the tool mounting position is called the "tool
holder offset." This tool holder offset can be set in parameter No. 7548
in addition to the tool length offset.
Tool holder off set
Tool length of f set
When bit 6 (DTH) of parameter No. 7540 is set to 1, a tool holder offset
added to the tool tip coordinate can be displayed.
Parameter-based rotation axis rotation angle setting

The component of each axis in three-dimensional handle feed/interrupt
is found from the machine coordinates on the rotation axis that are used
to control the direction of the tool axis. In some machine
configurations, however, the tool axis is inclined using a fixed
attachment. In such a case, the rotation angle of the rotation axis can be
set by parameter setting. By setting bit 1 (RAP) of parameter No. 1014,
the value set in parameter No. 7516 can be used as the rotation angle of
the rotation axis.
Rotation axis reference position compensation and rotation axis offset
- Rotation axis reference position compensation

A slight displacement of the rotation axis reference position due to
thermal displacement, for example, can be compensated for using
parameter No. 7518. Three-dimensional handle feed calculation is
performed using the rotation angle incorporating a parameter-set
reference position compensation value for the rotation axis rotation
angle.
- Rotation axis offset

For compensation, an offset for the rotation axis rotation angle is set in
parameter No. 7517. Three-dimensional handle feed calculation is
performed using the rotation angle incorporating a parameter-set offset
for the rotation axis rotation angle.
Rotation axis rotation angle = (rotation axis angle in the machine
coordinate system) - [parameter No. 7517 + parameter No. 7518]
- 374 -
Precautions during 3-dimensional handle feed / interruption function

(1) Interruption by 3-dimensional handle feed/interruption function is
effective when manual handle interruption is added on at the same
time.
(2) When performing interruption by the 3-dimensional handle,
rotary axis commands must not be in execution during automatic
operation.
(3) The following axis configurations are supported on the machine
tool as described in the "Tool direction handle feed/Interruption"
item.
(1) Tool direction Z axis, rotary axes A and C axes
A C
Workpiece C
A
Y
X
(2) Tool direction Z axis, rotary axes B and C axes
B C
Z
Workpiece C
B
Y
- 375 -
(3) Tool direction X axis, rotary axes A and B axes
A Workpiece
X
B
Y
(4) Tool direction Z axis, rotary axes A and B axes (A-axis master)
Y
B
Workpiece
X
A
- 376 -
(5) Tool direction Z axis, rotary axes A and B axes (B-axis master)
Workpiece B X
Y
(4) Only the first manual pulse generator can be used in the 3-
dimensional handle feed/interruption mode.
(5) Tool feed directions by tool direction handle feed /interruption
and by tool normal direction handle feed /interruption are
determined when the 3-dimensional handle feed/interruption
mode is selected. So, operation of rotary axes by which the tool
direction is determined must be completed before you select the
3-dimensional handle feed/interruption mode. Even if the rotary
axes are moved after the 3-dimensional handle feed /interruption
mode is entered, and the tool direction is changed, operation along
the changed tool direction is not performed.
(6) Do not change parameters relating to the 3-dimensional handle
feed/interruption in the 3-dimensional handle feed/interruption
mode.
(7) When issuing a three-dimensional handle interrupt in
acceleration/deceleration before interpolation mode, be careful
not to allow the speed of each axis to exceed the respective
maximum cutting speeds after the interrupt.
If a maximum cutting speed is exceeded, the tool may fail to move
in the direction of the three-dimensional handle feed.
- 377 -
Three-dimensional handle feed/interrupt in parallel axis control and twin table

control
- Procedure for three-dimensional handle feed/interrupt on a machine that controls

two heads/tables
When three-dimensional handle feed/interrupt operation is to be
performed on a machine that controls two heads/tables, the two
heads/tables to which the controlled axes belong must be set in a
parameter, and the three-dimensional handle mode selection state of
each head/table must be set in another parameter. For actual operation,
the three-dimensional handle mode signal, handle axis selection signal,
and head selection signal must be entered to operate the manual handle
pulse generator.
In the explanation below, we assume that two heads are used. When
two tables are used, the word head(s) should be read as table(s).
When three-dimensional handle feed/interrupt operation is to be
performed using two heads according to the procedure below in twin
table control, set the synchronization control selection signal (SYNCx)
to 0. When this signal is set to 1, three-dimensional handle
feed/interrupt operation cannot be performed.
The setting procedure is as follows:

(1) Set bit 1 (PHH) of parameter No. 7540 to 1 to enable the three-
dimensional handle feed/interrupt function on the machine that is
to control two heads.
(2) In parameter No. 7543, set the two heads used for three-
dimensional handle feed/interrupt to which each controlled axis
belongs. A combination of axes in each selected head should be
set with a combination of linear axes and rotation axes for normal
three-dimensional handle feed/interrupt. If an invalid combination
of linear axes and rotation axes is used, three-dimensional handle
feed/interrupt operation is not performed.
Setting example 1) For parallel axis control

Axis name Parameter(No.7543)
X1 1
X2 2
Y1 1
Y2 2
Z1 1
Z2 2
A1 1
A2 2
B1 1
B2 2
Setting
0: Axis that does not belong to any head
1: Axis that belongs to the head of the first combination
2: Axis that belongs to the head of the second combination
3: Axis that belongs to the heads of both of the first and
second combinations
- 378 -
First combination Second combination

Z1
Z2
Y1 Y2
A1 A2
B1 B2
X1 X2
Setting example 2) For twin table control
Axis name Parameter(No.7543)

X 3
Y 1
V 2
W 2
Z 1
I 0
B 1
J 2
C 1
K 2
First combination Second combination
Z K
C V
J
Y
X B
(3) In the parameters, set the first handle feed axis selection signal
values for performing three-dimensional handle feed/interrupt
operation.
Three-dimensional handle feed/interrupt setting for the head of the first

combination
Parameter Type of three-dimensional handle feed/interrupt
7551 Tool axis right-angle direction handle feed/interrupt, first axis
direction
7552 Tool axis right-angle direction handle feed/interrupt, second
axis direction
7553 Tool axis direction handle feed/interrupt
7554 Tool tip center rotation handle feed/interrupt, tool axis rotation
7555 Tool tip center rotation handle feed/interrupt, other than tool
axis rotation
- 379 -
Three-dimensional handle feed/interrupt setting for the head of the

second combination
Parameter Type of three-dimensional handle feed/interrupt
7753 Tool axis right-angle direction handle feed/interrupt, first axis
direction
7754 Tool axis right-angle direction handle feed/interrupt, second
axis direction
7755 Tool axis direction handle feed/interrupt
7756 Tool tip center rotation handle feed/interrupt, tool axis rotation
7757 Tool tip center rotation handle feed/interrupt, other than tool
axis rotation
(4) With the master head selection signals (MH1A, MH1B, MH2A,
MH2B), select a master head used for three-dimensional handle
feed/interrupt.
MH2B MH2A MH1B MH1A Parallel axis control/twin table control
1 0 0 0 0 No selection (stop)
2 0 0 0 1 Independent operation with head 1
3 0 1 0 1 Synchronous operation with head 1 used as
the master head
4 1 0 0 0 Independent operation with head 2
5 1 0 1 0 Synchronous operation with head 2 used as
the master head
6 1 1 1 1 No selection (stop)
(5) Conditions that must be satisfied to enable three-dimensional

handle feed/interrupt operation
(1) The special handle mode selection signals (ALNGH,
RGHTH, RNDL) are set to 1
(2) The first handle selection signals conform to the selection
state of each parameter-set special handle mode.
If manual handle feed is performed when the two conditions above are
satisfied, three-dimensional handle feed is performed. If the following
condition is also satisfied, three-dimensional handle interrupt operation
is performed.
(1) The manual handle interrupt function is enabled.
(The simultaneous automatic and manual operation selection
signal (MOVL) is set to 1, and a cutting mode is set.)
- 380 -
- Parallel axis control and twin table control operations

[Case 1] When three-dimensional handle feed/interrupt is performed
with the two heads synchronized with each other
(1) Select synchronous operation with the master head selection
signal.
(2) Set the first handle axis selection signal to the three-
dimensional handle feed mode set with the parameter on the
master head side.
(3) Rotate the first manual handle pulse generator. From the
machine coordinates of the rotation axis of the master head, a
handle feed/interrupt move amount is calculated, and the
same number of pulses are output to both the master head
and slave head.
[Case 2] When three-dimensional handle feed/interrupt operation is
performed with one head only
(1) Select independent operation with the master head selection
signal.
(2) Set the first handle axis selection signal to the three-
dimensional handle feed mode set with the parameter on the
selected head side.
(3) Rotate the first manual handle pulse generator. From the
machine coordinates of the rotation axis of the table, a
handle feed/interrupt move amount is calculated, and pulses
are output to the selected head only.
- Notes
(1) During twin table control, tool axis direction tool length
compensation can be performed for both the master and slave
heads. However, a modification to a tool axis direction tool length
compensation value based on the three-dimensional handle
feed/interrupt function can be made only in independent operation
using head 1 or head 2.
(2) During parallel axis control, a tool axis direction tool length
compensation value based on the three-dimensional handle
feed/interrupt function cannot be modified.
(3) During parallel axis control or twin table control, three-
dimensional handle feed/interrupt operation can be performed
with up to two axis combinations (heads).
(4) When the master head selection signal of each head is set for
nonselection, three-dimensional handle feed/interrupt operation is
not performed.
(5) In three-dimensional handle feed/interrupt operation during
parallel axis control, no axis can be selected for operation using
the parking signal. Using the master head selection signal, select a
head for operation.
(6) During twin table control, independent operation with the slave
axis based on the three-dimensional handle feed/interrupt
function is possible.
- 381 -
Signal
Tool axis direction handle feed mode signal ALNGH <G156#0>

[Function] This signal selects tool axis direction handle feed mode.
[Operation] If this signal is set to 1 when the following conditions are satisfied, tool
axis direction handle feed mode is set:
1. Handle mode is set.
2. The axis selection signal of the first manual pulse generator
is set to the value set in parameter No. 7553.
If this signal is set to 1 when the following conditions are satisfied, tool
axis direction handle interrupt mode is set:
1. Manual handle interrupt mode is set.
2. A cutting mode (such as G01, G02, or G03) is set.
is set to the value set in parameter No. 7553.
Tool axis normal direction handle mode signal RGHTH<G156#1>

[Function] Selects tool axis normal direction handle mode.
axis normal direction handle feed mode is set:
is set to the value set in the parameter (No. 7551, No. 7552).
axis normal direction handle interrupt mode is set:
2. A cutting feed mode (such as G01, G02, or G03) is set.
Tool tip center rotation handle mode signal RNDH<G156#2>

[Function] Selects tool tip center rotation handle mode.
tip center rotation handle mode is set:
2. The axis selection signal for the first manual pulse generator
tip center rotation handle interrupt mode is set:
2. A cutting feed mode (such as G01, G02, or G03) is set.
- 382 -
Tool axis direction tool length compensation amount modification handle mode signal
CNGTL<G156#3>
[Function] Selects tool axis direction tool length compensation amount
modification handle mode.
axis direction tool length compensation amount modification handle
mode is set:
2. Tool axis direction tool length compensation mode (G43.1)
is set.
is set to the value set in the parameter (No. 7556).
NOTE
If more than one of the tool axis direction handle
mode signal (ALNGH), tool axis right-angle direction
handle mode signal (RGHTH), tool tip center rotation
handle mode signal (RNDH), and tool axis direction
tool length compensation value modification mode
signal (CNGTL) are set to 1, none of these modes are
set. Instead, normal handle feed mode is set.
Three-dimensional handle feed/interrupt master head selection signal

TLHD1A,TLHD1B,TLHD2A,TLHD2B<G156#4-#7>
[Function] Selects a head for three-dimensional handle feed on a machine that
controls two heads in parallel axis control and twin table control.
TLHD2B TLHD2A TLHD1B TLHD1A Parallel axis control/twin table control

operation
0 0 0 0 No selection (stop)
0 0 0 1 Independent operation with head 1
0 1 0 1 Synchronous operation with head 1 used as
the master head
1 0 0 0 Independent operation with head 2
1 0 1 0 Synchronous operation with head 2 used as
the master head
1 1 1 1 No selection (stop)
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G156 TLHD2B TLHD2A TLHD1B TLHD1A CNGTL RNDH RGHTH ALNGH
- 383 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1014 RAP RAM

[Data type] Bitaxis
#0 RAM Specifies whether to use the axis as the rotation axis for tool axis
direction tool length compensation, three-dimensional handle feed, and
designation direction tool length compensation.
0: Not used as the rotation axis.
1: Used as the rotation axis.
Select two axes from among rotation axes and set them as the rotation
axes for these purposes.
#1 RAP Specifies whether the rotation axis used for tool axis direction tool length
compensation, three-dimensional handle feed, and designation direction
tool length compensation is an ordinary rotation axis.
0: Ordinary rotation axis.
1: Parameter axis. The rotation axis is not controlled in designation direction
tool length compensation.
If this bit is set to 0, absolute coordinates are used as the coordinates of rotation axes
in tool axis direction tool length compensation mode, and machine coordinates are
used in three-dimentional handle feed mode. If this bit is set to 1, the value set in
parameter No. 7516 is used as the coordinates of the rotation axes.
When there is no rotation axis in the controlled axes, or when there is only one
rotation axis in the controlled axes, set 1 in bit 0 (RAM) and bit 1 (RAP) of
parameter No. 1014 for the linear axes to which non-existent rotation axes belong,
and set an angular displacement in parameter No. 7516.
(Example 1)
There are linear axes X, Y, and Z, and rotation axes A, B, and C which rotate about
the X-, Y-, and Z-axes, respectively. The tool axis direction is controlled with the
rotation axes A and C.
RAM(No.1014#0)
X 0
Y 0
Z 0
A 1
B 0
C 1
(Example 2)
The controlled axes include only the linear axes X, Y, and Z. By using the tool
attachment, the tool axis is tilted in the same tool axis direction as when the A- and
C-axes are rotated.
RAM(No.1014#0) RAP(No.1014#1) Angle(No.7516)
X 1 1 45.0
Y 0 0 0.0
Z 1 1 30.0
- 384 -
1029 Axis number of the linear axis to which a rotation axis belongs

When a rotation axis turns about a linear axis, the linear axis is
referred to as an axis to which the rotation axis belongs, and is set
using this parameter. For a rotation axis that belongs to no linear
axis, or for a linear axis, 0 is set.
Example:
Axis configuration: X, Y, Z, C, A
Linear axis: X, Y, Z
Rotation axis: A (turning about the X-axis), C (turning about
the Z-axis)
In the above case, set the following:
Axis number Axis name Setting

1 X 0
2 Z 0
3 Y 0
4 C 2
5 A 1
#7 #6 #5 #4 #3 #2 #1 #0
1604 MNJ

[Data type] Bitaxis
#0 MNJ Specifies whether both cutting feed acceleration/deceleration and jog feed
acceleration/deceleration are applied to manual handle interrupt or
simultaneous manual-automatic operation (interrupt type).
0: Both cutting feed acceleration/deceleration and jog feed
acceleration/deceleration are applied.
1: Only cutting feed acceleration/deceleration is valid, and jog feed
acceleration/deceleration is invalid.
- 385 -
#7 #6 #5 #4 #3 #2 #1 #0
2202 DTL

[Data type] Bit
#2 DTL Specifies whether the incremental and absolute positions displayed on

the CRT include the distance traveled by tool length compensation/tool
length compensation in tool axis direction.
0: The positions include the distance traveled.
1: The positions do not include the distance traveled. (The positions
specified by the program are displayed.)
When using three-dimensional coordinate conversion, set this bit to 1.
#7 #6 #5 #4 #3 #2 #1 #0
2214 3HN

[Data type] Bitaxis
#0 3HN Specifies whether to update the amount of manual interrupt during

three-dimensional handle interrupt mode.
0: Updated.
1: Not updated.
7514 Tool axis direction

[Data type] Integer
Enter the tool axis direction when the two rotation axes are set at 0
degree.
Data Tool axis direction

1 X-axis
2 Y-axis
3 Z-axis
- 386 -
7515 Master rotation axis number

[Data type] Integer
When a machine does not have the rotation axis that turns about the tool axis, the
axis number of a rotation axis used as the master axis is set. For machines not
using the master-axis configuration, 0 is set.
When the tool axis direction is controlled by two rotation axes, neither of which
turns about the tool axis, one of the rotation axes is mounted on the other rotation
axis as shown in the figure below. In this case, the rotation axis on which the
other rotation axis is mounted is called the master axis.
A- and B-axes (The tool axis is the Z-axis, and the B-axis is the master.)
Rotation center
Tool axis direction
Workpiece
A- and B-axes (The tool axis is the Z-axis, and the A-axis is the master.)
Rotation center
Tool axis direction
Workpiece
Example for setting parameters that determine the machine configuration

Tool axis direction: Z-axis
Axis configuration: W, X, Y, Z, A, B
Rotation axes: A-axis (axis rotating about the X-axis), B-axis (axis
rotating about the Y-axis)
Master axis: A-axis
Data No. Data
1029 W X Y Z A B
0 0 0 0 2 3
7514 3
7515 5
- 387 -
7516 Angular displacement of a rotation axis

table(A))
When using the three-dimensional handle feed function or tool axis
direction tool length compensation function, set the coordinate of a
rotation axis, among the rotation axes determining the tool axis
direction, which is not controlled by the CNC. This parameter is
enabled or disabled, depending on the setting of bit 1 (RAP) of parameter
No. 1014.

table(A))
An offset can be applied to the angular displacement of the three-
dimensional handle feed function or tool axis direction tool length
compensation function to compensate for the move direction.

table(A))
Set an angular displacement shifted from the origin for a rotation axis
when the three-dimensional handle feed function or tool axis direction
tool length compensation function is used.
- 388 -
#7 #6 #5 #4 #3 #2 #1 #0
7540 ETH DTH

[Data type] Bit
#6 DTH Specifies whether to include or exclude a tool holder offset value in tool
axis direction tool length compensation for tool tip coordinate display.
0: Exclude.
1: Include.
#7 ETH Specifies whether the tool holder offset function in tool axis direction tool
length compensation is useful for the tool length compensation function.
0: Not useful.
1: Useful.
7548 Tool holder offset for tool axis direction tool length compensation

[Data type] Real
table(A))
Set an offset value (tool holder offset value) for the machine-specific
portion from the rotation center of the rotation axis to the tool mounting
position when the tool axis direction tool length compensation function is
used.
#7 #6 #5 #4 #3 #2 #1 #0
7550 CLR

[Data type] Bit
#6 CLR Specifies whether to clear the travel distance by three-dimensional

handle feed upon reset.
0: Do not clear.
1: Clear.
- 389 -
7551 Value set for the manual handle feed axis selection signals for the first
manual handle pulse generator in the first axis direction in tool axis normal
direction handle feed/interrupt

[Data type] Integer
In a plane perpendicular to the tool axis direction set in parameter No. 7514 among
the basic three axes, a movement along the first axis (the axis encountered first
when the axes are arranged in the order of X, Y, and Z) may be made. In this case,
this parameter sets the status of the manual handle feed axis selection signals
(HS1A to HS1E) for the first manual handle pulse generator.
Example: When the tool axis is the Z-axis, and this parameter is set to 5
The axes perpendicular to the tool axis are the X- and Y-axes, and the first
axis is the X-axis. When the first manual handle pulse generator is
turned with 5 set as the status of the manual handle feed axis selection
signals for the first manual handle pulse generator, a movement along the
X-axis is made.
<Parameter setting and corresponding manual handle feed axis selection signal
status>
The following table shows the correspondence between the parameter setting and
the status of the manual handle feed axis selection signals for the first manual
handle pulse generator. When the first manual handle pulse generator is turned with
the signals set according to the parameter setting, operation is performed in
specified mode.
HS1E HS1D HS1C HS1B HS1A Setting
0 0 0 0 1 1
0 0 0 1 0 2
0 0 0 1 1 3
0 0 1 0 0 4
0 0 1 0 1 5
0 0 1 1 0 6
0 0 1 1 1 7
0 1 0 0 0 8
0 1 0 0 1 9
0 1 0 1 0 10
0 1 0 1 1 11
0 1 1 0 0 12
0 1 1 0 1 13
0 1 1 1 0 14
0 1 1 1 1 15
1 0 0 0 0 16
1 0 0 0 1 17
1 0 0 1 0 18
1 0 0 1 1 19
1 0 1 0 0 20
1 0 1 0 1 21
1 0 1 1 0 22
1 0 1 1 1 23
1 1 0 0 0 24
- 390 -
manual handle pulse generator in the second axis direction in tool axis
normal direction handle feed/interrupt

[Data type] Integer
Set the state of the manual handle feed axis selection signals (HS1A to
HS1E) for the first manual handle pulse generator when a movement is
made in the direction of the second axis (counted in the order from X to Y
to Z) in the plane perpendicular to the direction of the tool axis specified
in parameter No. 7514 among the three basic axes. (See the table of
correspondence with the manual handle feed axis selection signals of
parameter No. 7551.)
manual handle pulse generator in tool axis direction handle feed/interrupt

[Data type] Integer
HS1E) for the first manual handle pulse generator for tool axis direction
handle feed/interrupt. (See the table of correspondence with the
manual handle feed axis selection signals of parameter No. 7551.)
manual handle pulse generator for rotation in the tool axis direction in tool
tip center rotation handle feed/interrupt

[Data type] Integer
HS1E) for the first manual handle pulse generator for rotation in the tool
axis direction of the tool among the two rotation axes when tool tip
center rotation is performed. (See the table of correspondence with the
- 391 -
manual handle pulse generator for rotation in a direction other than the tool
axis direction in tool tip center rotation handle feed/interrupt

[Data type] Integer
When tool tip center rotation handle feed/interrupt is performed,
this parameter sets the status of the manual handle feed axis
selection signals (HS1A to HS1E) for the first manual handle pulse
generator to perform rotation about one of the two rotation axes
that is not in the tool axis direction. (See the table showing the
correspondence between the parameter setting and the manual
handle feed axis selection signals in the description of parameter
No. 7551.)
The following table lists the axes subject to axis movement in
parameter Nos. 7554 and 7555 in different machine configurations.
Tool axis direction Rotation axis configuration 7554 7555
Z A, C C A
Z B, C C B
X A, B A B
manual handle pulse generator for tool axis direction tool length
compensation value modification

[Data type] Integer
A tool axis direction tool length compensation value can be modified by
setting the signal corresponding to the setting of this parameter as the
manual handle feed axis selection signals for the first manual handle
pulse generator, then rotating the first manual handle pulse generator
in the tool axis direction tool length compensation mode (G43.1). A
modified compensation value is canceled by a reset. (See the table of
- 392 -
7557 Distance from the center of tool rotation to the tool tip

[Data type] Real
table(A))
Set the distance from the center of rotation to the tool tip for tool tip
center rotation handle feed/interrupt and tool tip position display.
#7 #6 #5 #4 #3 #2 #1 #0
7558 HSS

[Data type] Bit
#6 HSS Specifies how to stop axis movement when the manual pulse generator is
rotated by three-dimensional handle feed at a speed greater than the
clamp speed then is stopped.
0: Stop after the amount of movement specified by the manual pulse
generator is made.
1: Stop immediately.
#7 #6 #5 #4 #3 #2 #1 #0
7611 DLT

[Data type] Bit
#7 DLT Specifies the timing of updating the number of manual interrupt pulses
and the travel distance on the display screen when the tool axis direction
tool length compensation value is changed.
0: When the execution of the next block to be buffered starts
1: Each time the manual pulse generator is turned
- 393 -
- Parameters under parallel axis control and twin table control

#7 #6 #5 #4 #3 #2 #1 #0
7540 PHH

[Data type] Bit
#1 PHH Specifies whether to perform two-head three-dimensional handle feed in

parallel axis control and twin table control.
0: Do not perform.
1: Perform.
When this parameter is set to 1, be sure to set parameter No. 7543.
7543 Three-dimensional handle feed head to which each axis belongs in parallel
axis control and twin table control

0: Not three-dimensional handle feed axis
1: Three-dimensional handle feed axis of head 1
NOTE
Set 0 when parallel axis control and twin table control are not
used.
When parallel axis control and twin table control are applied, the
following parameters must be set for each head.
Data No. Description
Head 1 Head 2
7514 7714 Tool axis direction
7515 7715 Axis number of a master rotation axis
7516 7716 Angular displacement of a rotation axis used for three-
dimensional handle feed and tool axis direction tool
length compensation
7517 7717 Offset value for the angular displacement of a rotation
axis used for three-dimensional handle feed and tool
axis direction tool length compensation
7518 7718 Origin offset value of a rotation axis used for three-
dimensional handle feed and tool axis direction tool
length compensation
7548 7760 Tool holder offset value for tool axis direction tool length
compensation
7551 7753 Value set for the manual handle feed axis selection
signals for the first manual pulse generator in the first
axis direction in tool axis normal direction handle
feed/interrupt
- 394 -
Data No. Description

Head 1 Head 2
signals for the first manual pulse generator in the
second axis direction in tool axis normal direction
handle feed/interrupt
signals for the first manual pulse generator in tool axis
direction handle feed/interrupt
signals for the first manual pulse generator for rotation
about the tool direction axis in tool tip center rotation
handle feed/interrupt
signals for the first manual pulse generator for rotation
about an axis other than the tool direction axis in tool tip
center rotation handle feed/interrupt
signals for the first manual pulse generator for tool axis
direction tool length compensation amount modification
7557 7759 Distance from the tool rotation center to tool tip
7714 Direction of the tool axis of head 2 in parallel axis control and twin table
control

[Data type] Integer
Enter the direction of the tool axis when the two rotation axes are at 0-degree
position.
1 X-axis
2 Y-axis
3 Z-axis
7715 Master axis number of the rotation axis of head 2 in parallel axis control and
twin table control

[Data type] Integer
With a machine configured to have no axis rotated in the tool axis
direction, set the axis number of a rotation axis that functions as the
master axis. Set 0 in this parameter for a machine configuration that
involves no master axis. For information about the master axis, see the
description of parameter No. 7515.
- 395 -
7716 Angular displacement of the rotation axis of head 2 in parallel axis control
and twin table control

table(A))
When the three-dimensional handle feed function or the tool axis
direction tool length compensation function is used, set the coordinate of
a rotation axis, among the rotation axes used for tool axis direction
determination, which is not controlled by the CNC. This parameter is
No. 1014.
7717 Offset value for the angular displacement of the rotation axis of head 2 in
parallel axis control and twin table control

table(A))
dimensional handle feed function or the tool axis direction tool length
compensation function to shift the direction of movement.
7718 Origin offset value of the rotation axis of head 2 in parallel axis control and
twin table control

table(A))
Set the amount of rotation shifted from the origin of the rotation when
the three-dimensional handle feed function or the tool axis direction tool
length compensation function is used.
- 396 -
7753 Value to be set for the manual handle feed axis selection signals for the first
manual handle pulse generator in the first axis direction for tool axis normal
direction handle feed/interrupt of head 2 in parallel axis control and twin
table control

[Data type] Integer
When a movement is made by the handle in the first axis direction (first
axis when counting X(U), Y(V), and Z(W) in this order) in the plane that
is perpendicular to the direction of the tool axis, among the three basic
axes, which is set in parameter No. 7714, set the state of the manual
handle feed axis selection signals (HS1A to HS1E) for the first manual
handle pulse generator. (See the table of correspondence with the
NOTE
When 0 is set, tool axis normal direction handle feed is disabled.
However, set 0 in this parameter when parallel axis control and
twin table control are not used.
7754 Value to be set for the handle feed axis selection signals for the first manual
handle pulse generator in the second axis direction for tool axis normal
direction handle feed/interrupt of head 2 in parallel axis control and twin
table control

[Data type] Integer
When a movement is made by the handle in the second axis direction
(second axis when counting X(U), Y(V), and Z(W) in this order) in the
plane that is perpendicular to the direction of the tool axis, among the
three basic axes, which is set in parameter No. 7714, set the state of the
manual handle feed axis selection signals (HS1A to HS1E) for the first
manual handle pulse generator. (See the table of correspondence with
the manual handle feed axis selection signals of parameter No. 7551.)
NOTE
When 0 is set, tool axis normal direction handle feed is disabled.
- 397 -
handle pulse generator for tool axis direction handle feed/interrupt of head 2
in parallel axis control and twin table control

[Data type] Integer
HS1E) for the first manual handle pulse generator when tool axis
direction handle feed is performed. When the manual handle feed axis
selection signals for the first manual handle pulse generator is set to the
state set in this parameter in the three-dimensional handle feed mode,
turning the first manual handle pulse generator performs tool axis
direction handle feed operation. (See the table of correspondence with
the manual handle feed axis selection signals of parameter No. 7551.)
NOTE
When 0 is set, tool axis direction handle feed is disabled.
handle pulse generator for tool axis direction rotation of the tool tip center of
head 2 in parallel axis control and twin table control

[Data type] Integer
HS1E) for the first manual handle pulse generator when one of the two
rotation axes of head 2 rotates in the tool axis direction. (See the table
of correspondence with the manual handle feed axis selection signals of
NOTE
When 0 is set, tool tip center rotation handle feed is disabled.
- 398 -
handle pulse generator for rotation in a direction other than the tool axis
direction of the tool tip center of head 2 in parallel axis control and twin table
control

[Data type] Integer
When rotation is performed about one of the two rotation axes of head 2 that is not
in the tool axis direction, this parameter sets the status of the manual handle feed
axis selection signals (HS1A to HS1E). (See the table showing the
correspondence between the parameter setting and the manual handle feed axis
selection signals in the description of parameter No. 7551.)
The following table lists the axes subject to axis movement in parameter Nos. 7756
and 7757 in different machine configurations.
Tool axis direction Rotation axis configuration 7756 7757

Z A,C C A
Z B,C C B
X A,B A B
NOTE
When 0 is set, tool tip center rotation handle feed is disabled.
- 399 -
7758 Value to be set for the manual handle feed axis selection signals for the first
manual handle pulse generator for modification to the tool axis direction tool
length compensation value of head 2 in parallel axis control and twin table
control

[Data type] Integer
In the tool axis direction tool length compensation mode (G43.1), set the
signal corresponding to the setting of this parameter as the manual
handle feed axis selection signals for the first manual handle pulse
generator, then turn the first manual handle pulse generator. The tool
axis direction tool length compensation value is then modified. The
modified compensation value is canceled by a reset. (See the table of
NOTE
When 0 is set, tool axis direction tool length compensation value
modification is disabled.
7759 Distance from the tool rotation center of head 2 to the tool tip in parallel axis
control and twin table control

[Data type] Real
table(A))
Set the distance from the tool rotation center to the tool tip for tool tip
center rotation handle feed/interrupt and tool tip position display.
- 400 -
7760 Tool holder offset value for tool axis direction tool length compensation of
head 2 in parallel axis control and twin table control

[Data type] Real
table(A))
used.
Reference item
Series15i/150i-MB Operator’s Manual II-3.9 Three dimensional
(Operation) handle feed
(B-63784EN-1)
- 401 -
3.5.1 Control Point Compensation in Three-dimensional Handle

Feed
Overview
Control point compensation in three-dimensional handle feed permits
three-dimensional handle feed even in machine configurations such as
those described below. For an explanation of machine configuration
examples, refer to Section 10.4.11 in the Connection Manual
(Functions).
(1) The two rotation axes have different centers of rotation.
(2) Spindle center compensation is performed.
In the respective configurations, by setting the center-of-rotation
compensation vector for the two rotation axes in parameter No. 7519
and the spindle center compensation vector in parameter No. 7520,
three-dimensional handle feed can be performed in the same way as
that for conventional three-dimensional handle feed.
For example, three-dimensional handle feed is possible in a machine

configuration in which the center of rotation of the first axis is identical
to that of the second but the center of rotation of the spindle is not
identical to that of the first axis, such as that shown in the figure below.
Center of rotation of axis C =
Center of rotation of axis B

B
Center of rotation of spindle
Spindle center compensation vector
Parameter No. 7520
Spindle center
Tool holder offset
Parameter No. 7548
X B
Fig. 3.5.1(a) Machine configuration in which the center of rotation of the

spindle differs from that of the first axis
- 402 -
Similarly, tool direction tool length compensation and tool head

position control are possible with "control point compensation in tool
length compensation along the tool axis and tool head position control"
even in a machine configuration such as that shown above.
For the following three-dimensional handle feed functions, the same

formulas as those for conventional three-dimensional handle feed are
used to determine the travel distance: "handle feed along the tool axis,"
"handle feed perpendicular to the tool axis," and "tool length
compensation change along the tool axis."
Only for "rotational handle feed around the center of the tool tip," the
formulas have partially been changed.
The formulas for determining the tool head coordinates on the tool
head coordinate display screen have been changed in all handle modes.
Control point compensation in tool head center rotation handle feed

If the tool head center rotation handle mode is selected and the tool is
rotated about a rotation axis (either axis A or B, or axis C) using the
manual pulse generator, the tool moves along the X-, Y-, and Z-axes in
such a way that the tool head position does not change due to the
rotation about this rotation axis.
The operating instructions are the same as those for conventional tool
head center rotation handle feed.
- Pulses to be distributed for each axis

For control point compensation in tool head center rotation, the
movement along the linear axes (Xp, Yp, Zp), determined using one of
the formulas given below, is output at the same time as the rotation
about the rotation axis. As a result, the tool head position hardly
changes. (For high-speed rotation about a rotation axis, the tool head
may change.)
Depending on the machine configuration, the pulses to be distributed
for each axis due to control point compensation in tool head center
rotation handle feed/interrupt will be as follows:
- Variables in the formulas

The variables in the formulas given below represent the following:
<Xp,Yp,Zp> : Total number of handle feed pulses for each axis
Hp : Total number of handle feed command pulses
A,B,C : Machine position on axes A, B, and C
<Jx,Jy,Jz> : Center-of-rotation compensation vector (parameter No.
7519)
<Cx,Cy,Cz> : Spindle center compensation vector (parameter No.
7520)
L : Distance from the tool's center of rotation to the tool
head
If DTH (bit 6 of parameter No. 7540) is 0,
L = Value of parameter No. 7557.
L = Value of parameter No. 7548 + Value of parameter No. 7557
This is true to head 2 in twin table control.
- 403 -
- If the rotation axis is B or C (the tool direction is Z)

Z
Bp
Zp T1
Yp
T2
B
Xp C
X Cp
T1: Tool's center-of-rotation position
T2: Tool's center-of-rotation position after movement
Bp, Cp: Amount of rotation about the rotation axis
Travel distance along the linear axes

é Xp ù écos(C + Cp ) − sin(C + Cp) 0ùæ é cos( B + Bp) 0 sin( B + Bp) ù é Cx ù é Jx ù ö
ê Yp ú = ê sin(C + Cp) cos(C + Cp) 0úç ê 0 1 0 ú ê Cy ú + ê Jy ú ÷ −
ê ú ê úç ê úê ú ê ú÷
ëê Zp ûú ëê 0 0 1 úûè êë− sin( B + Bp) 0 cos( B + Bp)ûú ëê L + Cz ûú ëê Jz ûú ÷ø
ç
écos C − sin C 0 ù æ é cos B 0 sin B ù é Cx ù é Jx ù ö

ê sin C ç ÷
ê cos C 0 úú ç êê 0 1 0 úú êê Cy úú + êê Jy úú ÷
ëê 0 0 1 ûú çè ëê − sin B 0 cos B ûú ëê L + Cz ûú ëê Jz ûú ÷ø
Amount of rotation about the rotation axis

Bp=Hp or Cp=Hp
- 404 -
- If the rotation axis is A or C (the tool direction is Z)

Z
Ap
Zp T1
Yp
T2
A
C
Xp
X Cp
T2: Tool's center-of-rotation after movement
Ap, Cp: Amount of travel about the rotation axis

é Xp ù écos(C + Cp ) − sin(C + Cp ) 0ùæ é1 0 0 ù é Cx ù é Jx ù ö
ê Yp ú = ê sin(C + Cp ) cos(C + Cp) 0úç ê0 cos( A + Ap) − sin( A + Ap)ú ê Cy ú + ê Jy ú ÷ −
ëê Zp ûú ëê 0 0 1úûçè êë0 sin( A + Ap) cos( A + Ap) ûú ëê L + Cz ûú ëê Jz ûú ÷ø
écos C − sin C 0ù æ é cos A 0 sin A ù é Cx ù é Jx ù ö
ê sin C ç ÷
ê cos C 0úú ç êê 0 1 0 úú êê Cy úú + êê Jy úú ÷
êë 0 0 1 úû çè êë− sin A 0 cos Aúû êë L + Cz úû êë Jz úû ÷ø

Ap=Hp or Cp=Hp
- 405 -
- If the rotation axis is A or B (the tool direction is X)

X
Bp
Xp T1
Zp
T2
B
A
Yp
Y Ap
Ap, Bp: Amount of rotation about the rotation axis

é Xp ù é1 0 0 ùæ é cos( B + Bp) 0 sin( B + Bp) ù é L + Cx ù é Jx ù ö
ê Yp ú = ê0 cos( A + Ap) − sin( A + Ap)úç ê 0 1 0 ú ê Cy ú + ê Jy ú ÷ −
êë Zp úû êë0 sin( A + Ap) cos( A + Ap) úûçè êë− sin( B + Bp) 0 cos( B + Bp)úû êë Cz úû êë Jz úû ÷ø
é1 0 0 ùæ é cos B 0 sin B ù é L + Cx ù é Jx ù ö
ê0 cos A − sin Aúç ê 0 1 0 úú êê Cy úú + êê Jy úú ÷
÷
ê úç ê
êë0 sin A cos A ûúçè ëê− sin B 0 cos B ûú ëê Cz ûú ëê Jz ûú ÷ø

Ap=Hp or Bp=Hp
- 406 -
- If the rotation axis is A or B (axis A is the master and the tool direction is Z)
Z
B+Bp
B
A+Ap Zp
A
T1
T2
Yp
Xp
Ap, Bp: Amount of rotation about the rotation axis

é Xp ù é1 0 0 ùæ é cos( B + Bp) 0 sin( B + Bp) ù é Cx ù é Jx ù ö
ê Yp ú = ê0 cos( A + Ap) − sin( A + Ap)úç ê 0 1 0 ú ê Cy ú + ê Jy ú ÷ −
êë Zp úû êë0 sin( A + Ap) cos( A + Ap) úûçè êë− sin( B + Bp) 0 cos( B + Bp)úû êë L + Cz úû êë Jz úû ÷ø
é1 0 0 ù æ é cos B 0 sin B ù é Cx ù é Jx ù ö
ê0 cos A − sin Aú ç ê 0 1 0 úú êê Cy úú + êê Jy úú ÷
÷
ê úç ê
êë0 sin A cos A úû çè êë − sin B 0 cos B úû êë L + Cz úû êë Jz úû ÷ø

Ap=Hp or Bp=Hp
- 407 -
- If the rotation axis is A or B (axis B is the master and the tool direction is Z)
Z
A+Ap
A
B+Bp
Zp
B
T1 T2
Xp
Yp
AP, Bp: Amount of rotation about the rotation axis

é Xp ù écos( B + Bp) 0 sin( B + Bp) ùæ é1 0 0 ù é Cx ù é Jx ù ö
ê Yp ú = ê 0 1 0 úç ê0 cos( A + Ap) − sin( A + Ap)ú ê Cy ú + ê Jy ú ÷ −
ê ú ê ç
ú ê úê ú ê ú÷
êë Zp úû êë sin( B + Bp) 0 cos( B + Bp)úûçè êë0 sin( A + Ap) cos( A + Ap) úû êë L + Cz úû êë Jz úû ÷ø
écos B 0 sin B ùæ é1 0 0 ù é Cx ù é Jx ù ö
ê 0 1 0 úç ê0 cos A − sin Aú ê Cy ú + ê Jy ú ÷
ê ç
ú ê úê ú ê ú÷
êë sin B 0 cos B úûçè êë0 sin A cos A úû êë L + Cz úû êë Jz úû ÷ø

Ap=Hp or Bp=Hp
- 408 -
Tool head coordinate display

The absolute coordinates of the tool head that result from control point
compensation in tool direction handle feed, tool axis perpendicular
handle feed, and tool head center rotation handle feed are displayed, as
well as the actual speed. They are displayed even during a manual
interrupt.
For tool head coordinate display, the coordinates relative to the current
position coordinates on the respective axes are calculated and
displayed by setting the distance from the tool's center of rotation to the
tool head in parameter No. 7557.
If DTH (bit 6 of parameter No. 7540) is 1, the distance from the tool's
center of rotation to the tool head is equal to the value of parameter No.
7557 plus the value of parameter No. 7548.
- Formulas for tool head coordinate display

The tool head coordinates displayed are those relative to the current
position coordinates on the respective axes that are determined using
the following formulas according to the machine configuration.
The variables in the formulas given below represent the following:
<Xd,Yd,Zd> : Tool head position
X,Y,Z,A,B,C : Coordinates of the current position on the respective
axes that are relative to the origin of the workpiece
coordinate system
<Jx,Jy,Jz> : Center-of-rotation compensation vector (parameter No.
7519)
<Cx,Cy,Cz> : Spindle center compensation vector (parameter No.
No.7520)
<Sx,Sy,Sz> : Shift vector
L : Distance from the tool's center of rotation to the tool
head
L = Value of parameter No.7557.
L = Value of parameter No. 7548 + Value of parameter No. 7557.
This is true to head 2 in twin table control.
- 409 -
- Formulas for tool head coordinate display for each machine configuration
(1) If the rotation axis is B or C and the tool direction is Z

é Xd ù é X ù écos(C ) − sin(C ) 0ùæ é cos( B ) 0 sin( B ) ù é Cx ù é Jx ù ö é Sx ù
ê Yd ú = ê Y ú − ê sin(C ) cos(C ) 0úç ê 0 1
÷
0 úú êê Cy úú + êê Jy úú ÷ − êê Sy úú
ê ú ê ú ê úç ê
êë Zd úû êë Z úû êë 0 0 1úûçè êë− sin( B ) 0 cos( B )úû êë L + Cz úû êë Jz úû ÷ø êë Sz úû
(2) If the rotation axis is A or C and the tool direction is Z

é Xd ù é X ù écos(C ) − sin(C ) 0ùæ é1 0 0 ù é Cx ù é Jx ù ö é Sx ù
ê Yd ú = ê Y ú − ê sin(C ) cos(C ) 0úç ê0 cos( A) − sin( A)ú ê Cy ú + ê Jy ú ÷ − ê Sy ú
ê ú ê ú ê ç
ú ê úê ú ê ú÷ ê ú
êë Zd úû êë Z úû êë 0 0 1úûçè êë0 sin( A) cos( A) úû êë L + Cz úû êë Jz úû ÷ø êë Sz úû
(3) If the rotation axis is A or B and the tool direction is X

é Xd ù é X ù é1 0 0 ùæ é cos( B) 0 sin( B ) ù é L + Cx ù é Jx ù ö é Sx ù
ê Yd ú = ê Y ú − ê0 cos( A) − sin( A)úç ê 0 1
÷
0 úú êê Cy úú + êê Jy úú ÷ − êêSy úú
êë Zd úû êë Z úû êë0 sin( A) cos( A) úûçè êë− sin( B ) 0 cos( B)úû êë Cz úû êë Jz úû ÷ø êë Sz úû
(4) If the rotation axis is A or B. the tool direction is Z, and axis A is

the master axis
é Xd ù é X ù é cos( B ) 0 sin( B ) ùæ é1 0 0 ù é Cx ù é Jx ù ö é Sx ù
ê Yd ú = ê Y ú − ê 0 çê ÷
ê ú ê ú ê 1 0 úç ê0 cos( A) − sin( A)úú êê Cy úú + êê Jy úú ÷ − êêSy úú
ú
êë Zd úû êë Z úû êë− sin( B) 0 cos( B)úûçè êë0 sin( A) cos( A) úû êë L + Cz úû êë Jz úû ÷ø êë Sz úû
(5) If the rotation axis is A or B. the tool direction is Z, and axis B is

the master axis
é Xd ù é X ù é1 0 0 ùæ é cos( B ) 0 sin( B ) ù é Cx ù é Jx ù ö é Sx ù
ê Yd ú = ê Y ú − ê0 cos( A) − sin( A)úç ê 0 1
÷
0 úú êê Cy úú + êê Jy úú ÷ − êêSy úú
ç ÷
ëê Zd ûú êë Z ûú ëê0 sin( A) cos( A) ûúè ëê− sin( B) 0 cos( B)ûú ëê L + Cz ûú ëê Jz ûú ø ëê Sz ûú
- 410 -
Parameters
- Parameters related to control point compensation
7519 Center-of-rotation compensation vector for tool direction tool length

compensation
[Input section] Parameter input

[Data type] Real axis type
[Minimum data unit] Follows the increment system of the relevant axis.
[Valid data range] 9 digits of the least input increment. (See the standard parameter
setting table (A).)
(-999999.999 to +999999.999 for the IS-B)
In the tool direction tool length compensation function, tool head position control
function, and three-dimensional handle feed function, set the vector from the center
of the first rotation axis to the center of the second rotation axis.
7520 Spindle center compensation vector for tool direction tool length
compensation

setting table (A).)
(-999999.999 to +999999.999 for the IS-B)
In the tool diection tool length compensation function, tool head position control
function, and three-dimensional handle feed function, set the spindle center
compensation vector.
#7 #6 #5 #4 #3 #2 #1 #0
7540 SVC SBP

[Data type] Bit type
#4 SBP In the tool direction tool length compensation function, tool head position
control function, and three-dimensional handle feed function, the control
point shift is:
0: Automatically calculated.
1: Determined from parameter No. 7745.
- 411 -
#5 SVC In the tool direction tool length compensation function, tool head position
control function, and three-dimensional handle feed function, the control
point is:
0: Not shifted.
1: Shifted.
The method of shifting can be specified with SBP (bit 4 of parameter No. 7540).
7719 Center-of-rotation compensation vector for head 2 in parallel axis control and
twin table control

[Minimum data unit] Follows the increment sytem of the relevant axis.
setting table (A).)
(-999999.999 to +999999.999 for the IS-B)
function, and three-dimensional handle feed function, set the vector from the center
of the first rotation axis to the center of the second rotation axis.
7738 Spindle center compensation vector for head 2 in parallel axis control and
twin table control

setting table (A).)
(-999999.999 to +999999.999 for the IS-B)
function, and three-dimensional handle feed function, set the spindle center
compensation vector.
- 412 -
7745 Shift vector for tool direction tool length compensation

setting table (A).)
(-999999.999 to +999999.999 for the IS-B)
function, and three-dimensional handle feed function, set the shift vector for the
control point. This parameter is effective when SVC (bit 5 of parameter No. 7540)
and SBP (bit 4 of parameter No. 7540) are both 1.
7746 Shift vector for tool direction tool length compensation for head 2 in parallel
axis control and twin table control

setting table (A).)
(-999999.999 to +999999.999 for the IS-B)
function, and three-dimensional handle feed function, set the shift vector for the
control point. This parameter is effective when SVC (bit 5 of parameter No. 7540)
and SBP (bit 4 of parameter No. 7540) are both 1.
Reference item
FANUC Series Connection Manual 10.4.11 Control point
15i/150i-MB (Functions) compensation in tool
(This manual) direction tool length
compensation/tool head
position control
- 413 -
3.6 MANUAL INTERRUPTION FUNCTION FOR THREE-

DIMENSIONAL COORDINATE CONVERSION
When the handle of the manual pulse generator is rotated in the three-
dimensional coordinate conversion mode, this function adds the travel
distance specified by the manual pulse generator to the travel distance
during automatic operation.
This addition is performed for the new (converted) three-dimensional
coordinate component (programmed coordinate system) in the
direction of the axis selected for manual feed using the manual pulse
generator.
Z Z Z'
Y Y
X' Y'
X X
Coordinate system Converted coordinate system

to be converted
(When the Z-axis is selected, the travel
distance is added to the Z'-axis as shown
in the figure above.)
Fig. 3.6 (a) For the three basic axes
- 414 -
Explanations
- Interruption
This function performs interruption only when all the conditions in 1 to
8 are met.
1 During simultaneous manual and automatic operation mode
(including manual interruption using the manual pulse generator)
2 During three-dimensional coordinate conversion (i.e. while
blocks G68 to G69 are being executed.)
3 During cutting mode (i.e. while blocks from a G code for cutting,
such as G01, G02, or G03, to G00 are being executed.)
4 When parking along the feed axis is not enabled (i.e. when PKn
for the feed axis is “0”.)
5 When the machine moves along the three axes selected for three-
dimensional coordinate conversion
6 When the axis for which the function performs interruption is a
master axis under parallel axis control (in this case, no slave axes
are converted).
7 When feed in the tool axis direction or the direction perpendicular
to the tool axis or rotation around the tool tip center is not selected
for the manual operation or the manual interruption using the
manual pulse generator when the ALNGH, RGHTH, and RNDH
input signals are all “0”.
8 While the playback function is not being executed
The result of adding the feedrate in the three-dimensional coordinate

conversion mode is not permitted to exceed the maximum cutting speed
for each axis.
- Manual interruption and the coordinate system

When this function is effective, the current position in the workpiece
coordinate system does not depend on the travel distance specified
during manual interruption using the manual pulse generator. The
current position is therefore not updated even when the manual pulse
generator is rotated. Each current position in the machine coordinate
system and in the relative coordinate system depends on the travel
distance specified during manual interruption. As shown in Fig. 3.6(a),
the travel distance is added along the Z'-axis. The travel distance is
displayed using the X, Y, and Z coordinates of the coordinate system to
be converted. The travel distance specified by this function can be
monitored on the manual overlap screen. The bit 0 (DMK( bit of
parameter 2208 specifies whether the travel distance is displayed on
the manual overlap screen using the coordinate system before (X, Y,
Z)or after (X’, Y’, Z’) three-dimensional coordinate conversion.
- 415 -
Signal
Three-dimensional coordinate conversion manual interrupt enable/disable switch signal

NOT3DM<G157#7>
[Function] Enables or disables the three-dimensional coordinate conversion
manual interrupt function.
[Operation] When this signal is set to 0, the three-dimensional coordinate
conversion manual interrupt function is enabled. When this signal is
set to 1, the three-dimensional coordinate conversion manual interrupt
function is disabled.
Three-dimensional coordinate conversion manual interrupt mode in-progress signal

3DMI<F157#5>
[Function] Posts notification of the three-dimensional coordinate conversion
manual interrupt state.
[Output condition] This signal is set to 1 when all of the following conditions are satisfied:
1. Simultaneous automatic and manual operation mode (including
handle interrupt) is set.
2. Three-dimensional coordinate conversion mode (that is, from
execution of a G68 block to execution of a G69 block) is set.
3. A cutting mode (G code mode for cutting such as G01, G02, or
G03) is set.
4. None of the tool axis direction, tool axis right-angle direction, and
tool tip center rotation three-dimensional handle feed/interrupt
functions is selected.
5. Playback is not being performed.
6. Three-dimensional coordinate conversion manual interrupt
enable/disable switch signal NOT3DM is set to 0.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G157 NOT3DM
F157 D3MI
- 416 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2208 DMK

[Data type] Bit
#0 DMK Specifies whether the manual overlap screen is displayed with the
program coordinate system or workpiece coordinate system.
0: Program coordinate system (coordinate system after conversion)
1: Workpiece coordinate system (coordinate system before conversion)
Reference item
(Operation) coordinate manual
(B-63784EN-1) handle feed
- 417 -
3.7 MANUAL NUMERIC COMMAND
General
The manual numeric command function allows data programmed by
MDI to be executed in the jog mode. Whenever the system is ready for
jog feed, a manual numeric command can be executed. The following
eight functions are supported:
(1) Positioning (G00)
(2) Linear interpolation (G01)
(3) Automatic reference position return (G28)
(4) 2nd, 3rd or 4th reference position return (G30)
(5) M codes (miscellaneous functions)
(6) S codes (spindle functions)
(7) T codes (tool functions)
(8) B codes (second auxiliary function)
Explanation
- Positioning
The amount of travel is given as a numeric value, preceded by an
address such as X, Y or Z. This is always regarded as being an
incremental command, regardless of whether G90 or G91 is specified.
The tool moves along each axis independently at the rapid traverse rate.
Linear interpolation type positioning (when the tool path is linear) can
also be performed by setting bit 4 (LRP) of parameter No. 1400.
Manual rapid traverse selection switch
OFF ON
Feedrate Jog feedrate for each axis Rapid traverse for each
(parameter) (No. 1423) axis (No. 1420)
Exponential acceleration/ Linear acceleration/
Automatic
deceleration in jog feed for deceleration in rapid
acceleration/deceler
each axis traverse for each axis
ation (parameter)
(No. 1624) (No. 1620)
Override Manual feed override Rapid traverse override
NOTE
When manual rapid traverse selection signal RT is
set to 0, the jog feedrate along each axis is clamped
to the feedrate set in each of the following
parameters according to the setting of bit 4 (LRP) of
parameter No.1400:
When bit 4 (LRP) of parameter No. 1400 = 0: Jog
feedrate along each axis (parameter No. 1423)
When bit 4 (LRP) of parameter No. 1400 = 1: Rapid
traverse rate along each axis (parameter No. 1420)
- 418 -
- Linear interpolation (G01)

The amount of travel is given as a numeric value, preceded by an
address such as X, Y or Z. This is always regarded as being an
incremental command, regardless of whether G90 or G91 is specified.
Axial movements are always performed in the incremental mode even
during scaling or polar coordinate interpolation. In addition, movement
is always performed in feed per minute mode, regardless of whether
G94 or G95 is specified.
Feedrate (parameter) Dry run speed (No. 1410)

Exponential acceleration/
Automatic acceleration/
deceleration in cutting feed for each
deceleration (parameter)
axis (No. 1622)
Override Manual feed override
NOTE
Since the feedrate is always set to the dry run feedrate,
regardless of the setting of the dry run switch, the
feedrate cannot be specified using F.
The feedrate is clamped so that the maximum cutting
feedrate, set in parameter No. 1422, is not exceeded.
- Automatic reference position return (G28)

The tool returns directly to the reference position without passing
through any intermediate points, regardless of the specified amount of
travel. For axes for which no move command is specified, however, a
return operation is not performed.
Feedrate (parameter) Rapid traverse rate (No. 1420)

Linear acceleration/
deceleration in rapid traverse for
each axis (No. 1620)
Override Rapid traverse override
- 2nd, 3rd or 4th reference position return (G30)

The tool returns directly to the 2nd, 3rd or 4th reference position
without passing through any intermediate points, regardless of the
specified amount of travel. To select a reference point, specify P2, P3
or P4 in address P. If address P is omitted, a return to the 2nd reference
position is performed.
Feedrate (parameter) Rapid traverse rate (No. 1420)

Linear acceleration/
deceleration in rapid traverse for
each axis (No. 1620)
Override Rapid traverse override
- 419 -
NOTE
The 2nd, 3rd or 4th reference position return
function is optional. If this option is not selected, the
warning "FORMAT ERROR" is generated, and G30
cannot be entered. If neither of P2, P3 or P4 are
specified in address P when this option is selected, a
"START IMPOSSIBLE" warning is generated, and
the entered data cannot be executed.
- M codes (miscellaneous functions)

After address M, specify a numeric value of no more than the number
of digits specified by parameter No. 2030.
NOTE
Neither subprogram calls nor custom macro calls can
be performed using M codes.
- S codes (spindle functions)

After address S, specify a numeric value of no more than the number of
digits specified by parameter No. 2031.
NOTE
Subprogram calls cannot be performed using S codes.
- T codes (tool functions)

After address T, specify a numeric value of no more than the number of
NOTE
Subprogram calls cannot be performed using S codes.
- B codes (second auxiliary functions)

After address B, specify a numeric value of no more than the number of
- Constant surface speed control

S codes cannot be specified in the constant surface speed control mode.
- M, S, T, B functions
Manual numeric commands can be executed while automatic operation
is halted. In the following cases, however, a "START IMPOSSIBLE"
warning is output, and command execution is disabled.
(1) When an M, S, T or B function is already being executed, a
manual numeric command containing an M, S, T or B function
cannot be executed.
(2) When an M, S, T or B function is already being executed, and that
function alone is specified or a block specifying that function also
contains another function (such as a move command or dwell
function) which has already been executed, a manual numeric
command cannot be executed.
- 420 -
- Jog feed
When a manual numeric command is specified while the tool is being
moved along an axis by using a feed axis and direction selection switch,
the axial movement is interrupted, and the manual numeric command is
executed. For this reason, the tool cannot be moved along an axis by
using a feed axis and direction selection switch during execution of a
manual numeric command.
- Mirror image
Mirror image cannot be applied in the direction of the specified axis
movement.
- Indexing of the index table and chopping

Commands cannot be specified for an axis along which operation is
being performed during indexing or chopping.
If such an axis is specified for execution, a "START IMPOSSIBLE"
warning is generated.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2000 STJ

[Data type] Bit
#2 STJ The signal indicating that automatic operation is being activated

(STL) :
0: Not output during operation by manual numeric commands.
1: Output during operation by manual numeric commands.
Reference item
Series15i/150i-MB Operator’s Manual II-3.6 Manual numeric
(Operation) command
(B-63784EN-1)
- 421 -
3.8 MANUAL ARBITRARY-ANGLE FEED
This function allows a tool to be manually moved in any direction in

any plane. Since the feedrate, feed direction, and feed plane can be
changed at any time, simple surface cutting can be performed
manually.
Explanation
- Selecting a plane
The first and second axes of a plane of manual arbitrary-angle feed are
specified by signals input from external devices.
- Specifying a feed direction

The direction of manual arbitrary-angle feed is specified by a signal
input from external devices. The feed direction can be specified within
a range of 0 to 360 degrees in units of 1/16 degrees. The angle is
specified as shown below. If an angle greater than 360 degrees is
specified, the CNC internally normalizes the angle to an equivalent
angle of up to 360 degrees. The feed direction can be freely changed
during manual arbitrary-angle feed. When the feed direction is
changed, a move command of the new direction is executed
immediately without performing an in-position check.
Positive direction
of the second axis
90°
Positive direction
of the first axis
180° 0°
270°
- Specifying a feedrate
A feedrate for manual arbitrary-angle feed (speed in the tangential
direction) is specified by means of a jog feedrate setting dial. The
feedrate corresponding to the 100% position of the dial is specified in
parameter 1411.
- Starting and stopping manual arbitrary-angle feed

While a manual arbitrary-angle feed signal is held at 1, manual
arbitrary-angle feed is performed. Two types of manual arbitrary-angle
feed signals are supported. One signal causes movement in a specified
direction, while the other signal causes movement in the opposite
direction (180 degrees removed from the specified direction).
- 422 -
Signal
The signals listed below are used with manual arbitrary-angle feed.
Type of selection Signal symbol
Mode selection AGJ,-AGJ
Selection of axes along which the tool is to AJP1A, AJP1B, AJP1C, AJP1D,
be moved AJP2A, AJP2B, AJP2C, AJP2D
Selection of tool movement direction AJSTB, AJA0-AJA12
Selection of tool movement orientation +AJ, -AJ
Selection of a travel distance
Selection of feedrate *JV0-*JV15
For the mode selection signals, see Section 2.6. A feedrate can be
selected in the same way as for jog feed and increment feed. See
Section 3.1.
Manual arbitrary-angle feed axis selection signal

AJP1A, AJP1B, AJP1C, AJP1D, AJP2A, AJP2B, AJP2C, AJP2D<G18>
[Function] Selects axes (plane) along which the tool is moved by manual
arbitrary-angle feed. Manual arbitrary-angle feed can be performed on
a plane determined by two arbitrary axes. Select the two axes that
define a desired plane.
To select the first and second axes, two combinations of signals are
used; each combination consists of code signals A, B, C, and D. A
number after AJP of a selection signal name indicates whether the
signal is used for selection of the first plane axis or second plane axis.
AJPxA
x 1:Selection of the first plane axis for manual arbitrary-angle feed
2 :Selection of the second plane axis for manual arbitrary-angle feed
:
An axis is selected according to codes A, B, C, and D, as indicated
below.
Manual arbitrary-angle feed axis selection Axis
AJPnD AJPnC AJPnB AJPnA
0 0 0 0 (Use prohibited)
0 0 0 1 First axis
0 0 1 0 Second axis
0 0 1 1 Third axis
0 1 0 0 Fourth axis
0 1 0 1 Fifth axis
0 1 1 0 Sixth axis
0 1 1 1 Seventh axis
1 0 0 0 Eighth axis
1 0 0 1 Ninth axis
1 0 1 0 Tenth axis
1 0 1 1 Eleventh axis
1 1 0 0 Twelfth
1 1 0 1 Thirteenth
1 1 1 0 Fourteenth
1 1 1 1 Fifteenth
- 423 -
To perform manual arbitrary-angle feed on the XY plane (X-axis: First

controlled axis, Y-axis: Second controlled axis), for example, make
the following selection:
AJP2D AJP2C AJP2B AJP2A AJP1D AJP1C AJP1B AJP1A

0 0 1 0 0 0 0 1
Second plane axis = Second controlled First plane axis = First controlled axis (X)
axis (Y)
Manual arbitrary-angle feed direction selection signal

AJSTB<G017#7>, AJA0-AJA12 <G016, G017#0-#4>
[Function] Selects the direction of manual arbitrary-angle feed. Specify an
absolute (not incremental) angle ( ), assuming that the + direction of the
first plane axis to be 0 degrees, the + direction of the second axis to be
90 degrees, the - direction of the first axis to be 180 degrees, and the -
direction of the second axis to be 270 degrees.
This input signal consists of code signals (AJA0 to AJA12) used for
angle specification, and a strobe signal (AJSTB) used for reporting that
the code signal is valid. The code signals for angle selection are related
to a selected angle as follows:
12
Angle (degrees) = 1 / 16 × å{2
i =0
i
× Vi }
When AJAi is set to 0, Vi equals 0.

When AJAi is set to 1, Vi equals 1.
This means that each signal has a weight as indicated below.
Signal Weight (degrees)
AJA0 1/16
AJA1 1/8
AJA2 1/4
AJA3 1/2
AJA4 1
AJA5 2
AJA6 4
AJA7 8
AJA8 16
AJA9 32
AJA10 64
AJA11 128
AJA12 256
[Operation] The CNC reads an angle when strobe signal AJSTB is set to 1. After
being read, an angle is held until AJSTB is set to 1 again. During
manual arbitrary-angle feed in a given direction, the direction may be
changed. If a new angle is specified, the direction is changed according
to the new angle.
NOTE
If an angle greater than 360.0 degrees is specified,
the angle determined by subtracting 360.0 from the
specified angle is assumed.
- 424 -
Manual arbitrary-angle feed signal +AJ<G017#5>, -AJ<G017#6>

[Function] Moves the tool by manual arbitrary-angle feed. The +AJ signal feeds
the tool in the direction selected with the direction selection signal.
The -AJ signal feeds the tool in the direction opposite (by 180 degrees)
to the direction selected with the direction selection signal.
- If manual arbitrary-angle feed is possible, the tool is fed along the
two axes selected with the axis selection signals in the direction
(+JA) selected with the direction selection signal, or in the
opposite direction (-JA).
- While the feed signal is 1, the tool is fed. When the feed signal is
set to 0, the tool is stopped.
- A feedrate selected by overriding the jog feedrate is used. If rapid
traverse selection signal RT is set to 1, the maximum manual
feedrate is set; rapid traverse is not performed.
NOTE
1 If +AJ and -AJ are set to 1 at the same time, both are
ignored.
2 If the feed signal is set to 1 before the manual
arbitrary-angle feed mode is selected, the signal is
ignored. After manual arbitrary-angle feed mode is
set, the signal must be set to 0 and then back to 1.
3 If a reset occurs when the feed signal is 1, or if the
feed signal is set to 1 during a reset, the feed signal is
ignored even after the reset is cleared. After the
reset is cleared, the feed signal must be set to 0 and
then back to 1,
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G016 AJA7 AJA6 AJA5 AJA4 AJA3 AJA2 AJA1 AJA0
G017 AJSTB -AJ +AJ AJA12 AJA11 AJA10 AJA9 AJA8
G018 AJP2D AJP2C AJP2B AJP2A AJP1D AJP1C AJP1B AJP1A
- 425 -
Parameter
1411 Arbitrary manual angle feedrate

[Data type] Real
[Unit of data] mm/min, inch/min (machine unit)
Set the arbitrary manual angle feedrate for when the jogging feedrate
dial is turned to 100%. The unit of data depends on the increment
system of the basic axes.
Reference item
Series15i/150i-MB Operator’s Manual II-3.5 Manual arbitrary angle
(Operation) feed
(B-63784EN-1)
- 426 -
B-63783EN-1/01 4.REFERENCE POSITION ESTABLISHMENT
4 REFERENCE POSITION ESTABLISHMENT
- 427 -
4.REFERENCE POSITION ESTABLISHMENT B-63783EN-1/01
4.1 MANUAL REFERENCE POSITION RETURN
General
The tool is moved in the direction specified in parameter ZMI (bit 5 of
No. 1006) for each axis by turning the feed axis and direction select
signal to "1" in the manual reference position return mode, and is
returned to the reference position.
Manual reference position return is performed by using a grid method.

The reference position is based on an electrical grid, using on one-
rotation signals received from the position detector.
The following signals relate with the manual reference position return:
Mode selection J
Selection of reference position return ZRN, MZRN
Selection of axis to be moved
+J1, -J1, +J2, -J2, +J3, -J3, ...
Selection of direction to be moved
Selection of speed to be moved ROV1, ROV2
Deceleration signal for reference *DEC1, *DEC2, *DEC3, ...
position return
Reference position nearly signal *NZ1, *NZ2, *NZ3, ...
Completion signal for reference ZP1, ZP2, ZP3, ...
position return
Reference position establishment ZRF1, ZRF2, ZRF3, ...
signal
Second, Third and Fourth reference ZP21, ZP22, ZP23, ...
position return end signals ZP31, ZP32, ZP33, ...
ZP41, ZP42, ZP43, ...
Basic Procedure for Manual Reference Position Return
(1) Select the JOG mode or TEACH IN JOG mode, and set the
manual reference position return selection signal ZRN to "1".
(2) Feed a target axis toward the reference position by making an
appropriate feed axis and direction selection signal (+J1, -J1, +J2,
-J2,0) "1".
(3) While the feed axis and direction selection signal is "1", rapid
traverse takes place along that axis. Although the rapid traverse
override signals (ROV1, ROV2) are valid, the override is
generally set to 100%.
(4) When the reference position is approached, a limit switch
installed on the machine is turned on, making the deceleration
signal (*DEC1, *DEC2, *DEC3,0) for reference position
deceleration "0". Consequently, the feedrate is decelerated to 0,
then the tool is fed at a constant low speed (reference position
return FL feedrate specified by parameter (No. 1425) setting).
(5) When the deceleration signal turns to "1" again after the limit
switch for deceleration is passed, the tool is fed with the feedrate
unchanged, then the tool stops at the first grid point (electric grid
point).
- 428 -
(6) Upon confirmation that the current position is in the in-position

area, the reference position return end signal (ZP1, ZP2, ZP3,0)
and the reference position establishment signal (ZRF1, ZRF2,
ZRF3,0) turn to "1".
A step after the step (2) is performed for each axis independence.
If the feed axis direction selection signal (+J1, -J1, +J2, -J2,0) turns to
"0" between step (2) and (5) , the tool is stopped at once, and reference
position return is assumed to be canceled. If the signal turn to "1" again,
operation resumes from step (3) (rapid traverse).
The timing charts for the basic procedures are given below.
JOG mode
ZRN
+J1
*DEC1
............. . . . .
Grid
ZP1
ZRF1
Feedrate
Rapid traverse rate FL rate
Fig. 4.1 (a)
JOG mode
ZRN
+J1
*DEC1
*NZ1
Grid ............. . . . .
ZP1
ZRF1
Feedrate
Rapid traverse rate FL rate
Fig. 4.1 (b)
- 429 -
Installation conditions for deceleration limit switch

When installing the deceleration limit switch for manual reference
position return, ensure that following conditions are satisfied:
Deceleration limit Deceleration limit
operation position release position Reference position
LDA LDW
*DEC1
............. . . .
Grid
Feedrate
FL rate
Rapid traverse (VL)
rate (VR)
(1) LDW: Deceleration dog width (mm or inch)

æT ö
VR ç R + 30 + TS ÷ + 4VL × TS
L DW >
è 2 ø
60 × 1000
VR: Rapid traverse (mm/min or inch/min)
TR: Rapid traverse time constant (ms)
TS: Servo time constant (ms)
VL: FL speed for reference position return (mm/min or inch /min)
(2) LDA: Distance between deceleration limit switch released
position and reference position
LDA: Move amount of 1/2 revolution of motor
Since the above conditions do not include the limit switch operation
variations, this point must also be considered at installation.
- 430 -
Servo position error and one-rotation signal

To perform manual reference position return when the reference
position has not yet been established, the tool must be fed, in manual
reference position return mode, in the reference position return
direction at a speed so that the servo position error exceeds the value
set in parameter No. 1836. At this time, the tool must cross the grid line
corresponding to a one-rotation signal from the position detector.
The servo position error is calculated from the following formula:
F × 1000 1 1
Servo position error amount = × ×
60 G U
F: Feedrate
G: Servo loop gain [s-1]
U: Detection unit [mm]
(Example)
When the tool is fed at a feedrate F of 6000 mm/min with a servo
loop gain G of 30 s-1 and a detection unit U of 1 mm, the servo
position error is calculated as follows:
60 × 1000 1 1
Servo position error = × ×
60 30 1
= 3,333
By reversing the formula above, the following formula gives the
feedrate F needed to set the servo position error to 128 when the servo
loop gain G is 30 s-1 and the detection unit U is 1 mm:
128 × 60
F= × 30
1000
= 230 [mm/min]
Therefore, when the servo loop gain is 30 s-1, the detection unit is 1
mm, and parameter No. 1841 is set to 128, the tool must be fed in the
reference position return direction at a speed of at least 230 mm/min
before manual reference position return.
Grid shift
The grid can be shifted by the distance set in parameter 1850, thus
shifting the reference position. The grid shift to be set in the parameter
must not exceed the reference counter capacity (parameter Nos.
1816#0 to 3 or 1896) (grid interval).
- 431 -
Signal
Manual reference position return selection signal

ZRN <G002#7>
[Classification] Input Signal

[Function] This signal selects manual reference position return.
Manual reference position return is a kind of jog feed. Therefor, to
select manual reference position return, it is required that the jog mode
be selected and that the manual reference position return selection
signal be set to "1".
[Operation] When the manual reference position return selection signal is set to "1",
the control unit becomes as described below.
- If jog feed mode is not selected, the control unit ignores the
manual reference position return selection signal.
- If jog mode is selected, manual reference position return is
enabled. In this case, manual reference position return selection
check signal MREF turns to "1".
NOTE
If the ZRN status changes from "0" to "1" or "1" to "0"
during jog feed, the feedrate is decelerated to 0.
Then, to make reference position return or jog feed,
turn feed axis and direction selection signal to "0"
then set it to "1".
Manual reference position return selection check signal

MZRN <F002#7>
[Classification] Output Signal
[Function] This signal reports that manual reference position return has been
selected once.
[Output condition] This signal turns to "1" when:
- Manual reference position return has been selected.
The signal turns to "0" when:
- The selection of manual reference position return has terminated.
- 432 -
Feed Axis and Direction Selection Signal

For details about this signal, see "Feed Axis and Direction Selection
Signal" in Sec. 3.1. Here, only notes on use of reference position return
are given.
NOTE
1 The direction of reference position return is
predetermined for each axis by parameter ZMI (No.
1006#5). If the tool is fed in the opposite direction to
the predetermined direction in manual reference
position return, the deceleration signal for reference
position return turns to "0", and the tool is returned to
the point at which the deceleration signal turns to "1"
again (that is, the point where the deceleration limit
switch would be encountered if the tool were fed in
the predetermined direction). Then reference
position return is performed automatically in the
predetermined direction.
JOG
ZRN
-J1
*DEC1
................ . . .
Grid
ZP1
ZRF1
Feedrate
FL rate
Rapid traverse Rapid
traverse
rate rate
NOTE
2 When reference position return is selected, an axis
whose reference position return end signal is
already "1" or an axis whose reference position
return end signal was set "1" upon completion of
reference position return is locked, and movement
along that axis is disabled while the reference
position return selection signal (ZRN) is "1". To
perform movement along such an axis, ZRN must
be set "0", and the feed axis and direction selection
signal must be set "0" then set "1" again.
- 433 -
Reference position return deceleration signals

*DEC1<G64#5>, *DEC2<G68#5>, ...
[Function] These signals decelerate the feedrate for manual reference position
return so that the reference position is approached at a low feedrate.
The deceleration signals are provided for axes in a one-to-one
correspondence. A number appended to a deceleration signal
represents a controlled axis number.
*DECx
x : 1 Reference position return deceleration signal for the first axis
2 Reference position return deceleration signal for the second axis
3 Reference position return deceleration signal for the third axis
: :
[Operation] For the operation of the control unit in response to the deceleration
signal, see the description of the basic procedure for manual reference
position return.
Reference position proximity signal

*NZ1 <G384#4>, *NZ2<G392#4>, ...
[Function] Indicates that a reference position is near in a reference position return
operation. When this signal is set to 0, the next grid becomes the
reference position. If this signal is not used, set this signal to 0 at all
times. In this case, the first grid after the deceleration signal (*DEC)
changes from 0 to 1 becomes the reference position.
[Operation] For information about reference position return operation using the
reference position proximity signal, see the description of the basic
procedure for the reference position return operation.
NOTE
With 15B, this signal is not entered through the PMC
but instead is directly entered into the CNC. With
15i, however, this signal is entered through the
PMC.
- 434 -
Reference position return end signals

ZP1<F64#0>, ZP2<F68#0>, ...
[Function] These signals report that the tool is at the reference position on a
controlled axis.
These signals are provided for axes in a one-to-one correspondence.
A number appended to a signal represents a controlled axis number.
ZPx
x: 1 Reference position return end signal for the first axis
2 Reference position return end signal for the second axis
3 Reference position return end signal for the third axis
: :
- Manual reference position returns is completed, and the current
position is in the in-position area.
- Automatic reference position return (G28) is completed, and the
current position is in the in-position area.
- Reference position return check (G27) is completed, and the
current position is in the in-position area.
These signals turn to "0"when:
- The tool has moved from the reference position.
- An emergency stop is applied.
- A servo alarm is raised.
Reference position establishment signal

ZRF1<F65#2>, ZRF2<F69#2>, ...
[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 name 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 condition] Each signal is set to 1 when a reference position is established along the
corresponding axis upon the completion of reference position return.
Each signal remains set to 1 until the CNC loses the reference position.
- 435 -
Second reference position return end signals ZP21<F64#1>, ZP22<F68#1>, ...

Third reference position return end signals ZP31<F64#4>, ZP32<F68#4>, ...
Fourth reference position return end signals ZP41<F64#5>, ZP42<F68#5>, ...
[Function] The second, third, and fourth reference position end signals report the
tool is at the second, third, and fourth reference positions on a
controlled axis, respectively. These signals are provided for axes in a
one-to -one correspondence. A numeric character appended to the end
of a signal represents a controlled axis number, and a numeric character
immediately following ZP represents a reference position number.
ZPxy
y: 1 Return end signal for the first axis
2 Return end signal for the second axis
3 Return end signal for the third axis
:
x: 2 Second reference position return
3 Third reference position return
4 Fourth reference position return

- The second, third, or fourth reference position return (G30) is
completed, and the current position is in the in-position area.
- The tool moved from the reference position.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G002 ZRN
F002 MZRN
#7 #6 #5 #4 #3 #2 #1 #0
G064 *DEC1
G384 *NZ1
F064 ZP41 ZP31 ZP21 ZP1
F065 ZRF1
The address above (*DEC1, *NZ1, ZP1, ZP21, ZP31, ZP41, ZRF1) is
the signal address for the first axis.
- 436 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0002 SJZ

[Data type] Bit
#7 SJZ Manual reference position return:

0: Performs reference position return using deceleration dogs if the reference
position has not been established and performs positioning to the reference
position with rapid traverse irrespective of deceleration dogs if the reference
position has already been established.
1: Always performs reference position return using deceleration dogs.
NOTE
SJZ is effective to those axes for which HJZ, bit 4 of parameter
No. 1013, is 1. After the reference position has been
established using the function for setting the reference position
without dogs (DOG, bit 7 of parameter No. 1007 = 1), however,
manual reference position return always performs positioning to
the reference position with rapid traverse irrespective of the
setting of SJZ.
#7 #6 #5 #4 #3 #2 #1 #0
1005 PLZ ALZ ZRN

[Data type] Bitaxis
#0 ZRN Specifies whether to issue an alarm if reference position return has not
been performed since power-on and an attempt is made to execute a
command involving movement other than that with G28 during
0: Issue an alarm ("PS181 ZERO RETURN NOT FINISHED").
1: Do not issue an alarm but execute operation.
#2 ALZ Specifies the method to use for automatic reference position return (G28).
0: Return to reference position using positioning (rapid traverse).
If reference position return has not been performed since power-on, it is
performed using the same operation sequence for manual reference
position return.
1: Use the same operation sequence as for manual reference position
return.
Usually, set this bit to 0.
- 437 -
#3 PLZ Specifies the condition for presetting the work coordinate system when
manual reference position return is performed.
0: Preset only when in reset state (e.g. OP signal is off).
1: Always preset.
See ZNP, bit 2 of parameter No. 2402, which is common to all axes.
#7 #6 #5 #4 #3 #2 #1 #0
1006 ZMI ROS

[Data type] Bitaxis
parameter No. 1260.
#5 ZMI Specifies the direction of manual reference position return.
0: Positive direction
1: Negative direction
#7 #6 #5 #4 #3 #2 #1 #0
1013 HJZ

[Data type] Bitaxis
#3 HJZ If the reference position has already been established, manual reference
position return:
0: Performs reference position return with deceleration dogs.
1: Performs positioning to the reference position with rapid traverse irrespective of
deceleration dogs or performs reference position return with deceleration dogs,
depending on the setting of SJZ, bit 7 of parameter No. 0002.
NOTE
If the function for setting the reference position without dogs is
used (see the explanation of DOG, bit 7 of parameter No. 1007),
reference position return after the establishment of the reference
position always performs positioning to the reference position
with rapid traverse irrespective of the setting of HJZ.
- 438 -
#7 #6 #5 #4 #3 #2 #1 #0
1200 NZA

[Data type] Bit
#6 NZA Specifies whether to issue the PS181 alarm if the machine is in the lock
state when the reference position return function is enabled, and a move
command is specified for an axis along which the reference position
return is not completed.
0: Issue the alarm.
1: Do not issue the alarm.
#7 #6 #5 #4 #3 #2 #1 #0
1404 POV PRO

[Data type] Bit
#1 PRO Specifies whether to enable override for rapid traverse, reference position
return, and positioning in the machine coordinate system in axis control
by PMC.
0: Disables override.
1: Enables override.
#2 POV Specifies the override signals that can be used for rapid traverse,
reference position return, and positioning in the machine coordinate
system in axis control by PMC.
0: ROV1 and ROV2, or RV0B to RV6B (signals for CNC axes)
1: ROV1E and ROV2E (signals for PMC axes only)
- 439 -
1417 Rapid traverse ratio during the period from the power on to manual
reference position return

[Data type] Integer
[Unit of data] %
Set the rapid traverse ratio to use in the below expression. This expression is used
to calculate the effective rapid traverse feedrate during the power on to manual
(rapid traverse feedrate) = (feedrate set in parameter No. 1420) x (value set in this
parameter)/100
When 0 is set, the feedrate is assumed to be 100%.
NOTE
This parameter is valid, when bit 0(ZRN) of the parameter
No.1005 is set to 1.
1425 FL feedrate for each axis for manual reference position return

[Minimum unit of data]Depend on the increment system of the applied axis
1841 Servo error amount with which reference position return assumed possible

Set the servo error amount with which reference position return is
assumed possible.
Usually, set 0. (If a value equal to or less than 0 is set, it is regarded to
be 128.)
If, during reference position return, a feedrate that exceeds the specified
servo error amount is not attained by the time the tool leaves the limit
switch for deceleration (the deceleration signal DEC i is restored to "1"),
alarm PS200 is issued.
- 440 -
Alarm And message

PS0181 ZERO RETURN NOT FINISHED A move instruction was issued to an axis in which the zero
return instruction was instructed once after the power was
turned ON.
Execute operation after zero return by manual operation or
the G28 code.
This alarm can be suppressed for the machine-locked axis
by setting parameter No. 1200#6 is set to "1".
PS0194 ZERO RETURN END NOT ON REF The axis specified in automatic zero return was not at the
correct zero point when positioning was completed.
Perform zero return from a point whose distance from the
zero return start position to the zero point is 2 or more
revolutions of the motor.
Other probable causes are:
- The positional deviation after triggering the deceleration
dog is less than 128.
- Insufficient voltage or malfunctioning pulse coder.
PS0200 PULSCODER INVALID ZERO The grid position could not be calculated during grid
RETURN reference position return using the grid system as the
one-revolution signal was not received before leaving the
deceleration dog.
This alarm is also generated when the tool does not reach a
feedrate that exceeds the servo error amount preset to
parameter No. 1841 before the deceleration limit switch is
left (deceleration signal *DEC returns to "1").
- 441 -
4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS
General
On a machine tool equipped with an absolute-position detector, this
function makes a movement by jog feed to a point near a reference
position specified for each axis, then sets a machine reference position
in reference position return mode without using the deceleration signal
for reference position return.
With this function, the machine reference position can be set at a given
position without installing the limit switch for deceleration for
Basic Procedure for Setting the Reference Position Without Dogs

(1) Feed the tool, along the axis for which the reference position is to
be set, by manual continuous feed in the reference position return
direction. Stop the tool near the reference position, but do not
exceed the reference position.
(2) Enter manual reference position return mode, then set 1 for the
feed axis direction selection signal (for the positive or negative
direction) for the axis.
(3) The CNC positions the tool to the nearest grid line (based on
one-rotation signals from the position detector) in the reference
position return direction specified with bit 5 (ZMI) of parameter
No. 1006. If parameter GRD (bit 6 of parameter No. 1006) is 1,
parameter APZ (bit 4 of parameter No. 1815) automatically
becomes 1, causing the absolute-position detector to memorize
that point as the reference position. A reference position, once set,
is held even if the power is turned off, so that reference position
setting need not be repeated when the power is turned on next.
(4) The CNC checks that the tool is positioned to within the in-
position area, then sets the completion signal for reference
position return and the reference position establishment signal to
1.
The timing chart for the basic elements constituting steps (2) to (4) is
shown below.
Manual reference position
return mode
+J1 or -J1
Grid - - - - - -
ZP1
Feedrate
FL rate
Fig. 4.2 (a)
- 442 -
The following figure shows the positional relation between the

reference position and the point to which the tool is positioned by
manual continuous feed.
- direction + direction
×
Grid A Position B
after jog feed
A: Reference position for reference position return in the negative
direction
B: Reference position for reference position return in the positive
direction
Servo position error and one-rotation signal

To set the reference position without dogs, when the reference position
has not yet been established, the tool must be fed, in manual continuous
feed mode, in the reference position return direction at such a speed
that the servo position error exceeds the value set in parameter No.
1841. The tool must cross the grid line corresponding to a one-rotation
signal from the position detector.
Section 4.1 explains how to calculate the servo position error.
NOTE
An axis does not work when the reference position
without dog is set without satisfying the above
condition.
Grid shift
To shift the reference position, the grid can be shifted by the distance
set in parameter No. 1850. The grid shift to be set in the parameter
must not exceed the reference counter capacity (parameter Nos.
1816#0 to 3 or 1896).
Reference position return

When the feed axis and direction selection signal is set to 1 in manual
reference position return mode after the reference position has been
established, the tool is positioned to the reference position regardless of
the direction specified with the feed axis and direction selection signal.
The completion signal for reference position return is then set to 1.
- 443 -
Reference position resetting

The controlled axis for which parameter GRD (bit 6 of parameter No.
1007) is 0 can be used to set up the reference position any number of
times without turning the power off and on again after positioning to
the grid point is performed in reference position return mode.
1. Place the machine in jog feed mode, then make a movement to a
position near but before a reference position in the direction set by
bit 5 (ZMI) of parameter No. 1006.
2. In reference position return mode, set the feed axis direction
selection signal (+ direction or - direction) for the axis to 1.
3. The grid nearest to the current point is selected, and the absolute-
position detector regards this position as being the reference
position. To prevent the absolute-position detector from storing the
grid as a reference position, set the feed axis direction signal (+
direction or - direction) to 1 again to select the next grid. After a
reference position has been established, set bit 1 (APZ) of parameter
No. 1815 for the absolute-position detector to 1 in MDI mode so that
the absolute-position detector stores the reference position.
4. After step 3, reference position return can be performed by rapid
traverse with the feed axis direction selection signal (+ direction or -
direction) for the axis in the reference position return mode.
Reference position preservation

By using an absolute-position detector (absolute pulse coder), a
reference position, once set, is maintained even if the power is turned
off.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1007 DOG GRD

[Data type] Bitaxis
#6 GRD Dog-less reference position setting is

0: Performed more than once.
1: Not performed more than once.
#7 DOG In the manual reference position return mode

0: Dog-less reference position setting is disabled.
1: Dog-less reference position setting is enabled.
- 444 -
Alarm And message

turned ON.
the G28 code.
PS0194 ZERO RETURN END NOT ON REF The axis specified in automatic zero return was not at the
correct zero point when positioning was completed.
Perform zero return from a point whose distance from the
zero return start position to the zero point is 2 or more
revolutions of the motor.
- The positional deviation after triggering the deceleration
dog is less than 128.
PS0200 PULSCODER INVALID ZERO The grid position could not be calculated during grid
RETURN reference position return using the grid system as the
one-revolution signal was not received before leaving the
deceleration dog.
This alarm is also generated when the tool does not reach a
feedrate that exceeds the servo error amount preset to
parameter No. 1841 before the deceleration limit switch is
left (deceleration signal *DEC returns to "1").
- 445 -
4.3 REFERENCE POSITION SHIFT
General
When reference position return is performed using a grid method, the
reference position can be shifted by a parameter-set distance without
having to move the deceleration dog.
This function is enabled by setting bit 4 of parameter No. 1008 (SFD)
to 1. When distance LSFT, shown below, is set in parameter No. 1850,
the reference position can be shifted.
Finally, the grid shift amount for the axis that has returned to the
reference position, as shown in the figure below, is saved automatically
with parameter No. 1844.
Direction of reference
position return
Stop position (reference position shift amount=0)
Deceleration dog Reference position
Grid shift amount Reference position shift amount

Grid point
Grid shift amount: Distance to the first grid point after the deceleration dog is
turned off when the reference position shift amount is 0
How to adjust the reference position

Two reference position shift adjustment procedures are supported.
One procedure uses the reference position adjustment signal, while the
other does not use the reference position adjustment signal.
- Adjustment procedure not using the reference position adjustment signal
1 Set the parameters below. After setting these parameters, turn the
power off then back on to make the settings effective.
Bit 4 (SFD) of parameter No. 1008 = 1
Grid shift amount (parameter No. 1844) = 0
Reference position shift amount (parameter No. 1850) = 0
2 Perform reference position return. The machine stops at the first
grid point after leaving the deceleration dog. A grid shift amount is
set automatically, and is indicated in diagnosis No. 3008.
3 Find the distance from the stop position to the reference position
(reference position shift amount), then set the distance in parameter
No. 1850. Then, turn off the power before operation is continued.
This completes reference position adjustment.
- 446 -
4 In subsequent reference position return, the machine stops at the

reference position.
position return
Stop position (reference position shift amount=0)

Deceleration dog Reference position
Grid point Grid shift amount Reference position shift amount
- Adjustment procedure using the reference position adjustment signal
1 Set the parameters below. After setting these parameters, turn the
power off then back on to make the settings effective.
Bit 4 (SFD) of parameter No. 1008 = 1
Grid shift amount (parameter No. 1844) = 0
Reference position shift amount (parameter No. 1850) = 0
2 Perform reference position return. The machine stops at the first
grid point after leaving the deceleration dog. A grid shift amount is
set automatically, and is indicated in diagnosis No. 3008.
position return
Stop position (reference position shift amount)

=0 Reference position
Deceleration dog
Manually moved distance
Grid point Grid shift amount (Reference position shift amount)
3 Set reference position adjustment signal RASTn to 1, then perform

manual movement from the stop position to the reference position.
Next, set the reference position adjustment signal to 0 at that
position. Then, the manually moved distance is automatically set
in parameter No. 1850 (reference position shift amount). Then,
turn off the power before continuing the operation. This completes
reference position adjustment.
4 In subsequent reference position returns, the machine stops at the
reference position.
- 447 -
Signal
Reference position adjustment signal

RAST1<G67#2>, RAST2<G71#2>, ...
[Function] Automatically sets a reference position shift amount in grid-based
reference position return so that a position reached by manual
movement after reference position return represents a reference
position.
RASTn
n = 1 ..... Reference position adjustment signal for the first axis
n = 2 ..... Reference position adjustment signal for the second axis
n = 3 ..... Reference position adjustment signal for the third axis
: :
[Operation] If, with the reference position return completion signal (ZPn) set to 1,
this signal is set to 0 after the reference position is reached by manual
movement by setting this signal to 1, a reference position shift amount
is automatically set in the parameter so that the current position is the
stop position at the time of reference position return.
Reference position adjustment mode signal

ARSM<F032#2>
[Function] Reports that automatic reference position adjustment mode is set.
[Output condition] This signal is set to 1 when all of the conditions below are satisfied:
- The reference position adjustment signal RASTn is set to 1.
- Reference position return completion signal ZPn is set to 1.
- An automatic operation mode (EDT, MEM, T, D) is set to 0.
- Jog feed mode (J) or manual handle mode (H) is set to 1.
- The three-dimensional coordinate conversion manual intervention
switch signal (D3MAN) is set to 0.
- Parameter No. 1850 = 0 (reference position shift)
This signal is set to 0 in any of the following cases:
- Upon a reset
- When reference position adjustment signal RASTn is set to 0
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G067 RAST1
#7 #6 #5 #4 #3 #2 #1 #0
F032 ARSM
- 448 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1008 SFD

[Data type] Bitaxis
#4 SFD Specifies whether to enable the reference position shift function in

reference position return with the grid method.
0: Disable the function.
1844 Grid shift amount of the reference position shift function

[Valid data range] -999999999 - 999999999
Distance to the first grid point found since the deceleration dog is
turned off when the reference position shift amount (parameter No.
1850) is set to 0.
NOTE
When SFD (bit 4 of parameter No. 1008) is set to 1, the grid
amount (parameter No. 1844) is set to 0, and the reference
position shift amount (parameter No. 1850) is set to 0, a value is
automatically set. The automatically set value must not be
changed.
1850 Grid shift/reference position shift for each axis

Specify the reference position shift for each axis.
NOTE
When SFD (bit 4 of parameter No. 1008) is set to 0, this
parameter indicates the "grid shift for each axis."
The grid shift must not exceed the reference counter capacity
(RC1x to RC4x (bits 0 to 3 of parameter No. 1816) or parameter
No. 1896).
- 449 -
Alarm And message

- Diagnosis display
3008 Display of the distance to the first grid point
after the deceleration dog is turned off
[Unit of data] machine unit
Caution
CAUTION
1 The reference position shift function is enabled only
for grid-based reference position return.
2 A reference position shift amount is used for shifting
the reference position in the reference position return
direction. This means that the sign of a reference
position shift amount must match that of a reference
position return direction.
(a) Reference position return direction: +
Reference
Deceleration dog
Grid point Reference position shift amount (+)amount (+)
(b) Reference position return direction: - direction
Reference
Deceleration dog
Reference position shift amount (-)
3 When an absolute-position detector (absolute pulse

coder) is used as a position detector, set bit 4 (APZ)
of parameter No. 1815 to 0.
4 Set a deceleration dog so that the position at which
the deceleration dog is turned off is distanced from
the reference position by more than half of the grid
interval.
5 The automatic reference position shift amount setting
function based on the reference position adjustment
signal (RASTn) is enabled only if the reference
position adjustment signal is set to 0 after being set to
1 with the reference position return completion signal
(ZPn) set to 1.
6 A grid shift amount (parameter No. 1844) is
automatically set. Never modify an automatically set
value.
7 The automatic setting of the amount of reference
position shift by the reference position adjustment
signals RASTn cannot be used with the synchronous
control axis.
- 450 -
4.4 REFERENCE POSITION RETURN
General
The G28 command positions the tool to the reference position, via the
specified intermediate point, along the specified axis, then sets the
completion signal for reference position return (see Section 4.1) to 1.
The reference position must be set in parameter No. 1240 with the
coordinates specified in the machine coordinate system, before issuing
the G28 command.
The tool moves to the intermediate point or reference position at the
rapid traverse rate.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 ALZ

[Data type] Bitaxis
0: Return to reference position using positioning (rapid traverse).
position return.
return.
Usually, set this bit to 0.
#7 #6 #5 #4 #3 #2 #1 #0
1006 ZMI

[Data type] Bitaxis
#5 ZMI Specifies the direction of manual reference position return.

- 451 -
1240 Coordinates of the first reference position in the machine coordinate system

table(A))
Set the coordinates of the reference position in the machine
coordinate system.
Alarm and message

PS0194 ZERO RETURN END The axis specified in automatic zero return was not at the correct zero point
NOT ON REF when positioning was completed.
Perform zero return from a point whose distance from the zero return start
position to the zero point is 2 or more revolutions of the motor.
- The positional deviation after triggering the deceleration dog is less than
128.
Caution
CAUTION
1 The tool leaves the intermediate point in the
reference position return direction specified with bit
5 (ZMIx) of parameter No. 1006. The intermediate
point must therefore be specified at a position from
which reference position return is possible.
2 If the G28 command is issued in the machine lock
status, the completion signal for reference position
return is not set to 1.
3 If millimeter input is selected for an inch-system
machine, the completion signal for reference
position return may be set to 1, even when the
programmed tool position deviates from the
reference position by the least input increment. This
is because the least input increment is smaller than
the least command increment for the machine.
Reference item
Series15i/150i-MB Operator’s Manual II-6 Reference position
(Programming)
(B-63784EN)
- 452 -
4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH

REFERENCE POSITION RETURN
General
The G30 command positions the tool to the 2nd, 3rd, or 4th reference
position, via the specified intermediate point, along the specified axis.
Then, it sets the completion signal for 2nd, 3rd, or 4th reference
position return to 1.
The 2nd, 3rd, or 4th reference position must be set in parameter No.
1241, 1242, or 1243 with coordinates in the machine coordinate system,
before issuing the G30 command.
The tool moves to the intermediate point or 2nd, 3rd, or 4th reference
position at the rapid traverse rate.
Return to the 2nd, 3rd, or 4th reference position can be performed only
after the reference position has been established.
Signal
Second reference position return end signals ZP21<F64#1>, ZP22<F68#1>, ...

Third reference position return end signals ZP31<F64#4>, ZP32<F68#4>, ...
Fourth reference position return end signals ZP41<F64#5>, ZP42<F68#5>, ...
[Function] The second, third, and fourth reference position end signals report the
tool is at the second, third, and fourth reference positions on a
controlled axis, respectively. These signals are provided for axes in a
one-to -one correspondence. A numeric character appended to the end
of a signal represents a controlled axis number, and a numeric character
immediately following ZP represents a reference position number.
ZPxy
x: 2 Second reference position return
3 Third reference position return
4 Fourth reference position return
y: 1 Return end signal for the first axis
2 Return end signal for the second axis
3 Return end signal for the third axis
: :
- The second, third, or fourth reference position return (G30) is
completed, and the current position is in the in-position area.
- The tool moved from the reference position.
- 453 -
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F064 ZP41 ZP31 ZP21
Parameter
1241 Coordinates of the second reference position
in the machine coordinate system

table(A))
Set the coordinates of the second reference position in the machine
coordinate system.
1242 Coordinates of the third reference position


table(A))
Set the coordinates of the third reference position in the machine
coordinate system.
- 454 -
1243 Coordinates of the fourth reference position


table(A))
Set the coordinates of the fourth reference position in the machine
coordinate system.
Caution
CAUTION
1 If the G30 command is issued in machine lock
status, the completion signal for 2nd, 3rd, or 4th
reference position return is not set to 1.
2 If millimeter input is selected for an inch-system
machine, the completion signal for 2nd, 3rd, or 4th
reference position return may be set to 1, even when
the programmed tool position deviates from the 2nd,
3rd, or 4th reference position by the least input
increment. This is because the least input increment
is smaller than the least command increment for the
machine.
Reference item
Series15i/150i-MB Operator’s Manual II-6 Reference position
(Programming)
(B-63784EN)
- 455 -
4.6 FLOATING REFERENCE POSITION RETURN
General
It is possible to return the tool to the floating reference position by
commanding the G30.1.
The floating reference position is located on the machine and can be a
reference position of some sort of machine operation. It is not always a
fixed position but may vary in some cases. The floating reference
position can be set using the soft keys of MDI and can be memorized
even if the power is turned off.
Generally, the position where the tools can be replace on machining
center or milling machine is a set position on the machinery. The tools
cannot be replaced at any position. Normally the tool change position
is at any of the No. 1 to No. 4 reference position. The tool can be
restored to these positions easily by G28 or G30 command. However,
depending on the machine, the tools can be replaced at any position as
long as it does not contact the workpiece.
In lathes, the tool can generally be changed at any position unless it
touches the workpiece or tailstock.
For machinery such as these, in order to reduce the cycle time, it is
advantageous to replace tools at a position as close as possible to the
workpiece. For this purpose, change position should be changed for
each workpiece and this feature can be easily realized by this function.
Namely, the tool change position which is suitable for workpieces can
be memorized as the floating reference position and it is possible to
return the tool to the tool change position easily by commanding the
G30.1.
When the G30.1 is commanded, the axis commanded goes to the
specified intermediate position with rapid traverse at first and then goes
to the floating reference position from the intermediate point with rapid
traverse. The positioning to the intermediate position or to the floating
reference position is performed at rapid traverse for each axis (non-
linear positioning). The floating reference position return completion
signal turns to "1" after completing the floating reference position
return.
- 456 -
Signal
Floating reference position return end signal

FRP1<F65#5>, FRP2<F69#5>, ...
[Function] Notify the system that the tool is at the floating reference position on a
controlled axis.
A floating reference position return end signal is provided for each axis.
The number appended to each signal name indicates the number of the
controlled axis.
FRPx
x : 1 ..... Floating reference position return end signal of 1st axis
2 ..... Floating reference position return end signal of 2nd axis
3 ..... Floating reference position return end signal of 3rd axis
:
[Output condition] The signals are set to 1 in the following case:
- When the tool is positioned to within the in-position area after
floating reference position return (G30.1)
These signals are set to "0" when:
- The tool is moved from the floating reference position
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F065 FRP1
the Appendix A.1.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1200 FPC

[Data type] Bit
#1 FPC Specifies whether to preset the relative position display to zero when the
floating reference position is set using the appropriate soft key.
0: Do not set to 0 (relative position display remains unchanged).
1: Set to 0.
- 457 -
1244 Floating reference position in G30.1

table(A))
Set the coordinates of the floating reference position in the machine coordinate
system.
Reference item
Series15i/150i-MB Operator’s Manual II-6.2 Floating reference
(Programming) position return
(B-63784EN)
Operator’s Manual II-9.15 Setting the floating
(Operation) reference position return
(B-63784EN-1)
- 458 -
4.7 LINEAR SCALE WITH REFERENCE MARKS
General
A scale having reference marks at constantly varying intervals can be
created by combining two virtual scales with different one-rotation
signal intervals. The created scale is referred to as a linear scale with
reference marks. An absolute position on the linear scale with reference
marks can be determined if the reference mark intervals of at least three
adjacent points are detected and if a correlation between the intervals
and the current position is found.
This function measures reference mark intervals by making small
movements on each axis and calculates the absolute position.
Accordingly, a reference position can be established with no axial
movement to the reference position.
8.0 42.0 8.2 41.8 8.4 41.6 8.6

Reference
mark
50.0 50.0 50.0

Scale 1
50.2 50.2 50.2

Scale 2
Fig. 4.7 (a) Sample Linear Scale with Reference Marks
Basic procedure for establishing a reference position

1. Select jog mode. Set manual reference position return selection
signal IZRN to 1.
2. Perform movement toward the reference position along a desired
axis by setting the corresponding feed axis direction selection
signal (+J1, -J1, +J2, -J2, etc.) to 1.
3. Axial movement is made at the reference position return FL
feedrate (parameter 1425).
4. When a reference mark on the linear scale is detected, the
movement is temporarily stopped and resumed at the reference
position return FL feedrate.
5. Step 4 is repeated until three or four reference marks on the linear
scale are detected. When the absolute position is calculated, the
reference position establishment signal (ZRF1, ZRF2, ZRF3, etc.)
goes to 1.
- 459 -
The timing chart for the basic procedure is shown below:

J O G m o d e
Z R N
+ J 1
R e fe re n c e m a rk
Z R F 1
F e e d ra te
F L s p e e d
Fig. 4.7 (b) Timing Chart of Operation for Establishing a Reference Position
Procedure for establishing a reference position through automatic operation

If an automatic reference position return (G28) is specified before a
reference position is established, steps 3 to 5 above are performed
automatically. After the reference position is established, the
automatic reference position return is performed.
Stopping the operation for establishing a reference position

The operation for establishing a reference position is stopped if any of
the following operations is performed in steps 3 to 5, described above.
- Reset
- Setting the feed axis direction selection signal (+J1, -J1, +J2, -J2,
etc.) to 0
- Setting the interlock signal (*IT, *IT1, *IT2, etc.) to 0
- Setting the controlled axis detach signal (DTCH1, DTCH2, etc.)
to 1
- Setting the servo off signal (*SVF1, *SVF2, etc.) to 0
If any of the following operations is performed during the operation of

automatic reference position return (G28) before a reference position is
established, the operation for establishing a reference position stops:
- Reset
- Performing feed hold during movement from an intermediate
point to a reference position
- Setting the interlock signal (*AIT, *IT, *IT1, *IT2, etc.) to 0
- Setting the controlled axis detach signal (DTCH1, DTCH2, etc.)
to 1
- Setting the servo off signal (*SVF1, *SVF2, etc.) to 0
If the operation for establishing a reference position is stopped by an
operation other than a reset, the operation for establishing a reference
position must be reset and resumed.
- 460 -
Signal
Reference position establishment signals

ZRF1<F65#2>, ZRF2<F69#2>, ...
[Function] The signal indicates whether a reference position of the corresponding
axis has been established by a reference position return. Independent
signals are provided for each different axis. The number at the end of
the signal name indicates the corresponding controlled axis number. If
a linear scale with reference marks is used, this signal is output when a
reference position is established from three or four reference marks
detected after the operation for establishing a reference position starts.
ZRFx
x: 1 : First-axis reference position establishment signal
2 : Second-axis reference position establishment signal
3 : Third-axis reference position establishment signal
:
[Output condition] The signal goes to 1 when the reference position of the corresponding
axis is established by a reference position return. The signal is held at 1
until the CNC loses the reference position.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F065 ZRF1
the Appendix A.1.
- 461 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1002 DC4

[Data type] Bit
#3 DC4 Specifies how to establish a reference position for a linear scale having
reference marks.
0: An absolute position is established by detecting three reference
marks.
1: An absolute position is established by detecting four reference marks.
#7 #6 #5 #4 #3 #2 #1 #0
1008 DCL

[Data type] Bitaxis
#7 DCL Specifies whether to use a linear scale having reference marks as a

separate position detector.
0: Do not use a linear scale having reference marks.
1: Use a linear scale having reference marks.
#7 #6 #5 #4 #3 #2 #1 #0
1815 OPT

[Data type] Bitaxis
#1 OPT Specifies whether to use a separate pulse coder as the position detector.
0: Does not use any separate pulse coder.
1: Uses a separate pulse coder.
(When a distance coded scale is used, set to “1” to this parameter.)
NOTE
Refer to PSL (bit 3 of parameter No. 1807).
- 462 -
1896 Capacity of the reference counter for each axis

In case of using a distance coded linear scale, specifies the mark 1
interval for a distance coded linear scale.
Specifies a desired reference counter capacity. When 0 is specified
for this parameter, the standard setting (data No. 1816) is used.
Even when PLC01 of data No. 1804 is set to 1, the unit of data is
not multiplied by 10.
Turn the power on again after specifying this parameter.
5226 Mark 2 interval for a distance coded linear scale

Specifies the mark 2 interval for a distance coded linear scale .
- 463 -
5227 Distance between the origin of the linear scale having reference marks and
the reference position

[Valid data range] -999999999 - 999999999
Specifies the distance between the origin of the distance coded linear scale and the
reference position. The "scale origin" here is that point where mark 1 coincides
with mark 2. Usually, this point does not physical exist on the scale.
Scale zero point Reference position

Scale end Scale
Mark 1 = mark Mark 1 Mark 2 Mark 1 Mark 2
8.0 42.0 8.2 41.8
Parameter No. 1896
Parameter No. 5226
Parameter No. 5227
If the reference position is on the positive side when viewed from the scale zero
point, a positive value is set in this parameter. If the reference position is on the
negative side when viewed from the scale zero point, a negative value is set in this
parameter.
[Example] In case of the scale shown in following figure for a millimeter machine
with IS-B.
Scale zero point Reference position +

A B
Mark1=Mark2 Mark1 Mark2 Mark1 Mark1 Mark2 Mark1 Mark2 Mark1 Mark2 Mark1
20.000 19.980 9.940 10.060 9.960 10.040 9.980 10.020
0.020 5.000 20.000
9960/(20020-20000) * 20000+5000 = 9965000 20.020

Parameter No.1896 (interval of the mark1) = 20000
Parameter No.5226 (interval of the mark2) = 20020
- 464 -
Parameter No.5227 (reference position) = Position of A + 5.0

= {(Distance of position A and position B)/(Interval of the mark1 –
Interval of the mark2)} * (Interval of the mark1) + 5.0
= 9965000
[Setting of parameterNo.5227] Following procedure can be used if it is difficult to measure the

distance from the scale zero point to the reference position (parameter
No.5227).
1) Enable this function by parameter No.1815 and parameter

DCL(No.1008#7).
Set appropriate values to parameter No.1896 and 5226.
Set the 1-st reference position in the machine coordinate frame
(parameter No.1240) to 0.
Set parameter No.5227 to 0.
2) Establish the reference position at an appropriate position by the
method described in “Basic procedure to establish the reference
position”. (This makes the machine coordinate equal to the
distance from the scale zero point to the current position.)
3) Position the machine exactly at the reference position by the jog
feed or the handle feed.
4) Get the machine coordinate in the detection unit (multiply CMR)
and set it to parameter No.5227.
5) Set parameter No.1240 if necessary.
Alarm And message

PS0449 ILLEGAL TOOL LIFE DATA Tool life management data is damaged for some reason.
Reload the tool group and the corresponding tool data by
G10 L3; or MDI input.
- 465 -
Caution
CAUTION
1 In the following cases, the operation for establishing a reference position is not
performed, but movement to the reference position occurs:
- If axial movement is made in REF mode after the reference position is established
- If an automatic reference position return (G28) is specified after the reference
position is established
2 Because the axial movement continues until three or four reference marks are
detected, start the operation for establishing a reference position from a position
sufficiently distant from a scale end. If the operation starts from a position close to a
scale end, the axial movement will not stop until an overtravel is detected.2
Scale end Reference mark
Start point (not recommended)
Start point (recommended)
- 466 -
Note
NOTE
1 If an automatic reference position return (G28) is
specified before a reference position is established,
the operation for establishing a reference position is
performed as described above. Then, reference
position return is performed.
2 Alarm OT0450 occurs if:
- The actual reference mark interval does not match
the reference mark interval set in a parameter.
3 This function cannot be used for an axis for which any
of the following functions is used:
- Three-dimensional error correction
4 This function is disabled if any of the following
conditions is satisfied:
- Either parameter 1896 (mark-1 interval) or
parameter 5226 (mark-2 interval) is set to 0.
- Parameters 1896 and 5226 have identical settings.
- The difference between the settings made for
parameters 1896 and 5226 is greater than or equal
to twice either setting.
- The absolute-position detection function is
enabled.
5 If axial movement is made in the direction opposite to
that of reference position return, the movement is
reversed to the direction of reference position return
after three or four reference marks have been
detected. Steps 3 to 5 of the basic procedure for
establishing a reference position are carried out to
establish the reference position.
6 If straightness compensation is used, the following
operation is performed:
- If, after the power is turned on, the reference
position is established on the compensation axis
first and then on the movement axis, the tool
moves along the compensation axis by the
straightness compensation when the reference
position is established on the movement axis.
- 467 -
4.7.1 Enhancement of Distance Coded Linear Scale
Overview
The distance coded linear scale interface can now be used for the
following controlled axes:
Rotation axis
Synchronization control axis
PMC control axis
In addition, the range of parameter No. 5227 that sets the distance from
the scale zero point to a reference position has been expanded.
- Distance coded rotary encoder
At a joint on the circle of a distance coded rotary encoder, the intervals

between reference marks and the settings in parameter Nos. 1896 and
5226 do not match. Accordingly, in movement passing this joint, a
reference position cannot be established (between a and b in Fig. 1)
Therefore, when the distance coded rotary encoder is used, and
reference position return is started from point A in the following figure
toward point B, a reference position is established again automatically
after point B is reached, then movement to point C takes place to
establish a reference position.
C
B
20.02° 20.02°
b
20.02° 9.96°
19.66°
9.94° 9.98°
A
a
9.64°
20.00°
20.00°
20.00°
Fig.4.7.1 (a) Distance Coded Rotary Encoder
When the distance coded rotary encoder is used, and bit 1 (ROS) of
parameter No. 1006 is set to 1 (the machine coordinate system of the
rotation axis is of the rotation axis type), the reference position
established by this function is obtained from the travel amount per
rotation of the rotation axis even if the machine rotates through more
than one turn.
- 468 -
- Requirements when this function is used with synchronization control axes

When this function is used with synchronization control axes, the
distance coded linear scale used for the master axis and that used for
the slave axis must have reference marks placed at identical intervals.
(Set identical values in parameter Nos. 1896 and 5226 for both the
master and slave axes.)
This function does not work unless the use of this function is specified
for both the master and slave axes (bit 7 (DCL) of parameter No. 1008
is 1).
Also, in all parameters related to this function, except parameter No.
5227 (distance from the scale zero point to reference position), set
identical values for both the master and slave axes.
If a parameter value for the master axis differs from the corresponding
parameter value for the slave axis, alarm SV0051 is issued.
NOTE
1 When this function is used with synchronization
control axes for which the operation mode is switched
between synchronization operation and normal
operation, this function is enabled only if the
synchronization select signal (SYNC1, SYNC2, ...) is
1. (During establishment of a reference position, the
synchronization select signal status must be
maintained.)
2 This function is disabled if the master or slave axis
satisfies one of the following conditions:
- Zero is set in parameter No.1896 (mark-1 interval)
or parameter No. 5226 (mark-2 interval).
- The value set in parameter No.1896 is greater than
or equal to the value set in parameter No. 5226.
- The value set in parameter No. 5226 is at least
twice as large as the value set in parameter No.
1896.
- An absolute-position detector is used.
- Reference position establishment with synchronization control axes
With synchronization control axes, a reference position is established

as follows. When a reference mark for the master or slave axis is
detected, a stop takes place temporarily. Then, a feed operation is
performed again at the reference position return FL feedrate. This
sequence is repeated until a reference mark is detected three or four
times for both the master and slave axes. Then the absolute position is
calculated for both the master and slave axes, and the reference
position establish signals (ZRF1, ZRF2, ...) are set to 1.
After the reference position has been established by the above
operation, a synchronization error is corrected. (Checking for
excessive synchronization error alarm 2 is made even during reference
position establishment.)
- 469 -
Scale end
Reference mark
Master
axis
(1) (2) (3)
Start point End point
Slave axis
<1> <2> <3>
Fig. 4.7.1 (b) Example of Measuring Three Points
In the above example, the reference mark (1) for the master axis is
detected first, a stop takes place at (1) temporarily, movement is
performed at the FL feedrate, then a stop takes place again at the
position where the reference mark <1> for the slave axis is detected.
Movement starts again at the FL feedrate. Then, each time a reference
mark is detected in the order from master axis (2) to slave axis <2> to
master axis (3), stop and movement at the FL feedrate are repeated.
When the third reference mark <3> for the slave axis has been detected
last, reference position establishment for both axes terminates.
- PMC control axis

In PMC axis control, if the reference position return command (axis
control command code 05H) is issued for an axis having a distance
coded linear scale, reference position return is performed according to
the reference position return sequence for the distance coded linear
scale. Specifically, the following operations take place:
Before reference position The reference position is established by

establishment detecting three or four reference marks.
Movement to the reference position is not
performed.
After reference position Positioning at the reference position is
establishment performed.
- 470 -
Parameter
5228 Distance 2 from the zero point of the distance coded linear scale to reference
position

This parameter is used when the distance from the zero point of the distance coded
linear scale to the reference position exceeds the range set in parameter No. 5227.
The distance from the scale zero point to reference position is obtained from the
following expression:
Distance from the scale zero point to reference position =
(value in parameter No. 5228) × 1,000,000,000 + (value in parameter No. 5227)
The scale zero point is the point at which mark 1 and mark 2 match. Normally,
this point is a virtual point that does not physically exist on the scale.
NOTE
1 Set parameter Nos. 5227 and 5228 so that the distance from the
scale zero point to the reference position is within the range from
-999,999,999,999 to +999,999,999,999 If a value exceeding
the range is set, the alarm OT0448 occur.
2 The scale body can not cross the scale zero point¥. The scale
range must be within the range from scale zero point to next
scale zero point.
Scale zero point Reference position

Scale end Scale body
Mark 1 = mark 2 Mark 1 Mark 2 Mark 1 Mark 2
8.0 42.0 8.2 41.8
Parameter No. 1896
Parameter No. 5226
Parameter No. 5228×1,000,000,000+parameter No. 5227
If the reference position is on the positive side when viewed from the scale zero
point, a positive value is set in this parameter. If the reference position is on the
negative side when viewed from the scale zero point, a negative value is set. For
details, refer to "Distance coded linear scale" in the connection manual (function).
- 471 -
Alarm

SV0051 ILLEGAL SYNCHRONOUS AXIS An illegal parameter is set for a synchronization control axis
using a linear axis with a reference mark.
OT0448 ILLEGAL PARAMETER (D.C.S.) One of the following conditions is true for parameters of the
linear scale with a reference mark:
- An absolute-position detector is used.
- 0 is set in either or both of parameters No. 1896 (mark 1
interval) and No. 5226 (mark 2 interval).
- The setting of parameter No. 1896 is greater than or
equal to that of parameter No. 5226.
- The setting of parameter No. 5226 is twice or more as
large as that of parameter No. 1896.
- The setting of parameter No. 5227 or No. 5228 is out of
range.
- 472 -
B-63783EN-1/01 5.AUTOMATIC OPERATION
5 AUTOMATIC OPERATION
- 473 -
5.AUTOMATIC OPERATION B-63783EN-1/01
5.1 CYCLE START/FEED HOLD
General
- Start of automatic operation (cycle start)

When automatic operation start signal ST is set to 1 then 0 in which
memory (MEM) mode, DNC operation mode (DNC), or manual data
input (MDI) mode, the CNC enters the automatic operation start state
then starts operating.
Signal ST, however, is ignored in the following cases:

1. When the mode is other than MEM, DNC, or MDI
2. When the feed hold signal (*SP) is set to 0
3. When the emergency stop signal (*ESP) is set to 0
4. When the external reset signal (ERS) is set to 1
5. When the reset and rewind signal (RRW) is set to 1
6. When MDI <RESET> key is pressed
7. When the CNC is in the alarm state
8. When automatic operation is starting
9. When the program restart signal (SRN) is 1
10. When the CNC is searching for a sequence number.
The CNC enters the feed hold state and stops operation in the following
cases during automatic operation:
1. When the feed hold signal (*SP) is set to 0
2. When the mode is changed to manual operation mode (JOG, INC,
HND, REF, TJOG, or THND).
The CNC enters the automatic operation stop state and stops operating
in the following cases during automatic operation:
1. When a single command block is completed during a single block
operation
2. When operation in manual data input (MDI) mode has been
completed
3. When an alarm occurs in the CNC
4. When a single command block is completed after the mode is
changed to other automatic operation mode or memory edit
(EDIT)
The CNC enters the reset state and stops operating in the following
cases during automatic operation:
1. When the emergency stop signal (*ESP) is set to 0
The state of the CNC (automatic operation start, feed hold , automatic
operation stop, or reset) is posted to the PMC with status output signals
OP, SPL, and STL. See the table in the "Signal" section for details.
- 474 -
- Halt of automatic operation (feed hold)

When the feed hold signal *SP is set to 0 during automatic operation,
the CNC enters the feed hold state and stops operation. At the same
time, cycle start lamp signal STL is set to 0 and feed hold lamp signal
SPL is set to 1. Re-setting signal *SP to 1 in itself will not restart
automatic operation. To restart automatic operation, first set signal
*SP to 1, then set signal ST to 1 and then to 0.
1 M, S, T, B block
When signal *SP is set to 0 during the execution of a block
containing only the M, S, T, or B function, signal STL is
immediately set to 0, signal SPL is set to 1, and the CNC enters the
feed hold state. If the FIN signal is subsequently sent from the
PMC, the CNC executes processing up until the end of the block
that has been halted. Upon the completion of that block, signal
SPL is set to 0 (signal STL remains set to 0) and the CNC enters
the automatic operation stop state.
2 Thread cutting
When signal *SP is set to 0 during threading, the CNC enters the
feed hold state after executing a non-threading block after the
threading blocks. If, however, the *SP signal remains set to 0,
automatic operation is held at the start point of a block for which
threading is not specified.
3 Tapping in a canned cycle

When signal *SP is set to 0 during tapping in a canned cycle (G84),
signal SPL is immediately set to 1 but operation continues until
the tool returns to the initial level or R point level after the
completion of tapping.
4 Macro instruction
Operation stops after the currently executing macro instruction
has been completed.
5 When a macro instruction sets a system variable for disabling feed

hold
The automatic operation hold state is set when the block
immediately after the system variable for disabling feed hold is
cleared has been executed. If the *SP signal remains set to 0,
however, the automatic operation hold state is set at the start point
of the block.
- 475 -
Signal
Cycle start signal
ST<G005#0>
[Function] Starts automatic operation.
[Operation] When signal ST is set to 1 then 0 in memory (MEM) mode, DNC
operation mode (DNC) or manual data input (MDI) mode, the CNC
enters the cycle start state and starts operation.
ST
Start
Automatic
operation
Feed hold signal

*SP<G000#5>
[Function] Halts automatic operation.
[Operation] When signal *SP is set to 0 during automatic operation, the CNC enters
the feed hold state and stops operation. Automatic operation cannot be
started when signal *SP is set to 0.
ST
Ignored
*SP
Start Start
Feed hold
Automatic
operation
- 476 -
Automatic operation signal OP<F000#5>

Cycle start lamp signal STL<F000#4>
Feed hold lamp signal SPL<F000#3>
[Function] Posts the operation state of the NC.
[Output condition] This signal is set to 1 or 0, according to the state of the CNC, as listed in
Table 1.1(a).
Table. 5.1 (a) Status of Operation
Signal name Automatic operation lamp Cycle start lamp Feed hold lamp
State of the operation OP STL SPL
Cycle start state 1 1 0
Feed hold state 1 0 1
Automatic operation stop state 1 0 0
Reset state 0 0 0
1. Cycle start state

In this state, the CNC performs automatic operation.
2. Feed hold state
In this state, the CNC is stopped during execution of a block.
3. Automatic operation stop state
In this state, the CNC is stopped after the completion of block
execution.
4. Reset state
In this state, the CNC is stopped after the completion of program
execution.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 *SP
G005 ST
F000 OP STL SPL
Alarm and message
- Self-diagnosis
Even when no alarm is issued, the operation may appear to have
stopped. In such a case, the system may be performing some
processing. Diagnosis No. 1000 to 1010 on the self-diagnosis screen
can be used to check the state.
Reference item
Series15i/150i-MB Operator’s Manual II-4.2 Memory operation
(Operation) II-4.3 MDI operation
(B-63784EN-1) II-4.1 DNC operation
II-7.1 Check on the diagnosis
function
Series15i/150i- Maintenance Manual 1.3 Diagnosis function
MODEL B (B-63785EN)
- 477 -
5.2 RESET AND REWIND
General
- RESET
The CNC is reset and enters the reset state in the following cases:
1. When the emergency stop signal (*ESP) is set to 0 by setting bit 0
(ENR) of parameter No. 2001
3. When the reset and rewind signal (RRW) is set to 1
Upon a reset, the reset in-progress signal (RST) is set to 1. The reset
in-progress signal (RST) remains set to 1 for at least one second or until
conditions 1 through 4 above are cleared.
Less than one second More than one second
Reset condition
Reset execution
RST
One second More than one second
By setting bit 0 (RSD) of parameter No. 2000, the reset in-progress

signal is handled so that the signal is set to 1 when only condition 4 is
set to 1. It is set to 0 when all the reset conditions are cleared.
If a reset occurs during automatic operation, that automatic operation is
stopped. Signals MF, SF, TF, and BF are all set to 0. Movement along
controlled axes is decelerated and stopped. (An emergency stop is
applied when the emergency stop signal (*ESP) is set to 0.)
By using the parameters listed in the table below, the user can choose
whether to clear the CNC internal data (such as modal G codes) upon a
reset. For details of such data, see the description of each function.
Data Parameter
Modal G codes, F, H, S, and T codes NCM(No.2401#7)
Spindle positioning mode IOR(No.5605#4)
Macro common variables #100 to #199 CLV(No.7000#6)
EGB synchronous mode RSH(No.7612#0)
- 478 -
- Reset & rewind

When the reset signal and rewind signal RRW are set to 1, a reset
occurs, and rewind processing (search for the start of the currently
selected main program) is performed. By setting bit 1 (RWM) of
parameter No. 2000, the user can choose whether to output rewind in-
progress signal RWD.
Signal
External reset signal

ERS<G000#7>
[Function] Reset the CNC.
[Operation] Turning the signal ERS to 1 resets the CNC and enters the reset state.
While the CNC is reset, the resetting signal RST turns to
Reset & rewind signal

RRW<G000#6>
[Function] Resets the CNC, and rewinds the currently selected NC program.
[Operation] See the description of "Reset and rewind," above.
Resetting signal
RST<F000#2>
[Function] Reports that the CNC is performing reset processing.
[Output condition] See the description of "Reset and rewind," above.
Rewinding signal
RWD<F000#0>
[Function] Reports that the CNC is performing rewind processing.
[Output condition] See the description of "Reset and rewind," above.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 ERS RRW
F000 RST RWD
- 479 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2000 RWM RSD

[Data type] Bit
#0 RSD The resetting (RST) signal is output:

0: Whenever the system is reset.
1: Only when the reset button is pressed on the MDI panel.
#1 RWM The rewinding signal (RWD) is output:

0: Only while the tape is rewound in the tape reader by the reset
and rewind signal.
1: While the tape is rewound in the tape reader or the reset and
rewind signal searches memory for the beginning of a program.
#7 #6 #5 #4 #3 #2 #1 #0
2001 ENR

[Data type] Bit
#0 ENR At emergency stop:

0: The system is reset.
1: The system is not reset, but an alarm is raised. When the
system is reset, the emergency stop state is released.
#7 #6 #5 #4 #3 #2 #1 #0
2401 NCM

[Data type] Bit
#7 NCM Specifies whether the following modal information is cleared by reset:
0: Cleared
1: Not cleared but saved.
G00 to G03, G17 to G19, G17.1, G93 to G95, G96 to G97, G90 to G91, F
codes, S codes, and T codes
- 480 -
#7 #6 #5 #4 #3 #2 #1 #0
5605 IOR

#4 IOR Specifies whether to cancel the spindle positioning mode upon reset.
0: Do not cancel.
1: Cancel.
#7 #6 #5 #4 #3 #2 #1 #0
7000 CLV

[Data type] Bit
#6 CLV Specifies whether to clear custom macro common variables #100

through #199 (cleared when the power is turned off) upon reset.
0: Do not clear.
1: Clear to null.
#7 #6 #5 #4 #3 #2 #1 #0
7612 RSH

[Data type] Bit
#0 RSH Specifies whether to cancel the synchronous mode (G81, G81.5) when the
electronic gear box function (EGB) is used.
0: Cancel upon reset.
1: Do not cancel upon reset. The synchronous mode is canceled by the
G80 or G80.5 code only.
Reference item
Series15i/150i-MB Operator’s Manual II-3 Properatry function
(Programming) II-9.3 Spindle positionning
(B-63784EN) II-17 Custom macro
II-19.9 Electric gear box
- 481 -
5.3 TESTING A PROGRAM
Before machining is started, the automatic running check can be

executed. It checks whether the created program can operate the
machine as desired. This check can be accomplished by running the
machine actually or viewing the position display change without
running the machine.
5.3.1 Machine Lock
General
The change of the position display can be monitored without moving
the machine.
When all-axis machine lock signal MLK or axis-by-axis machine lock
signal MLKx is set to 1, only command pulse output to the servo motor
is stopped. Modal G codes, coordinate system setting, M, S, T codes,
secondary auxiliary functions, and so forth are executed as usual, so
that the positions in the absolute coordinate system and the relative
coordinate system are updated. So, from the indicated positions, the
user can check if the command is correct.
Signal
All-axis machine lock signal

MLK<G004#7>
[Function] Places all controlled axes in the machine lock state.
[Operation] When all-axis machine lock signal MLK is set to 1, the output of
command pulses for all axes to the servo motor is disabled. This signal
sets the machine lock state in automatic operation, manual operation,
and simultaneous automatic and manual operation mode.
Each-axis machine lock signals

MLK1<G065#3>,MLK2<G069#3>,...
[Function] Place the corresponding controlled axes in the machine lock state.
These signals are provided for each controlled axis. The signal number
corresponds to the number of the controlled axis.
MLKx
x : 1 - - - Machine lock for the 1st axis
x : 2 - - - Machine lock for the 2nd axis
x : 3 - - - Machine lock for the 3rd axis
:
[Operation] When axis-by-axis machine lock signal MLKx is set to 1, the command
pulses for the corresponding axis are not output to the servo motor.
1. In both automatic and manual operation, the corresponding axis is
placed in the machine lock state.
- 482 -
2. In simultaneous automatic and manual operation

a) Command pulses are not output for automatic operation.
b) Command pulses are output for manual operation.
This signal is valid when bit 6 (MLE) of parameter No. 1005 is set to 1.
All-axis machine lock check signal

MMLK<F004#7>
[Function] Reports the state of the all-axis machine lock signal.
- When all-axis machine lock signal MLK is set to 1
- When all-axis machine lock signal MLK is set to 0
Machine lock check signal for each axis

MMLK1<F065#1>, MMLK2<F069#1>,...
[Function] Reports the state of each axis-by-axis machine lock signal.
MMLKx
x : 1 -State of the axis-by-axis machine lock signal for the first axis
x : 2 -State of the axis-by-axis machine lock signal for the second axis
x : 3 -State of the axis-by-axis machine lock signal for the third axis
:
- When all-axis machine lock signal MMLKx is set to 1
- When all-axis machine lock signal MMLKx is set to 0
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 MLK
F004 MMLK
#7 #6 #5 #4 #3 #2 #1 #0
G065 MLK1
F065 MMLK1
- 483 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 MLE

[Data type] Bitaxis
#6 MLE Specifies whether machine lock is valid for each axis.

0: Invalid.
1: Valid.
Note
NOTE
1 Reference point return during machine lock.
In a machine lock state, the reference position return
(G28), second to fourth reference position return
(G30), or floating reference position return (G30.1)
commands cannot issue reference position return
completed signal ZPx.The reference position return
check (G27) command is ignored.
2 Machine lock signal turned on/off during movement
along axes
If machine lock is applied to movement along an axis
that is performed with the machine lock state not set,
movement is decelerated and stopped. Similarly, if
machine lock applied to movement along an axis
being made with the machine lock state set is
cleared, move command output immediately starts.
In the case as well, acceleration/deceleration is
applied to ensure smooth acceleration.
Reference item
Series15i/150i-MB Operator’s Manual II-5.1 Machine lock and
(Operation) miscellaneous function
(B-63784EN-1)
- 484 -
5.3.2 Dry Run
General
A cutting command in the program is executed using the feedrate
specified in a parameter. This function is used, for example, to check
only the movement of the tool with no workpiece mounted. By
parameter setting, the user can choose whether to use the dry run
feedrate for the rapid traverse, threading, and tapping commands as
well as cutting commands. The tables below indicate the dry run
feedrates that are actually used.
Table. 5.3.2 (a) Cutting Feed

Manual rapid traverse selection Feedrate parameter (*1)
1 Parameter(No.1410) × JVmax
0 Parameter(No.1410) × JV
Table. 5.3.2 (b) Rapid Traverse

Manual rapid Positioning (LRP) Feedrate parameter
traverse selection
1 0/1 Parameter(No.1420)
0 0 Parameter(No.1423)
1 Parameter(No.1410) × JV *1
Manual rapid traverse :Manual rapid traverse signal RT<G006#7>

selection
Positioning (LRP) :LRP (bit 4 of parameter No. 1400)
Rapid traverse (RDR) :RDR (bit 0 of parameter No. 1400)
JVmax :Parameter No. 2016
JV :Jog feedrate override
*JV0 - JV15<G014, G015>
*1 Clamped by max. cutting feedrate (parameter No. 1422).
Signal
Dry run signal DRN<G004#1>

[Function] Enables dry run.
[Operation] When this signal is set to 1, the tool is moved at the feedrate specified
for dry run.
CAUTION
When the dry run signal is changed from 0 to 1 or 1
to 0 during the movement of the tool, the feedrate of
the tool is first decelerated to 0 before being
accelerated to the specified feedrate.
- 485 -
Dry run check signal

MDRN<F004#1>
[Function] Reports the state of the dry run signal.
- When dry run signal DRN is set to 1
- When dry run signal DRN is set to 0
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 DRN
F004 MDRN
Parameter
1410 Dry run feedrate

[Data type] Real
(0.0 to +240000.0 in the IS-B)
Set the dry run feedrate when the jog feedrate dial is set to 100%.
The unit of data depends on the increment system of the reference axis.
#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP TDR RDR
[Input type] Parameter Input

[Data type] Bit
#0 RDR Specifies whether dry run can be performed for the rapid traverse
command.
#1 TDR Specifies whether dry run can be performed for the tapping and threading
commands.
#4 LRP Selects the method used for positioning (G00).
0: Non-linear interpolation (the tool moves independently at the rapid
traverse rate along each axis).
1: Linear interpolation (the tool path is linear).
When using three-dimensional coordinate conversion, set 1.
- 486 -
1420 Rapid traverse rate along each axis

[Minimum unit of data] Depend on the increment system of the applicable axis
(0.0 to +240000.0 in the IS-B)
Set the rapid traverse rate for each axis when rapid traverse override
is set to 100%.
1422 Maximum cutting feedrate for each axis

[Minimum unit of data] Depend on the increment system of the applicable axis
(0.0 to +240000.0 in the IS-B)
Set the maximum cutting feedrate for each axis.
1423 Jog feedrate for each axis

Set the jog feedrate for each axis when the jog feedrate dial is set to 100%.
2016 Jog feedrate override clamp value

[Data type] Integer
[Unit of data] (Undefined)
If an override value greater than the jog feedrate override clamp value
is input, it is clamped to this value.
Reference item
Series15i/150i-MB Operator’s Manual II-5.2 Dry run
(Operation)
(B-63784EN-1)
- 487 -
5.3.3 Single Block
General
When single block signal SBK is set to 1 during automatic operation,
automatic operation is stopped after execution of the block currently
being executed. Then, each time automatic operation is started, a
single block is executed. Normal automatic operation is resumed by
starting automatic operation after setting single block signal SBK to 0.
The state of single block signal SBK is always checked at the end of a
block. This means that even if the signal is turned on/off in the middle
of a block being executed, that operation is ignored. If the
acceleration/deceleration before interpolation function is used,
however, the feedrate may change. If a system variable for disabling
the single block function is set in a custom macro, the signal is not
checked.
Usually, the specifications below do not cause a single block stop in

each block. By setting parameters, however, a single block stop can be
caused in each block.
1 Custom macro statement
A single block stop does not occur until the NC statement
specified after a custom macro statement is reached.
2 Canned cycle, rigid tapping

A single block stop occurs at the end points of operations 1, 2, and
5.
(1) Initial point
(2) (5)
R point
(3) (4)
Z point
3 Cutter compensation
A single block stop does not occur in move blocks that are
internally generated for compensation.
- 488 -
Signal
Single block signal

SBK<G004#3>
[Function] Enables single block operation.
[Operation] When this signal is set to 1, single block operation is performed. When
this signal is set to 0, normal operation is performed.
Single block check signal

MSBK<F004#3>
[Function] Notifies the PMC of the state of the single block signal.
- When single block signal SBK is set to 1
- When single block signal SBK is set to 0
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 SBK
F004 MSBK
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 SBO SBC SBM SB8 SB7

[Data type] Bit
#3 SB7 Specifies whether to stop after each block of custom macro statements in
programs O7000 to O7999.
Note)
This bit is used to check programs O7000 to O7999 containing custom
macro statements.
Note)
macro statements.
- 489 -
#5 SBM Specifies whether to stop after each block of custom macro statements in
any program.
0: Do not stop after each block. However, when stopping is specified in
SB7 or SB8, stop will occur in the programs affected by these
parameters.
Note)
This bit is used to check those programs containing custom macro
statements.
#6 SBC Specifies whether to stop after each drilling canned cycle:

0: Do not stop after each cycle.
1: Stop after each cycle.
This bit is used to check programs containing canned cycles.
#7 SBO Specifies whether to stop after each block that is internally generated for
cutter or tool-nose radius compensation:
Note)
This bit is used to check programs containing cutter or tool-nose radius
compensation.
Reference item
Series15i/150i-MB Operator’s Manual II-5.3 Sigle block
(Operation)
(B-63784EN-1)
- 490 -
5.4 MANUAL ABSOLUTE ON/OFF
General
When performing manual operation (such as jog feed and manual
handle feed), the user can choose whether to reflect a moved distance in
the absolute coordinate system.
- When manual absolute turns on

If manual intervention is performed during automatic operation, the
distance moved by manual intervention is reflected in the absolute
coordinate system. This means that no displacement occurs between
the absolute coordinate system and machine coordinate system before
and after manual intervention. The tool path after manual intervention
is determined by bit 3 (ABS) of parameter No. 2409, as shown below.
When bit 3 (ABS) of parameter No. 2409 is set to 0, and an incremental
command is specified, the shifted path is followed.
Manual
Intervention
Programmed tool
path
When an absolute command is specified, or when bit
3 (ABS) of parameter No. 2409 is set to 1 and an
incremental command is specified, the path returns to
the programmed path.
- When manual absolute turns off

In automatic operation, a distance moved is reflected in an absolute
position indication. If a reset is performed after manual operation, or if
operation is started in automatic operation mode, however, the absolute
position indication represents the position before manual intervention,
and the absolute coordinate system after manual intervention is shifted
from the machine coordinate system by the distance moved by manual
intervention. So, the tool path after manual intervention is as shown
below.
The tool moves along this path, regardress of absolute
command or incremental command
Manual
Intervention
Program tool path
- 491 -
Signal
Manual absolute Signal

ABS<G004#5>
[Function] Turns off the manual absolute function.
[Operation] When this signal is set to 1, the control unit operates as follows:
Turns off the manual absolute function.
Manual absolute check Signal

MABSM<F004#5>
[Function] Notifies the PMC of the state of the manual absolute
signal.
- When the manual absolute signal *ABS is set to 0
- When manual absolute signal *ABSM is set to 1
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 ABS
F004 MABS
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2409 ABS

[Data type] Bit
#3 ABS After manual intervention by manual absolute on, this bit specifies
whether the travel command path for absolute (G90) and for incremental
(G91) are the same.
0: Different
1: Same (path for absolute)
Reference item
Series15i/150i-MB Operator’s Manual II-5.3 Single block
(Operation)
(B-63784EN-1)
- 492 -
5.5 OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL BLOCK

SKIP
General
When a slash followed by a number (/n, where n = 1 to 9) is specified at
the head of a block, and optional block skip signals BDT1 to BDT9 are
set to 1 during automatic operation, the information contained in the
block for which /n, corresponding to signal BDTn, is specified is
ignored (from /n to the end of the block).
Input signal Code specified at the head of a block

BDT1 / or /1(NOTE)
BDT2 /2
BDT3 /3
BDT4 /4
BDT5 /5
BDT6 /6
BDT7 /7
BDT8 /8
BDT9 /9
NOTE
1 Number 1 for /1 can be omitted. However, when two
or more optional block skip switches are used in one
block, number 1 for /1 cannot be omitted.
(Example)
/ /3 N123 X100. Y200. ; Invalid
/1 /3 N123 X100. Y200. ; Valid
The following figures show the relationship between the timing, when
optional
block skip signals (BDT1 to BDT9) are set to 1, and the ignored
information:
1. When BDTn is set to 1 before the CNC starts reading a block

containing /n, the block is ignored.
BDTn "1"
"0"
Reading by CNC→. . . . . . ; /n N123 X100. Y200. ; N234 . . . . . .
Ignored
- 493 -
2. When BDTn is set to 1 while the CNC is reading a block

containing /n, the block is not ignored.
BDTn "1"
"0"
Reading by CNC→. . . . . . ; /n N123 X100. Y200. ; N234 . . . . . .
Ignored
3. When BDTn, currently set to 1, is set to 0 while the CNC is

reading a block containing /n, the block is ignored.
BDTn "1"
"0"
Reading by CNC→. . . . . . ; /n N123 X100. Y200.; N234. . . . . .
Ignored
4. When two or more optional block skip switches are specified in a
block and BDTn, corresponding to one of them, is set to 1, the
block is ignored.
BDT3 "1"
"0"
Reading by CNC→. . . . . . ; /1 /3 /5 N123 X100. Y200. ; N234 . . . . .
Ignored
Signal
Optional block skip Signal
BDT1<G004#2>,BDT2-BDT9<G007>
[Function] Select whether a block containing /n is to be executed or ignored.
[Operation] During automatic operation, a block containing /n in the program is
ignored when the corresponding optional block skip signal is set to 1. It
is executed normally when the signal is set to 0.
Optional block skip check Signals

MBDT1<F004#2>, MBDT2-MBDT9<F005>
[Function] Notify the PMC of the states of the optional block skip signals BDT1 to
BDT9. Nine signals are provided, corresponding to the nine optional
block skip signals. Signal MBDTn corresponds to signal BDTn.
[Output condition] Signal MBDTn is set to 1 in the following case:
- When the corresponding optional block skip signal (BDTn) is set
to 1
Signal MBDTn is set to 0 in the following case:
- When the corresponding optional block skip signal (BDTn) is set
to 0
- 494 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 BDT1
G007 BDT9 BDT8 BDT7 BDT6 BDT5 BDT4 BDT3 BDT2
F004 MBDT1
F005 MBDT9 MBDT8 MBDT7 MBDT6 MBDT5 MBDT4 MBDT3 MBDT2
Note
NOTE
1 This function is ignored when programs are loaded
into memory. Blocks containing /n are also stored in
memory, regardless of how the optional block skip
signal is set.
2 Position of a slash
A slash (/) must be specified at the head of a block. If
a slash is placed elsewhere, the information from the
slash to immediately before the EOB code is
ignored.
3 TV and TH check
When an optional block skip signal is "1". TH and TV
checks are made for the skipped portions in the
same way as when the optional block skip switch is
"0".
4 A slash (/) must be specified at the head of a block.
If a slash is placed elsewhere, the commands
following the slash are ignored.
Reference item
Series15i/150i-MB Operator’s Manual II-12.1 Configuration of the
(Programming) program
(B-63784EN)
- 495 -
5.6 SEQUENCE NUMBER COMPARISON AND STOP
General
During program execution, this function causes a single block stop
right after
a block with a specified sequence number is executed.
Parameter
7681 Sequence number for stoppage upon matching

[Data type] Integer
When the sequence number set in this parameter appears during program execution,
single block stop state is set after the block is executed. In this case or in the case
of a reset, this parameter is cleared to 0.
NOTE
1 When 0 is set, stoppage upon matching is disabled. This
means that even when there is a block of N0, single block stop
state does not occur with the block.
2 If a match is found with the sequence number of a block
processed internally within the CNC only (such as a macro
statement, M98, or M99), stoppage upon matching is not
performed.
3 If a match is found with the sequence number of a block that
specifies the number of repeats (such as L specification in a
canned cycle), operation stops after the specified number of
repeats are performed.
4 If the sequence number set in this parameter appears more than
once in the program, operation stops after the first matching
block in the execution flow is executed.
- 496 -
5.7 PROGRAM RESTART
General
A program may be restarted at a block by specifying the sequence
number of the block, after automatic operation is stopped because of a
broken tool or for holidays. This function can also be used as a high-
speed program check function.
There are two types of restart methods.
P type: Restart after a tool is broken down
Q type: Restart after holidays
Program restart screen

When a block to be restarted is found, the screen display switches to the
program restart screen.
Fig. 5.7 (a)

DESTINATION shows the position where machining is to restart.
DISTANCE TO GO shows the distance from the current tool
position to the position where machining is to restart.
BC: The block number
M: 35 most recently specified M codes However, note that
only 2-digit M codes are displayed. If M codes
comprising three or more digits are displayed, M codes
are displayed only up to as far as possible.
T: Two most recently specified T codes
S: Most recently specified S code
B: (second auxiliary function address) Most recently
specified second auxiliary (in this case, a B code)
Codes are displayed in the order in which they are specified.
All codes are cleared by a program restart command or cycle start
in the reset state.
- 497 -
Output of M, S, T, and B (second auxiliary function) codes for program restart
After a block to be restarted is found, M, S, T, and B (second auxiliary

function) codes can be output by setting bit 3 (MOP) of parameter No.
7602.
1. Before moving to the machining restart position

(1) The final M, S, T and B codes can be automatically output to
the PMC. If the final S code is specified to the same block
containing an G92, that S code is output as the maximum
spindle speed. Other S codes are output as the programmed
spindle speed. However, note that only the final programmed
S code is displayed in the program restart screen regardless
of whether it is specified in the same block as G92.
(2) All sampled M codes and the final S, T and B codes can be
automatically output to the PMC during searching of the
program execution restart block. However, note that only up
to 35 M codes can be sampled. If the number of M codes to
be sampled exceeds 35, the latest 35 M codes are output to
the PMC.
Whether (1) or (2) is to be performed is switched by bit 6 (BOA)
parameter No. 7620.
2. Until arrival at the machining restart position

You can specify M, S, T and B codes in the program restart screen
from the MDI panel in the MEMORY or TAPE modes.
Signal
Program Restart Signal SRN <G002#5>

[Function] Selects program restart.
[Operation] When the program restart signal is set to 1, and a block to be restarted is
found by specifying its sequence number or the number of blocks (from
the start of the program to the block to be restarted), the screen display
switches to the program restart screen. When the program restart signal
is set to "0", and automatic operation is activated, the tool is moved
back to the machining restart point at dry run speed along the axes one
by one in the sequence specified in parameter No. 7110. When the tool
is set to the restart point, machining restarts.
Program restart under way Signal MSRN <F002#5>

[Function] Indicates the program is being restarted.
[Output condition] The program restart under way signal becomes "1" when:
- The program restart signal is set to "0" after the LCD screen
changes to the program restart screen.
The signal is set to "0" when:
- The program restart sequence ends (the tool has been moved to the
restart point on all controlled axes).
- 498 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G002 SRN
F002 MSRN
Parameter
7110 Order in which the tool moves at the dry run feedrate
sequentially along axes at program restart

[Valid data range] 0 - (number of controlled axes)
Specifies the number of each axis along which the tool is to move to the
restart position at the dry run feedrate after the start of program restart
in the desired order.
If a value greater than the number of controlled axes is input, an alarm
occurs upon program restart.
(Example)
When 2 is set for the first axis, 3 for the second axis, 4 for the third axis,
and 1 for the fourth axis, the tool moves to the restart position
sequentially along the fourth, first, second, and third axes in that order.
This parameter must also be set for an axis along which the tool need
not move to the restart position at program restart.
#7 #6 #5 #4 #3 #2 #1 #0
7130 NBK

[Data type] Bit
#0 NBK Specifies whether to count blocks in a subprogram or macro program

which is not displayed during execution at program restart.
0: Count blocks.
1: Do not count blocks.
#7 #6 #5 #4 #3 #2 #1 #0
7620 MOA MOP

[Data type] Bit
#3 MOP Specifies whether to output M, S, T, and B codes before the tool is

moved to the machining restart position after a block to be restarted is
found at program restart.
0: Do not output M, S, T, and B codes (overstore mode is disabled).
1: Output M, S, T, and B codes (overstore mode is enabled).
- 499 -
#6 MOA Specifies the codes to be output before the tool is moved to the
machining restart position upon program restart.
0: Last M, S, T, and B codes.
1: All M codes and the last S, T, and B codes.
This bit is valid only when parameter MOP is set to 1.
Alarm and message

SR0592 END OF RECORD The EOR (End of Record) code is specified in the middle of
a block.
This alarm is also generated when the percentage at the
end of the NC program is read.
This alarm is also generated when the specified block is not
found by the program restart function.
SR0600 PARAMETER OF RESTART ERROR An illegal value is set to parameter No. 7110 that specifies
the order in which axes move when machining is restarted
in the dry run.
The setting range is 1 to the number of controlled axes.
Warning
WARNING
As a rule, the tool cannot be returned to a correct
position under the following conditions. Special care
must be taken in the following cases since none of
them cause
- Manual operation is performed when the manual
absolute mode is OFF
- Manual operation is performed with the machine
locked.
- When the mirror image function based on setting
input or signal input (When programmable mirror
image code G50.1 or G51.1 is used, return
movement can be made to the restart position as
usual.)
- When manual operation is performed in the course
of axis movement for returning operation
- When the program restart is commanded for a block
between the block for skip cutting and subsequent
absolute command block
- When program restart specified for an intermediate
block for a multiple repetitive canned cycle
- 500 -
Caution
CAUTION
1 Cautions for program restart for a program using a
macro variable
- Common variable
At program restart, the previous value is used as
each common variable value and the common
variable value is not automatically preset. For this
reason, initialize each common variable value to
the value existing at the start of the previous
automatic operation immediately before program
restart (if required)
- Signals input from and output to the PMC (DI/DO)
During program restart, DI can be read using
system variables, but DO cannot be output
- Clock
During program restart, the clock time can be
checked using the system variable, but the time
cannot be preset.
- Tool offset value and workpiece origin offset value
At program restart, the offset values can be read
using the system variables, but can be changed
only for the Q type
2 The M, S, T, and B (second auxiliary function) codes
specified in overstore mode are not displayed on the
program restart screen.
3 Overstore mode is not canceled when the operation
mode is changed to a mode other than the MEM or
DNC mode, but no value can be input to an
overstore item.
Reference item
Series15i/150i-MB Operator’s Manual II-4.7 Program restart
(Operation)
(B-63784EN-1)
- 501 -
5.8 BLOCK RESTART
General
The block restart function enables automatic operation to be restarted
from the start or an intermediate point of a block if automatic operation
has been interrupted in that block due to an abnormality such as a
broken tool.
Manual operation with the block return switch turned on

Move the tool in the continuous manual feed mode toward the start
point of
the interrupted block while the block return switch is on. The tool
automatically stops at the start point. When the start point is reached
for all axes, the message RSTR disappears from the bottom of the
screen.
If the block return switch is turned on in the continuous manual feed

(JOG) mode, the distance between the current position of the tool and
the start point of the interrupted block is calculated. The start point of
the interrupted block refers to the point calculated as follows:
Absolute coordinate of the programmed start point

+
Previously compensated tool value
+
Newly calculated tool length compensation value
=
Newly calculated cutter compensation value perpendicular to the
interrupted block at the start point
If the tool offset value is changed, new compensation values (vectors)

for the tool length compensation (G43 and G44) for the fixed
compensation axis (bit 4 (LXY) of parameter No. 6000 is set to 0) and
the cutter compensation (G41 and G42) are calculated based on the
new offset value. However, the compensation values for the tool length
compensation for an arbitrary compensation axis (bit 4 (LXY) of
parameter No. 6000 is set to 1) and the tool offset (G45 to G48) remain
unchanged.
The calculated distance to the start point is displayed by pressing the

[BLOCK RESTRT] soft key on the position display screen. Normally,
when the block return switch is turned on in jog feed (JOG) mode, this
screen (called the restart display) appears automatically. On the restart
display screen, the following values are indicated.
- 502 -
Block restart screen

On the restart display screen, the following values are indicated.
Fig.5.8 (a)
(i) (DESTINATION) :
Absolute coordinates of the tool center at the start point of the
interrupted block
(ii) (DISTANCE TO GO) :
Distance from the current position (ABSOLUTE) of the tool to
the start point (DESTINATION) of the interrupted block
(iii) Status of RSTR display
Various conditions RSTR is displayed

(mode, cutter compensation, etc.) continuously.
Continuous manual feed (JOG) mode RSTR blinks.
When the outer corner is being
Automatic operation compensated in the cutter RSTR blinks.
(MEMORY, TAPE, compensation mode.
or MDI) Other than the above RSTR is displayed
continuously.
RSTR does not appear
regardless
Reset state
of what the current
mode is.
- 503 -
Restart of automatic operation with the block return switch turned on

If the cycle start button is pressed while the block return switch is on,
the tool length compensation value and the cutter compensation value
are recalculated, and automatic operation is restarted toward the
compensated end point from the current position.
The tool is retracted to this
Path after automatic
position so the tool can be
operation is restarted
replaced. Newly calculated end point
Target end point prior
to interruption
Path prior to interruption
Fig. 5.8 (b)

The tool moves toward the recalculated end point from its current
position regardless of whether it has been returned to the start point of
or an arbitrary point in the interrupted block prior to pushing the cycle
start button.
- Block restart interference check

The block restart interference check is made based on the value (d:
permissible block restart interference check value) set in parameter No.
7651. The interference check issues an alarm unless the distance
between the normal path and the block restart point is within d.
Manual operation
Point at which automatic
Point at which operation is interrupted
automatic operation Normal path
is to be restarted. End point of
interrupted
block
The workpiece may be cut when

automatic operation is restarted.
d or less
Programmed path
Tool center path
Fig. 5.8 (c)
The block restart interference check function can be enabled and

disabled using bit 7 of parameter No. 7605. However, the interference
check is not performed in the following cases even if it has been
enabled:
- When the tool is moved manually to the start point of the
interrupted block while the block return switch is on.
- When the interrupted automatic operation is restarted with the
cutter compensation mode canceled.
- When no vector is available for cutter compensation at the start
point of the block in which the tool movement was interrupted.
(Start up of cutter compensation)
- 504 -
Signal
Block restart signal BRN <G002#6>

[Function] Selects block restart (block return switch).
[Operation] See the descriptions of "Manual operation when the block return switch
is on" and "Restart of automatic operation when the program return
switch is on," above.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G002 BRN
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7605 NBC

[Data type] Bit
#7 NBC Specifies whether to check for interference when a block is restarted.

0: Check.
1: Do not check.
7651 Interference allowance when the block is restarted (d)

[Data type] Real
[Unit of data] mm, inch (input unit)
table(A))
Set an allowable distance between the normal path after cutter
compensation and the block restart position.
If the distance between the normal path and restart position is equal to
or greater than d, a warning about interference is issued to protect
against overcutting.
- 505 -
Limitation
- Automatic reference position return

The command for automatic reference point return (G28 and G30) in
the cutter compensation mode does not return the tool to the correct
position even when the restart operation is performed within the block.
- Dwell
The restart operation cannot be performed in the block for which a
dwell (G04) has been specified.
- Setting a compensation value

The compensation value must be set prior to turning on the block return
switch.
- In three-dimensional cutter compensation mode

In the three-dimensional cutter compensation mode with zero value,
suppose the tool movement is interrupted, the compensation value is
changed, and the operation is restarted. In this case, the vector for the
cutter compensation is not recalculated.
Note that if the compensation values are changed excessively, the
accuracy for vector calculation may deteriorate.
- Cycle start ignored

When the block return switch is on, if the message RSTR does not
appear on the CRT screen, the cycle start command is ignored.
- When the block return switch status is changed

Operating the block return switch during continuous manual feed stops
the tool.
- Block containing no move command

Operation must not be restarted in a block without a move command.
- Restart after single-block stop

After a single-block is stopped, operation is restarted at the block after
the block that has already been executed by the single-block function.
- 506 -
Caution
CAUTION
1 The tool may cut the workpiece when it is being
moved toward the end point of the interrupted block.
In this case, an alarm is displayed and the tool is
inhibited from moving to the end point. This function
is referred to as the block restart interference check.
Point at which automatic Manual operation

operation is
restarted Point at which automatic
operation is interrupted
End point of
Correct path interrupted
block
The workpiece will be cut when

automatic operation is restarted
Tool center Programmed path

path
If the tool will cut the workpiece when automatic
operation is restarted, press the cancel <CAN> key to
reset the alarm. Move the tool to an appropriate
position while observing the movement of the tool.
Then, perform the block restart operation again from
step 1 of procedure 3.
2 If the reset state is set by pressing the reset or
emergency stop button, block restart cannot be
performed.
- 507 -
CAUTION
3 When returning the tool to the start point of the block by
a manual operation using the block restart function, the
tool is returned to the tip of the vector vertical to the
block at its start point. Therefore, if the start point of
the interrupted block is inside the corner, the workpiece
may be cut when the tool returns to the start point.
Manual operation
Automatic operation is
stopped at this point.
Programmed path
When the tool moves to the The tool should be returned

start point, it may cut the manually to an arbitrary
workpiece point in the block.
In this case, return the tool to an appropriate position

while watching it, rather than to the start point.
- 508 -
CAUTION
4 When the tool movement is interrupted during a
canned drilling cycle, after which block restart is
performed, the tool does not return to the point at
which tool movement was interrupted as shown in the
figures below. In either case, care must be exercised
since no alarm is issued.
i) Interruption occurs in the middle of the first drilling operation
The point to which the tool is returned by

the block restart function, regardless of
whether the current mode is the initial level
Initial point return (G98) mode or point-R level return
(G99) mode
Point R
Point of interruption
Point Z
ii) Interruption occurs in the middle of the second or subsequent

drilling operations
Initial point
Point returned to by the
block restart function
Point R Point R
Point of interruption Point of interruption

Point Z Point Z
For initial level return For Point-R level return
(G98 mode) (G99 mode)
On the second or subsequent drilling cycle, the tool

returns to either of the above two positions according
to the G98 or G99 mode.
Reference item
Series15i/150i-MB Operator’s Manual II-4.9 Block restart
(Operation)
(B-63784EN-1)
- 509 -
5.9 RETRACE
General
A tool can retrace the tool path along which the tool has moved. This
operation is referred to as retrace. In addition, a tool can move forward
again along the path that the tool has retraced. This operation is
referred to as re-forward.
1. Retrace signal RVS "1"

2. Retrace start
4. Retrace end, re-forwarding start
3. Retrace signal RVS "0"
The tool can then resume machining according to the program when it
returns to the position where it started retrace.
By using the retrace signal RVS, which is an input signal from the PMC
to the control unit, retrace and re-forward can be performed. Retrace is
performed when the retrace signal RVS turns to "1". Re-forward
operation is performed when the retrace signal turns to "0". In retrace, a
tool can retrace blocks that have been executed in the automatic
operation mode (memory command, tape command, manual data input),
but a limit is imposed on the number of blocks that can be retraced. For
detailed information, refer to the operator's manual.
Whether to use the same federate as specified for normal operation or
use a feedrate dedicated to retrace can be determined by setting
parameter No. 1494.
- 510 -
Signal
Retrace signal RVS <G029#4>

[Function] Directs the control unit to retrace the tool along the path which the tool
was moved in automatic operation (DNC operation and MDI operation
<except memory operation and binary operation>).
[Operation] When RVS turns to "1" while the tool is being moved
forward (hereafter referred to as forward), the tool retraces the tool
path along which it was moved. Note, however, that the tool does not
start retrace immediately after this signal turns to "1" ; the tool starts
retrace after the block performing the current forward operation is
executed. When RVS turns to "0" while retrace is in progress, the tool
switches from retrace operation to re-forward. In this case also, the tool
does not start re-forward to resume machining immediately after this
signal turns to "0" retrace; the tool starts re-forward after retracing all
commands of the block currently subject to retrace.
The movement of a tool can be immediately switched from forward to
retrace or from retrace to re-forward. For this purpose, first turn the
feed hold signal *SP to "0" to stop automatic operation. Then, change
the state of RVS after the automatic operation start in-progress signal
STL turns to "0" and the automatic operation stop state is set. And the
feed hold lamp SPL turns to "1". Next, turn feed hold signal *SP the
automatic operation start signal ST from "1" to "0" to start automatic
operation. Then, the tool can switch its movement to retrace or re-
forward during execution of a block.
- 511 -
Retrace-in-progress signal RVSL<F044#2>

[Function] Notifies the PMC that retrace is in progress.
[Operation] This signal turns to "1"when:
- Tool is in retrace with the retrace signal RVS turned to "1".
This signal turns to "0"
- The tool is in forward or re-forward with the retrace signal RVS
turned to "0".
- The tool is at stop because of no block to retrace during retracing.
When the tool is in retrace, the M functions, S functions, T functions,

and second auxiliary functions are executed in the same way as when
the tool is moving forward. During retrace, this signal can be used on
the PMC, if required, to prevent these functions from being executed in
the same way as when the tool is moving forward.
Particularly when an M function, S function, T function, or second
auxiliary function is specified in a block containing a move command,
the positions where the code signals and strobe signal are output differ,
depending on whether the tool is in forward (or re-forward) or retrace.
So, take action on the PMC by using this signal and distribution end
signal DEN as required.
Miscellaneous function is outputted when retrace
Retrace end
(Retrace signal RVS “1”)
Block including moving command and miscellaneous function
Retrace end Miscellaneous function is outputted when

Re-forwarding start forwarding
(Retrace signal RVS
“0”)
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G029 RVS
F044 RVSL
- 512 -
Parameter
1494 Feedrate during reverse movement

[Data type] Real
Set the feedrate to use during reverse movement. When set to 0, reverse
movement is performed at the feedrate specified in the program.
NOTE
This parameter is not effective to blocks in rapid traverse during
reverse movement.
4824 Color indicating reverse operation in tool path drawing

[Data type] Integer
Specify the color used to indicate the path of reverse operation in
tool path drawing.
0: White 1: Red 2: Green 3: Yellow
4: Blue 5: Violet 6: Light blue 7: White
Alarm and message

While a tool is in retrace, the retrace-in-progress signal RVSL is sent,
and the character string RVRS blinks on the CRT screen to signal that
the tool is currently in retrace. When a tool is in re-forward, the
character string RTRY blinks to signal that the tool is currently in re-
forward. The indication of RTRY continues until the tool returns to the
block where retrace was started, that is, until forward movement is
resumed. When there are no more retraceable blocks, the character
string RVED blinks to signal that no further retrace can take place.
- 513 -
Warning
WARNING
Positioning (G00)
When the tool is positioned based on nonlinear
interpolation by setting bit 4 (LRP) of parameter No.
1400 to 0, the path followed by the tool for reverse
movement does not match that for forward
movement. The path for forward return movement is
the same as that for forward movement.
When the tool is positioned based on linear
interpolation by setting bit 4 (LRP) of parameter No.
1400 to 1, the path of the tool for reverse movement
matches the path for forward movement.
Positioning based on nonlinear
@ @(LRP
interpolation (LRP = 0)
Y
Forward movement
Reverse movement
X Forward return movement
Reference item
Series15i/150i-MB Operator’s Manual II-4.11 Retrace
(Operation)
(B-63784EN-1)
- 514 -
5.10 WITHDRAWING AND RETURNING A TOOL
General
To replace a tool damaged in machining or to check the machining
status, the tool can be withdrawn from a workpiece. Further, the tool
can be efficiently repositioned to resume the machining.
: Position at which a tool withdrawal signal is input
: Programmed escape position
: Position stored in manual operation
: Retract
: Withdraw
: Return
: Repositioning
Z
Fig. 5.10 (a) Path of Tool Withdrawal and Return
- Basic procedure for tool withdrawal and return
(1) When the tool withdrawal signal TRESC, entered from the PMC,
is set to 1 while automatic operation with a retract axis or retract
amount specified by the program command G10.6 IP_ is being
performed, or if it is stopped or held, retraction by the specified
amount is performed. This operation is referred to as retraction.
The position at which retraction is completed is referred to as the
retraction position.
If a point at which TRESC is set to 1 while automatic operation is
being performed is in the middle of a block, the execution of the
block is stopped immediately, then retraction is performed. After
retraction is completed, automatic operation is held. If program
command G10.6 is not specified, retraction is not performed.
If program command G10.6 is not specified, retraction is not
performed, and block execution is suspended, resulting in
automatic operation being put at pause or stop. A retract amount
can also be specified with parameter No. 7629. The mode of
- 515 -
operation from the tool withdrawal signal TRESC being set to 1 to

the same signal being set to 0 is referred to as tool withdrawal
mode.
Tool withdrawal mode includes all the retraction, withdrawal, and
repositioning operations.
When tool withdrawal mode is set, tool withdrawal mode in-
progress signal TRACT is set to 1, to indicate to the PMC that tool
withdrawal mode is set.
During movement for retraction, the tool withdrawal axis move
in-progress signal TRMTN is set to 1. Upon positioning to the
retraction position, TRMTN is set to 0, and tool withdrawal and
return completion signal TRSPS is set to 1.
During movement
(MEM, D, T)
Tool withdrawal signal
(TRESC)
Tool withdrawal mode in-progress
(TRACT)
signal
Movement for retraction
Tool withdrawal axis move in-progress signal
(TRMTN)
Tool withdrawal and return completion signal
(TRSPS)
Fig. 5.10 (b) Timing Chart for Retraction (Involving Movement)
(2) After the mode is switched to manual mode, the tool can be moved
for tool change operation by manual operation (jog feed,
incremental feed, manual handle feed, or manual numeric
command). This operation is referred to as withdrawal. A tool
withdrawal path is automatically stored by the CNC. Up to ten
tool withdrawal paths are stored automatically.
When manual withdrawal is performed, TRSPS is set to 1. During
manual movement along an axis, TRMTN is set to 1.
Automatic operation mode
(MEM, D, T)
Manual operation mode

(J, H, S)
Tool withdrawal mode in-progress signal
1 with the retract state maintained
(TRACT)
Movement for retraction along an axis
Tool withdrawal axis move

in-progress signal
(TRMTN)
(TRSPS)
Fig. 5.10 (c) Timing Chart for Withdrawal
- 516 -
(3) When the mode is returned to automatic operation mode, and tool
return signal TRRTN is set to 1 and then back to 0, the CNC
returns the tool to the retraction position by tracing back along the
manual operation path.
This operation is referred to as return. When movement is started
with a return operation, TRMTN is set to 1.
Upon the completion of return to the retraction position, TRSPS is
set to 1.
(MEM, D, T)
Tool return signal

(J, H, S)
Tool return signal

(TRRTN)
Return operation
Tool withdrawal axis move in-progress

iTRMTN)
Tool return completion signal

(TRSPS)
Fig. 5.10 (d) Timing Chart for Return (When the Tool Is Returned to the
Retraction Position without Single Block Stop or Feed Hold during
Return Operation)
(4) When the cycle start button is pressed while the tool is in the
retraction position, the tool first moves to the position at which
tool withdrawal signal TRESC was set to 1. This operation is
referred to as repositioning. Upon the completion of repositioning,
tool withdrawal mode in-progress signal TRACT is set to 0,
notifying the PMC that tool withdrawal mode has ended. The
operations performed after the completion of repositioning
depends on the automatic operation state existing when tool
withdrawal mode was set.
(1) When tool withdrawal mode is set during automatic
operation, automatic operation is resumed after the
completion of repositioning.
(2) When tool withdrawal mode is set with automatic operation
held or stopped, the original automatic operation hold or stop
state is set after the completion of repositioning. When the
cycle button is pressed again, automatic operation is
resumed.
- 517 -

(MEM, D, T)
Tool withdrawal mode in-progress

(TRACT)
Tool withdrawal and return
completion signal
(TRSPS)
Automatic operation start signal
(ST)
Movement for repositioning
Tool withdrawal axis move

in-progress signal
(TRMTN)
Fig. 5.10 (e) Timing Chart for Repositioning (Involving Movements)
Signal
Tool withdrawal signal

TRESC<G031#0>
[Function] Selects tool withdrawal mode and retracts the tool.
[Operation] When the signal is set to 1, the CNC:
- Retracts the tool by a programmed distance.
Tool withdrawal mode in-progress signal

TRACT<F044#3>
[Function] Used to post notification that the CNC is in tool withdrawal mode. If
the CNC is reset while this signal is held to 1, the signal goes to 0, thus
canceling tool withdrawal mode.
[Output condition] The signal is held to 1 when:
- The CNC is in tool withdrawal mode.
The signal is held to 0 when:
- The CNC is not in tool withdrawal mode.
Tool return signal

TRRTN<G031#1>
[Function] Makes a return to the retract position on an axis on which the tool was
manually withdrawn in tool withdrawal mode.
[Operation] When the signal is set to 1, the CNC:
- Automatically returns the tool to the retract position in the path of
the manual movement in reverse.
- 518 -
Tool withdrawal axis move in-progress signal

TRMTN<F044#4>
[Function] Used to post notification that an axial movement is in progress in tool
withdrawal mode.
- Movement is in progress along any axis in tool withdrawal mode.
- No axial movement is made in tool withdrawal mode.

TRSPS<F044#5>
[Function] Used to post notification that the tool is in the retract position in tool
withdrawal mode. When the signal is held to 0, repositioning cannot be
performed by a cycle start.
[Output condition] The signal goes to 1 when:
- Retraction is completed.
- The tool is returned to the retract position.
- The tool is not in the retract position in tool withdrawal mode.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G031 TRRTN TRESC
F044 TRMTN TRACT
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7614 TRS TRI

[Data type] Bit
#0 TRI Specifies whether the specification of the G10.6 code for tool
withdrawal and return follows the absolute/incremental mode
specification or is an incremental command.
0: Follow the absolute/increment mode specification.
1: Incremental command at all times.
#1 TRS Specifies operation to be performed upon completion of repositioning
in tool withdrawal and return operation.
0: Automatic operation restarts.
1: Operation stops if the single block switch is on. Automatic
operation restarts when the cycle start button is pressed.
- 519 -
#7 #6 #5 #4 #3 #2 #1 #0
7630 TRC RPS

[Data type] Bit
#0 RPS Specifies whether to perform retraction when the tool retract signal
TRESC is set to 1 after G10.6 is singly specified.
0: Do not perform retraction.
1: Perform retraction using the setting of parameter No. 7629 as the incremental
amount of retraction.
#1 TRC Specifies whether to perform retraction when the tool retract signal
TRESC is set to 1 after G10.6 is singly specified.
0: Do not perform retraction.
1: Perform retraction using the setting of parameter No. 7629 as the incremental
amount of retraction.
7629 The amount of retraction in tool withdrawal and return

table(A))
Set the amount of retraction when G10.6 for the tool withdrawal and
return function is specified singly. The value set in this parameter is
used as an incremental value for retract operation. This data is valid
only when bit 0 (RPS) of parameter No. 7630 is set to 1.
Warning
WARNING
The retract axis and related travel distance specified
with G10.6 must be changed in an appropriate
block, according to the machining figure. If an
invalid retract distance is specified, the workpiece,
machine, or tool may be damaged. Great care is
required.
- 520 -
Alarm and message

OT0132 NOT ON RETURN_POINT The tool did not arrive at the stored return position along the
axis, or the position may have deviated by machine lock or
mirror image operation during zero return.
Reset the machine, and rerun from an appropriate machine
position.
PS0215 ILLEGAL COMMAND IN G10.6 The retract command was specified in the long axis for
threading when retract was started by the threading block.
If the tool is to be retracted in a threading block, modify the
G10.6 command in such a way that retraction is not
specified for a longer threading axis.
Reference item
Series15i/150i-MB Operator’s Manual II-4.10 Withdrawing and
(Operation) returning a tool
(B-63784EN-1)
- 521 -
5.11 ACTIVE BLOCK CANCEL
General
Automatic operation can be stopped by inputting block cancel signal
BCAN into the control unit during automatic operation. After
automatic operation has been halted, automatic operation starting
signal STL and automatic operation in progress signal OP also go to 0.
All modal information is stored.
This operation accompanies the following:
1) If the machine was performing a movement, the movement is
decelerated to a stop. The remaining amount of travel is cancelled.
2) If the machine was in the dwell status, the dwell command is
cancelled.
3) If the miscellaneous function, spindle function, tool function, or
second miscellaneous function was in progress, corresponding
strobe signal MF, SF, TF, or BF goes to 0, and the block
terminates. If a high-speed M/S/T/B interface is used, strobe
signal MF, SF, TF, or BF does not change its status, but the block
terminates. Accordingly, completion signal MFIN, SFIN, TFIN,
or BFIN must be set to the same logic level as the strobe signal
before the operation is resumed.
When a cycle start is made, automatic operation is resumed from the
block immediately after the cancelled block.
- Resumed operation
G90/G91
When an operation is resumed, the command for the block after the
cancelled block determines the operation to be resumed. If the block
has an absolute command, the operation is resumed from the position at
which it was stopped and made toward the end point of the next block.
If the block has an incremental command, the operation is resumed
from the position at which it was stopped and performed in incremental
mode.
Programmed path
Next block
Position where the operation
was stopped by signal input
When the next When the next

block contains block contains
G91 G90
Fig. 5.11 (a) G90/G91
- 522 -
Cutter compensation
The path after compensation is re-calculated from two consecutive
blocks after the position where the operation was stopped. The figure
below shows the movement performed when cutter compensation is
resumed:
Position at which the

Path after cutter compensation operation was stopped
by signal input
Position in
which the tool
is stopped by
Programmed path signal input
(before cutter
compensation
is applied)
Fig. 5.11 (b) Cutter Compensation
Canned cycle
If a block is cancelled in a canned cycle, the canned cycle is cancelled.
When the program is resumed, the operation is resumed from the next
block.
Example
N10 G84 G91 X_ Y_ Z_ R_ L3;
N20 G00 G90 X_ Y_ Z_
N10
N20
Position at which the operation

was stopped by signal input
Fig. 5.11 (c) Canned Cycle
- 523 -
Signal
Block cancel signal BCAN <G157#6>

[Function] Cancels the current block in progress.
[Operation] When the signal goes to 1 during automatic operation, the block being
executed is cancelled, and the automatic operation stops.
Block cancel acknowledgement signal MBCAN <F157#4>

[Function] Posts notification that the block cancel signal has been received.
[Output condition] When block cancel signal BCAN goes to 1 during automatic operation
and when the cancel operation starts, this acknowledgement signal also
goes to 1. When the block cancel operation terminates, when the
automatic operation stops, and when block cancel signal BCAN goes to
0, this acknowledgement signal goes to 0.
Timing chart for block cancel operation
Automatic operation in progress signal OP
Automatic operation starting signal STL
Block cancel signal BCAN
Block cancel acknowledgement signal MBCAN
(The thick line represents the period in

which the corresponding signal is held to 1.)
Fig. 5.11 (d) Timing Chart
If the block cancel signal is set to 1 while the miscellaneous function,

spindle function, tool function, or second miscellaneous function is
being executed, the corresponding strobe signal (MF, SF, TF, or BF)
goes to 0. If the high-speed M/S/T/B interface is used, the status of the
strobe signal does not change. The corresponding completion signal
(MFIN, SFIN, TFIN, or BFIN) should be set to the same logic level as
the strobe signal.
(Fig. 5.11 (e)-Fig. 5.11 (g))
Miscellaneous function strobe signal MF

Miscellaneous function completion signal MFIN
Fig. 5.11 (e) Canceling a Block while the Miscellaneous Function is

Being Executed
- 524 -
Fig. 5.11 (f) Canceling a Block while the Miscellaneous Function is Being
Executed with High-Speed MSTB Interface (when MF is held to 0 and
MFIN is held to 1)
Fig. 5.11 (g) Canceling a Block while the Miscellaneous Function is

Being Executed with High-Speed MSTB Interface (when MF is held to 1
and MFIN is held to 0)
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G157 BCAN
F157 MBCAN
Caution
CAUTION
Before resuming the operation, check that the tool
path and workpiece do not interfere with each other.
Reference item
Series15i/150i-MB Operator’s Manual II-4.12 Active block cancel
(Operation)
(B-63784EN-1)
- 525 -
5.12 EXACT STOP/EXACT STOP MODE/TAPPING

MODE/CUTTING MODE
General
NC commands can be used to control a feedrate in continuous cutting
feed blocks as described below.
- Exact stop (G09)

The tool is decelerated in a block specifying G09, and an in-position
check (*1) is performed. When the feed motor falls in-position, the
tool is moved by the next block. This function may be used to produce
a sharp edge at the corner of a workpiece.
NOTE
An in-position check is performed to confirm that the
specified feedrate falls to 0 (producing no
acceleration/deceleration delay) upon deceleration.
Moreover, by setting bit 0 (CIP) of parameter No.
1000, the user can choose whether to check if the
machine position has reached a specified position
(that is, if the positional deviation is within a certain
range).
- Exact Stop Mode (G61)

When G61 is commanded, deceleration of cutting feed command at the
end point and in-position check is performed per block thereafter. This
G61 is valid till G62 (automatic corner override), G63 (tapping mode),
or G64 (cutting mode), is commanded.
- Tapping Mode (G63)

When G63 is commanded, feed rate override is ignored (always
regarded as 100%), and feed hold also becomes invalid. Cutting feed
does not decelerate at the end of block to transfer to the next block.
This G63 is valid till G61 (exact stop mode), G62 (automatic corner
override), or G64 (cutting mode) is commanded.
- Cutting Mode (G64)

When G64 is commanded, deceleration at the end point of each block
thereafter is not performed and cutting goes on to the next block. This
command is valid till G61 (exact stop mode), G62 (automatic corner
override), or G63 (tapping mode) is commanded.
Y In-position check
(2)
Tool path in the exact stop mode
(1)
Tool path in the cutting mode or tapping
mode
0
X
Fig. 5.12 (a) Tool paths from block (1) to block (2)
- 526 -
5.13 DNC OPERATION
General
In DNC operation, automatic operation is performed by reading a
program from an external I/O device through the interface.
When a floppy-type external I/O device (such as a Handy File, Floppy
Cassette, or FA Card) is connected, the user can select the programs to
read, and specify an execution sequence and the number of times
automatic operation is to be performed.
Before DNC operation can be performed, the communication settings
must be made on the communication setting screen. For details of the
communication settings, see Section 9.17 in Part II.
Signal
DNC Operation Select Signal

T<G003#4>
[Function] Selects DNC mode.
- When automatic operation mode is set
Operation is stopped once execution of the block being executed
is completed. Then, the mode switches to DNC mode.
- When manual operation mode is set
Operation is stopped immediately, and the mode switches to DNC
mode immediately.
- When automatic operation is performed in simultaneous
automatic and manual operation mode
In DNC operation, operation is continued, and the mode switches
to DNC mode. For an operation other than DNC operation, the
mode switches to DNC mode after the operation is stopped upon
the completion of the execution of the block being executed.
- When manual operation is performed in simultaneous automatic
and manual operation mode
Operation is stopped immediately, and the mode switches to DNC
mode.
DNC Operation selection confirm Signal

MT<F003#4>
[Function] Indicates that the DNC operation mode has been selected.
[Output condition] The DNC operation selection confirm signal becomes “1” when:
The DNC operation mode is selected.
The DNC operation selection confirm signal becomes “0” ehen:
The DNC operation mode is not selected.
- 527 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G003 T
#7 #6 #5 #4 #3 #2 #1 #0
F003 MT
Alarm and message

PS0017 ILLEGAL MODE FOR A GOTO statement or WHILE-DO statement was found in
GOTO/WHILE/DO the main program in the MDI or DNC mode.
PS0081 EXT DEVICE SUB PROGRAM CALL The external device subprogram call is not possible in this
MODE ERROR mode.
SR0820 DR OFF(1) The data set ready input signal DR of the I/O device
connected to reader/punch interface 1 turned OFF.
Reference item
Series15i/150i-MB Operator’s Manual II-4.1 DNC operation
(Operation) II-9.17. Communication setting
(B-63784EN-1) screen
- 528 -
5.14 REGAINING A MANUAL INTERVENTION AMOUNT DURING

AUTOMATIC OPERATION
General
A manual intervention amount can be regained even during automatic
operation, without stopping automatic operation. When a manual
intervention amount regain request signal is input, the manual
intervention amounts for all axes are regained according to the manual
absolute switch at the end of a block of a non-buffering command (M
code).
Thus, a manual intervention amount regained during automatic
operation can be reflected in the next move command to be executed.
X X
Machine Absolute Absolute When the ABS switch is set to off (At the
coordinates coordinates coordinates position of absolute coordinates 2,
1 2 movement starts and the origin of the
absolute coordinate system is shifted.)
650 250 150
550 150 50 When the ABS

Movement of +100 switch is set to on
by manual (Movement is made
450 50 intervention from the position of
absolute
coordinates 1.)
Time
Continuous
G90 X50. Mxx ;
operation G90 X150. (Next block)
* Non-buffering block
command
NOTE
1 The amount of interrupt by manual handle interrupt
cannot be regained.
2 If the manual intervention amount regain request
signal is entered in a block that does not specify a
non-buffering command, a PS059 alarm is issued.
- 529 -
Basic procedure for regaining a manual intervention amount during automatic

operation
During automatic operation, a manual intervention amount can be

regained each time an M code for non-buffering is executed. The
sequence for regaining a manual intervention amount during automatic
operation is explained below, using an example that specifies such an
M code and a move command.
(1) Assume that G00 G91 Z-50.Mxxx is executed. (Mxxx must be
registered in advance as an M code for non-buffering.)
(2) Code signals M0 to M31 are output, and strobe signal MF is set to
1 at the same time. Moreover, Z-axis distribution is started.
(3) The PMC must read the code signals when the strobe signal is set
to 1, and the corresponding operation (which may be manual
intervention) must be performed. If the corresponding operation
should be performed after the completion of the move command
specified in the same block, wait for the distribution completion
signal DEN or IPEN to be set to 1. (The figure below shows an
example of waiting for the completion signal.)
(4) After completion of the corresponding operation, the PMC must
select absolute switch signal ABS and set manual intervention
amount regain request signal MIGET to 1 to regain a manual
intervention amount. Moreover, if functions such as a spindle-
speed function, tool function, and second auxiliary function are
specified at the same time, completion signal FIN must be set to 1
upon the completion of all of these functions.
(5) If the FIN signal is set to 1 for a minimum of a certain preset
period, the control unit sets strobe signal MF to 0 to post the
reception of the FIN signal.
(6) The PMC must set completion signal FIN to 0 when the strobe
signal is set to 0. At this time, the states of absolute switch signal
ABS and manual intervention amount regain request signal
MIGET must not be changed.
(7) When the FIN signal is set to 0, the auxiliary function sequence is
completed. Then, the control unit performs manual intervention
amount regain processing, then sets manual intervention amount
regain completion signal MIFIN to 1.
(8) To post the reception of the MIFIN signal, the PMC must set
manual intervention amount regain request signal MIGET to 0
when manual intervention amount regain completion signal
MIFIN is set to 1.
(9) The control unit sets manual intervention amount regain
completion signal MIFIN to 0 when manual intervention amount
regain request signal MIGET is set to 0. This completes the
manual intervention amount regain sequence during automatic
operation.
(10) The control unit starts reading the CNC command of the next
block.
An example of the manual intervention amount regain sequence during
the automatic operation described above is illustrated using a timing
chart, below.
- 530 -
(1)(2) (3) (4) (5) (6) (7) (8)(9)(10)
M command M
Move command
Code signals M0-M31
Strobe signal MF
Distribution completion signal DEN, IPEN
PMC operation
ABS switch ABS
Manual intervention amount regain request signal MIGET
Manual intervention amount regain completion signal
MIFIN
Completion signal FIN
T-FIN
Signals
Manual intervention amount regain request signal

MIGET<G046#7>
[Function] Issues a manual intervention amount regain request during automatic
operation.
[Operation] When this signal is set to 1 during automatic operation, manual
intervention amount regain processing is performed after the
distribution operation currently being performed is terminated, and
completion signal FIN of an M code for non-buffering is received.
When the CNC completes manual intervention amount regain
processing, the manual intervention amount regain completion signal
MIFIN is output. Upon confirming that this output signal has been set
to 1, reset MIGET to 0. After confirming that MIGET has been set to 0,
the CNC resets the manual intervention amount regain completion
signal MIFIN to 0. The above sequence completes its processing, then
the CNC starts reading the next block.
- 531 -
NOTE
1 Before the completion signal of an M code for non-
buffering is returned, an absolute switch signal
selection must be made, and MIGET must be set to
1.
2 In the reset state or initial automatic operation state,
the MIGET signal must be set to 0.
3 When manual intervention amount regain request
signal is set to 1, a PS059 alarm is issued if there is
a block already buffered (that is, if an M code for
non-buffering is not being executed).
Manual intervention amount regain completion signal

MIFIN <F046#3>
[Function] Reports that manual intervention amount regain processing during
automatic operation has been completed.
[Output condition] This signal is set to 1 when manual intervention amount regain
processing based on manual intervention amount regain request signal
MIGET is completed. Then, this signal is set to 0 upon confirmation of
the manual intervention amount regain request signal MIGET being set
to 0.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G046 MIGET
#7 #6 #5 #4 #3 #2 #1 #0
F046 MIFIN
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2409 ABS

[Data type] Bit
#3 ABS After manual intervention by manual absolute on, this bit specifies
whether the travel command path for absolute (G90) and for
incremental (G91) are the same.
0: Different
1: Same (path for absolute)
- 532 -
2411 M code 1 which does not put the following block in the buffer register

[Data type] Integer
Specify M codes that do not put the following block in the buffer
register.
- 533 -
2450 Range of M codes without buffering (1) (lower limit)
2451 Range of M codes without buffering (1) (upper limit)

[Data type] Integer
Specify the upper and lower limits of M codes without buffering. If the
specified upper and lower limits are found to be incompatible, the
entered parameters are invalidated.
Example)
To specify M10 to M19 and M90000000 to M99999999 as M codes
without buffering, specify the following:
No. 2451 = 10
No. 2452 = 19
No. 2453 = 90000000
No. 2454 = 99999999
NOTE
M00, M01, M02, and M30 are treated as M codes without
buffering even if they are not contained in the parameter limits.
M98, M99, the M codes set for parameters Nos. 7071 to 7089,
and those defined by parameters Nos. 7096, 7098, 7099, and
7101 are not treated as M codes without buffering even if they are
contained in the parameter limits.
Alarm and message

PS0059 COMMAND IN BUFFERING MODE The manual intervention compensation request signal
MIGET became "1" when a SAKIYOMI block was found
during automatic operation.
To input the manual intervention compensation during
automatic operation, a sequence for manipulating the
manual intervention compensation request signal MIGET is
required in an M code instruction without buffering.
- 534 -
5.15 SIMULTANEOUS AUTOMATIC AND MANUAL OPERATION
General
Simultaneous automatic and manual operation enables manual
operation to be performed during automatic operation. Manual
operation during simultaneous automatic and manual operation is made
possible by manual feed interrupt during automatic operation. Two
types of interrupt operation are available.
i) Cutting axis interrupt type
This type interrupts cutting feed along an axis to enable manual
feed. The manual operations enabled by this type of interrupt
include jog feed, incremental feed, and manual handle feed. For
example, cutting feed along an axis during automatic operation
can be interrupted to allow for manual operation that uses a
different depth of cut. Whether to enable this type of interrupt can
be chosen by setting bit 6 (EMI) of parameter No. 1000.
ii) Setup interrupt type
During automatic operation, this type enables manual operation
along an axis that disables movement (with the parking signal set
to 1). The manual operations enabled by this type of interrupt
include jog feed, incremental feed, and manual handle feed.
Whether to use the cutting axis interrupt type or setup interrupt type
can be chosen on an axis-by-axis basis by using the parking signals
(PK1, PK2, PK3, and so forth) entered from the PMC.
Explanation
- Selection of simultaneous automatic and manual operation mode

The table below indicates the combinations of mode selection input
signals for simultaneous automatic and manual operation.
Mode selection input signal

T D MEM EDT MOVL H S J AGJ
Simultaneous One of these signals is set
automatic and One of these signals is set to 1. 1 to 1, J and H are set to 1, or 0
manual operation S and H are set to 1.
(0: Signal set to 0, 1: Signal set to 1)
- 535 -
An example of switching to simultaneous automatic and manual

operation starting with a block during automatic operation is given
below
1. Assume that program command Mxx; is used to switch from
automatic operation to simultaneous automatic and manual
operation, and that M ; is used to return from simultaneous
automatic and manual operation to automatic operation. Mxx and
M are to be set in parameters as M codes that do not buffer the
next block.
Automatic
operation
N10 Mxx ;
Simultaneous automatic and manual operation
N20 Mxx ;
Automatic
operation
2. The following timing chart shows the procedure for the Mxx;
block.
M command Mxx ; Next block
Code signals M0 to M31
Strobe signal MF

operation selection signal MOVL
Manual mode selection signal H/J/S
Simultaneous automatic and manual operation selection signal

MOVL and the signal (H, J, or S) for manual mode selection must
be set to 1 at the same time. Alternatively, after MOVL is set to 1,
the signal for manual mode selection must be set to 1.
The above procedure selects simultaneous automatic and manual

operation mode. Whether the cutting axis interrupt type or setup
interrupt type is used to enable manual operation for each axis is
determined by the state of the parking signal for each axis present
- 536 -
when the simultaneous automatic and manual operation mode is

selected.
So, first specify the parking signal of each axis to select a desired
interrupt type, then set the MOVL signal and the signal for manual
mode selection to 1.
3. The following timing chart shows the procedure for an M ; block

for switching from simultaneous automatic and manual operation
to automatic operation.
M command Mxx ; Next block
Code signals M0 to M31
Strobe signal MF

operation selection signal MOVL
Manual mode selection signal H/J/S
The MOVL signal and a signal for manual mode selection must be
set to 0 at the same time. Alternatively, after a signal for manual
mode selection is set to 0, the MOVL signal must be set to 0.
MDI
DNC operation Incremental feed
Memory operation Manual reference position return
Program editing Manual handle feed
ON OFF
Z-axis manual handle interrupt
The user may wish to provide a switch named "manual handle

interrupt" on the machine operator's panel, and superimpose
manual handle feed on cutting being performed by the operator
along an axis, thus changing the depth of cut. In such an
application, the sequence based on the timing chart shown below
immediately switches the operation mode from automatic
operation to simultaneous automatic and manual operation to
enable manual feed based on the cutting axis interrupt type.
- 537 -
Memory operation selection signal MEM
Z-axis manual handle interrupt switch
Z-axis parking signal PK3
Simultaneous automatic and manual operation selection signal MOVL
Manual handle feed selection signal H
- Switching between the interrupt types

Whether the cutting axis interrupt type or setup interrupt type is
selected is determined by the states of the parking signals (PK1, PK2,
PK3, and so forth) when simultaneous automatic and manual operation
mode is selected. That is,
When PKi is set to 0: The cutting axis interrupt type is selected
for the i-th axis.
When PKi is set to 1: The setup interrupt type is selected for the
i-th axis.
When switching between the interrupt types during simultaneous
automatic and manual operation, note that the interrupt type switch
timing differs, depending on whether the automatic operation is single
block operation or continuous operation.
1. When simultaneous automatic and manual operation mode is

selected
The interrupt type is switched according to the states of the
parking signals when simultaneous automatic and manual
operation mode is selected.
2. When the parking signals are changed
[In single block operation]
The interrupt type is switched, starting with the block after
the currently executed block
[In continuous operation]
The block where the interrupt type is switched depends on
the execution state of automatic operation. Never change the
states of the parking signals during continuous operation.
[Upon a reset]
The interrupt type is switched according to the states of the
parking signals at reset time.
- 538 -
- Manual operation in simultaneous automatic and manual operation

Automatic operation during simultaneous automatic and manual
operation is the same as normal automatic operation. So, manual
operation in simultaneous automatic and manual operation is explained
here.
1) States allowing interrupt (relative to automatic operation)
The table below indicates the states that allow manual interrupt.
Cutting axis interrupt type Setup interrupt type
In positioning mode Impossible Possible
In cutting mode Possible Possible
In threading mode Possible Possible
As can be seen from the table above, the setup interrupt type is not
affected by automatic operation. The cutting axis interrupt type is
allowed in a mode other than the positioning mode.
2) Interrupt type and movement

The table below indicates the relationships between the interrupt
types, travel distance, feedrate, and time constant.
Cutting interrupt type Setup interrupt type
Travel distance Same as for normal Same as for normal
manual operation manual operation
Feedrate (*1) Same as for normal
manual operation
Time constant Time constant selected for Same as for normal
automatic operation manual operation
*1 When the cutting axis type is used, the feedrate along an axis is a
feedrate for manual interrupt superimposed on a feedrate for
automatic operation. If the resulting feedrate along an axis
exceeds the maximum cutting feedrate, the feedrate is clamped to
the maximum cutting feedrate for the axis.
3) Interrupt types and signals

types and signals.
Cutting axis interrupt type Setup interrupt type
Absolute on/off Not affected. Affected.
(The signal is always off.)
Interlock Affected. Disabled when the signal is off.
Machine lock Affected. Disabled when the signal is off.
Mirror image Not affected. Even when the signal is on, a command
for movement in the positive direction moves the
machine in the positive direction.
4) Interrupt types and indication

types and coordinates.
Cutting axis interrupt Setup interrupt type
type
Absolute coordinates Not updated Updated
Relative coordinates Updated Updated
Machine coordinate Updated Updated
- 539 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1000 EMI EHM

[Data type] Bit
#5 EHM Specifies conditions when handle interruption is valid.

0: When in G01, G02, or G03 mode, handle interruption is valid during automatic
operation startup, stopping, and holding.
1: Handle interruption is only valid for G01, G02, and G03 blocks during
automatic operation startup.
#6 EMI Specifies validity of manual interrupts and manual setup operations

during simultaneous manual-automatic operation.
0: Manual interrupts are invalid and manual setup operations are valid.
1: Manual interrupts and manual setup operations are valid.
#7 #6 #5 #4 #3 #2 #1 #0
1200 MNS

[Data type] Bit
#2 MNS Specifies whether to shift coordinate systems when data is written into
the system variables which specifies the distance to be caused by a
manual interrupt.
0: Shift all workpiece coordinate systems and local coordinate systems.
1: Do not shift any workpiece coordinate system or local coordinate system.
(This is the same operation as that specified by the "cancel" soft key on the
manual-interrupt-distance screen.)
- 540 -
#7 #6 #5 #4 #3 #2 #1 #0
1604 MNJ

[Data type] Bitaxis
#0 MNJ Specifies whether both cutting feed acceleration/deceleration and jog feed
acceleration/deceleration are applied to manual handle interrupt or
simultaneous manual-automatic operation (interrupt type).
0: Both cutting feed acceleration/deceleration and jog feed
acceleration/deceleration are applied.
1: Only cutting feed acceleration/deceleration is valid, and jog feed
acceleration/deceleration is invalid.
Note
NOTE
1 When the parking signal is set to 1 during manual
feed based on the cutting axis interrupt type, manual
feed stops automatically.
2 When the cutting axis interrupt type is selected, and
automatic operation is switched from cutting to rapid
traverse or from rapid traverse to cutting, manual
feed stops automatically.
acceleration/deceleration before interpolation is
used, or operation is switched from threading to
cutting or from cutting to threading, manual feed
stops automatically.
single block operation is performed, feed by
automatic operation stops, but manual feed does not
stop. So, to start the next block, manual operation
must be stopped.
5 To use the simultaneous automatic and manual
operation function for manual handle feed as well,
the manual handle interrupt option is required.
- 541 -
5.16 DNC OPERATION FROM OPEN CNC SELECTING SIGNAL
Overview
In DNC operation mode (DNC) or memory operation mode (MEM),
setting the DNC operation select signal from the open CNC to "1"
enables DNC operation and external memory subprogram calls from
the open CNC when parameter No. 0020 remains set to 16.
In other words, to use the open CNC, the foreground input device
setting using parameter No. 0020 has normally been required to switch
between 15 (for DNC operation) and 16 (for downloading). The use of
this signal enables DNC operation when parameter No. 0020 remains
set to 16 (download interface).
Signal
DNC operation select signal from the open CNC

DMMC<F042#7>
[Function] Specifies DNC operation and external memory subprogram calls from
the open CNC.
[Operation] When this signal is set to "1," the control unit operates as follows:
- Performs CNC operation from the open CNC when the CNC is in
DNC operation mode (DNC).
- Performs external memory subprogram calls from the open CNC
when the CNC is in memory operation mode (MEM).
To use this signal, set parameter No. 0020 to 16 (download interface
from the open CNC). If a value other than 16 is set, the input device is
selected according to the parameter setting.
When a mode other than DNC operation mode (DNC) or memory
operation mode (MEM) is selected, set this signal to "0."
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G042 DMMC
- 542 -
Parameter
0020 Foreground input device interface number

[Data type] Integer
Set a foreground input device interface number.
Reference item
Series 15i/150i- Connection Manual 2.6 Mode Selection
MODEL B (this manual) 5.13 DNC Operation
- 543 -
5.17 DNC OPERATION FROM MEMORY CARD INTERFACE
A file on a memory card can be specified for DNC operation.

A file on a memory card can also be called and executed as a
subprogram using the external device subprogram call function.
Screen display
Memory card screen

The memory card screen displays a list of files on a memory card, the
amount of unused space on the card, the card status, the DNC operation
file name, and other information.
- Displaying the memory card screen

(1) Click soft key [OFFSETSETING].
(2) Click soft key [CHAPTER].
(3) Click soft key [MEMCARD].
Fig. 5.17 (a) Memory Card Screen
- Selecting a DNC operation file

Position the cursor on the list screen to the target file name for DNC
PAGE
operation using the cursor and page keys PAGE
.
In the status field, click [DNC SET].
The specified file name appears in the DNC FILE NAME field.
- 544 -
Parameters
0020 Foreground input device interface number

[Data type] Integer
Set a foreground input device interface number.
To perform DNC operation or an external device subprogram call from a
memory card, set 8.
#7 #6 #5 #4 #3 #2 #1 #0
2404 SFL

[Data type] Bit
# 5 SFL Specifies whether to specify a program number or file number for the
address P format in an external device subprogram call.
0: Specify a program number.
1: Specify a file number.
To call a file on a memory card, set 0.
#7 #6 #5 #4 #3 #2 #1 #0
5042 MNC

[Data type] Bit
NOTE
After setting this parameter, turn the power off then back on.
# 0 M NC
MNC Specifies whether to perform DNC operation and external device
subprogram calls from a memory card.
0: Do not perform these operations.
1: Perform these operations.
- 545 -
#7 #6 #5 #4 #3 #2 #1 #0
7616 EXT

[Data type] Bit
NOTE
#3 EXT Specifies whether to perform external device subprogram calls.

0: Do not perform external device subprogram calls.
1: Perform external device subprogram calls.
When you set a value indicating that no external device subprogram call
is to be performed, M198 is treated as a normal M code.
Notes
- External device subprogram call
To perform external device subprogram calls, set a value to specify a
program number for the address P format. SFL (bit 5 of parameter No.
2404) = 0
The following tables list the specified P values and corresponding

called file names.
P1 to P9999 : "O" + 4-digit number (without zero suppression)

Examples)
Program command Called file name
P1 O0001
P12 O0012
P123 O0123
P1234 O1234
P10000 to P9999999: "O" + 7-digit number (without zero suppression)

Examples)
P10000 O0010000
P1234567 O1234567
P10000000 to P99999999: 8-digit number (without zero suppression)

Examples)
P10000000 10000000
- 546 -
B-63783EN-1/01 6.INTERPOLATION FUNCTION
6 INTERPOLATION FUNCTION
- 547 -
6.INTERPOLATION FUNCTION B-63783EN-1/01
6.1 POSITIONING
General
The G00 command moves a tool to the position in the workpiece system
specified with an absolute or an incremental command at a rapid traverse
rate.
In the absolute command, coordinate value of the end point is
programmed.
In the incremental command the distance the tool moves is programmed.
Either of the following tool paths can be selected according to bit 4 of

parameter LRP No. 1401.
- Nonlinear interpolation positioning
The tool is positioned with the rapid traverse rate for each axis
separately. The tool path is normally straight.
- Linear interpolation positioning
The tool path is the same as in linear interpolation (G01). The tool is
positioned within the shortest possible time at a speed that is not more
than the rapid traverse rate for each axis.
Linear interpolation positioning Start position
End position
Non linear interpolation positioning
Fig.6.1 (a) Tool path

The rapid traverse rate in G00 command is set to the parameter No. 1420
for each axis independently by the machine tool builder. In the
positioning mode actuated by G00, the tool is accelerated to a
predetermined speed at the start of a block and is decelerated at the end
of a block. Execution proceeds to the next block after confirming the
in-position.
"In-position " means that the feed motor is within the specified range.
This range is determined by the machine tool builder by setting to
parameter (No. 1827).
In-position check for each block can be disabled by setting bit 0 (CIP) of
parameter No.1000 accordingly.
- 548 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP

[Data type] Bit

0: Non-linear interpolation (each axis moves independently at the rapid
traverse feedrate)
1: Linear interpolation (tool path is linear)
1420 Rapid traverse feedrate along each axis

Set the rapid traverse feedrate for each axis for when rapid traverse
override is 100%.
Note
NOTE
1 The specification of a feedrate by programming
address F is not allowed.
2 The in-position state is that state in which the feed
motor has reached a location within a certain width
(parameter No. 1827) from a specified end point.
Reference item
Series15i/150i-MB Operator’s Manual II-4.1 Positioning
(Programming)
(B-63784EN)
- 549 -
6.2 LINEAR INTERPOLATION
General
Tools can move along a line
A tools move along a line to the specified position at the feedrate
specified in F. The feedrate specified in F is effective until a new value is
specified. It need not be specified for each block.
- The feedrate commanded by the F code is measured along the tool
path. If the F code is not commanded, the feedrate is regarded as
zero.
- The feedrate of each axis direction is as follows.
G01 αα β β γγ ζζ Ff ;
α
Feed rate of α axis direction : Fα = ×f
L
β
Feed rate of β axis direction : Fβ = ×f
L
γ
Feed rate of γ axis direction : Fγ= ×f
L
ζ
Feed rate of ζ axis direction : Fζ = ×f
L
L = α 2 + β2 + γ 2 + ζ 2
- The feed rate of the rotary axis is commanded in the unit of deg/min
(the unit is decimal point position).
- When the straight line axis α (such as X, Y, or Z) and the rotating
axis β (such as A, B, or C) are linearly interpolated, the feed rate is
that in which the tangential feed rate in the α and β Cartesian
coordinate system is commanded by F(mm/min).
β-axis feedrate is obtained ; at first, the time required for
distribution is calculated by using the above formula, then the β-
axis feedrate unit is changed to deg/min.
(Example)
G91 G01 X20.0 C40.0 F300.0 ;
This changes the unit of the C axis from 40.0 deg to
40mm with metric input.
The time required for distribution is calculated as
follows:
20 2 + 40 2 0 . 14907 min
300
The feed rate for the C axis is
40 deg
268.3deg / min
0.14907 min
- In simultaneous 3 axes control, the feed rate is calculated the same

way as in 2 axes control.
- 550 -
Parameter
1493 Cutting feedrate
NOTE
After this parameter has been set, the power must be off turned
off then back on for the setting to become effective.

[Data type] Real
Set the cutting feedrate in this parameter for machines that do not
require changes in the cutting feedrate during machining. By using
this parameter, cutting feedrates (F codes) do not need to be specified in
NC command data.

#7 #6 #5 #4 #3 #2 #1 #0
2401 G01

[Data type] Bit
#0 G01 Mode at power on and in clear status

0: G00 mode (positioning)
1: G01 mode (linear interpolation)
- 551 -
Alarm and message

PS0187 FEED ZERO ( COMMAND ) The cutting feedrate instructed by an F code has been set
to 0.
This alarm is also generated if the F code instructed for the
S code is set extremely small in a rigid tapping instruction
as the tool cannot cut at the programmed lead.
PS0188 PARAMETER ZERO (DRY RUN) The dry run feedrate parameter No. 1410 or maximum
cutting feedrate parameter No. 1422 for each axis has been
set to 0.
PS0190 PARAMETER ZERO (CUT MAX) The maximum cutting feedrate parameter No. 1422 has
been set to 0.
Reference item
Series15i/150i-MB Operator’s Manual II-4.3 Linear interpolation
(Programming)
(B-63784EN)
- 552 -
6.3 CIRCULAR INTERPOLATION
General
The command below will move a tool along a circular arc.
"Clockwise"(G02) and "counterclockwise"(G03) on the XpYp plane
(ZpXp plane or YpZp plane) are defined when the XpYp plane is viewed
in the positive-to-negative direction of the Zp axis (Yp axis or Xp axis,
respectively) in the Cartesian coordinate system. See the figure below.
Yp Xp Zp
G03 G03 G03
G02 G02 G02

Xp Zp Yp
G17 G18 G19
Fig.6.3 (a) Direction of the circular interpolation
- Distance moved on an arc

The end point of an arc is specified by address Xp, Yp or Zp, and is
expressed as an absolute or incremental value according to G90 or G91.
For the incremental value, the distance of the end point which is viewed
from the start point of the arc is specified.
- Distance from the start point to the center of arc
The arc center is specified by addresses I, J, and K for the Xp, Yp, and Zp
axes, respectively. The numerical value following I, J, or K, however, is
a vector component in which the arc center is seen from the start point,
and is always specified as an incremental value irrespective of G90 and
G91, as shown below.
I, J, and K must be signed according to the direction.
End point (x,y) End point (z,x) End point (y,z)
Y X Z
X Z Y
i Start point k Start point Start point
j
j i k
Center Center Center
Fig.6.3 (b) Distance from the start point to the center of arc
I0,J0, and K0 can be omitted.

When Xp, Yp , and Zp are omitted (the end point is the same as the start
point) and the center is specified with I, J, and K, a 360° arc (circle) is
specified.
G02 I_ ; Command for a circle
- 553 -
If the difference between the radius at the start point and that at the end
point exceeds the permitted value in a parameter (No.2410), an P/S alarm
(No.191) occurs.
The distance between an arc and the center of a circle that contains the
arc can be specified using the radius, R, of the circle instead of I, J, and
K.
In this case, one arc is less than 180°, and the other is more than 180° are
considered. When an arc exceeding 180° is commanded, the radius must
be specified with a negative value. If Xp, Yp, and Zp are all omitted, if
the end point is located at the same position as the start point and when R
is used, an arc of 05 is programmed G02R ; (The cutter does not move.)
(Example)
For arc (1) (less than 180°)
G91 G02 X60.0 Y20.0 R50.0 F300.0 :
For arc (2) (greater than 180°)

G91 G02 X60.0 Y20.0 R-50.0 F300.0 :
(2)
r =50mm
End point
(1)
Start point
r =50mm
Y
Fig.6.3 (c) Arc radius
The feedrate in circular interpolation is equal to the feed rate specified by

the F code, and the feedrate along the arc (the tangential feedrate of the
arc) is controlled to be the specified feedrate.
When an end point does not lie on the arc, a spiral results, as shown
below.
- 554 -
End point
γe
γ(t)
(γe − γs)θ ( t )
γ(t) = γs +
Start point θ(t) θ θ
γs Center
radius
Start point
γs
γe End point
Center θ
θ
Fig.6.3 (d) Case Where a Spiral Is Produced
The arc radius changes linearly with the center angle (t). Spiral
interpolation is performed using a circular command that specifies one
arc radius for the start point and another arc radius for the end point. To
use spiral interpolation, set a large value in parameter No. 2410, used to
specify the limit on the arc radius error.
- 555 -
Parameter
1022 Designation of each axis in relation to the basic coordinate system

Planes selected for circular interpolation, cutter compensation, and
so forth
G17: Xp-Yp plane
G18: Zp-Xp plane
G19: Yp-Zp plane
Set each controlled axis to one of the basic three axes X, Y, and Z of
the basic coordinate system or an axis parallel to one of the basic
axes.
The basic three axes X, Y, and Z can each be set for just one
controlled axis.
Two or more controlled axes can be set as axes parallel to the same
basic axis.
Setting Meaning
0 Rotation axis (neither the basic three axes
nor their parallel axes)
1 X-axis of the basic three axes
2 Y-axis of the basic three axes
3 Z-axis of the basic three axes
5 Axis parallel to the X-axis
6 Axis parallel to the Y-axis
7 Axis parallel to the Z-axis
#7 #6 #5 #4 #3 #2 #1 #0
2401 G18

[Data type] Bit

0: G17 mode
1: G18 mode
- 556 -
2410 Arc radius error limit value

[Data type] Real
Specify a valid limit value as the difference between the radius value
at the start and end points for circular interpolation command.
Standard setting: 20
Alarm and message

PS0182 CIRCLE CUT IN RAPID (F0) F0 (rapid traverse in inverse feed or feed specified by an F
code with 1-digit number) was specified during circular
interpolation (G02, G03) or involute interpolation (G02.2,
G03.2).
PS0186 ILLEGAL PLANE SELECT The plane selection instructions G17 to G19 are in error.
Reprogram so that same 3 basic parallel axes are not
specified simultaneously.
This alarm is also generated when an axis that should not
be specified for plane machining is specified, for example,
for circular interpolation or involute interpolation.
To enable programming of 3 or more axes, the helical
interpolation option must be added to each of the relevant
axes.
PS0187 FEED ZERO ( COMMAND ) The cutting feedrate instructed by an F code has been set
to 0.
This alarm is also generated if the F code instructed for the
S code is set extremely small in a rigid tapping instruction
as the tool cannot cut at the programmed lead.
PS0188 PARAMETER ZERO (DRY RUN) The dry run feedrate parameter No. 1410 or maximum
cutting feedrate parameter No. 1422 for each axis has been
set to 0.
been set to 0.
PS0191 OVER TOLERANCE OF RADIUS An arc was specified for which the difference in the radius
at the start and end points exceeds the value set in
parameter No. 2410.
Check arc center codes I, J and K in the program.
The tool path when parameter No. 2410 is set to a large
value is spiral.
- 557 -
Note
NOTE
1 If I, J, K, and R are specified simultaneously, the
specification by R is used and the others are ignored.
2 If an axis not comprising the specified plane is
specified, an alarm occurs. For example, if axes X
and U parallel to axis X are specified when plane ZX
is specified using G code system B or C, P/S alarm
No. 0186 occurs.
Reference item
Series15i/150i-MB Operator’s Manual II-4.4 Circular interpolation
(Programming)
(B-63784EN)
- 558 -
6.4 THREADING
6.4.1 Threading
Overview
A thread can be cut by moving a tool in synchronization with the rotating
spindle.
The spindle speed is sequentially read from the position coder mounted
on the spindle and is converted into a feedrate of cutting feed per minute,
according to which the tool is moved.
L
L : Lead
L L
Straight thread Tapered thread Stoke thread
Fig. 6.4 (a) Thread Forms
Generally, threading consists of a range of processes from roughing to

finishing, with a single path being repeatedly followed to form a single
thread.
Each threading sequence starts after a one-rotation signal is detected
from the position coder mounted on the spindle. Therefore, threading
can be repeated with the same cutting start point on the circumference of
the workpiece and the same tool path. The spindle speed must be kept
constant from roughing through finishing. Any variation in the spindle
speed may result in a slight deviation of the thread.
Signal
Threading in progress signal THRD<F001#6>

[Function] Notifies that threading is in progress.
- The CNC is in threading mode.
- A threading cycle for turning is in progress.
The signal is held to 0 when the CNC is not in threading mode and when
a threading cycle is not in progress.
- 559 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 THRD
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 TDR

[Data type] Bit
#1 TDR Specifies whether dry runs can be performed for the threading and
tapping commands.
5611 Number of samples of sampling data for obtaining the mean spindle speed

The mean value of sampling data is used for spindle speed indication,
feed per revolution, and threading so that the effect of fluctuation of the
spindle speed is reduced. Set how many samples of sampling data are
required to obtain the mean.
0: 1 sample
1: 2 samples
2: 4 samples
3: 8 samples
4: 16 samples
NOTE
Usually, set this parameter to 2.
- 560 -
Warning
WARNING
If the feed is stopped during threading, without
stopping the spindle, the depth of cut increases
dangerously. Therefore, the feed hold function is
disabled during threading. If an attempt to apply
feed hold is made during threading, an operation like
a single block stop is made after the first non-
threading block following the end of the threading
mode is executed. The feed hold lamp (SPL lamp),
however, lights when the feed hold button (machine
operator's panel) is pressed. When a stop is made,
the feed hold lamp goes off (the CNC enters the
single-block stop state).
Caution
CAUTION
1 During threading, the feedrate override function is
disabled, and the override value is held to 100%.
2 If the feed hold button is pressed again in the first
non-threading block after the threading mode (or if
the button is kept pressed), a stop is immediately
made at the beginning of the non-threading block.
3 If threading is performed in the single block state, a
stop is made after a non-threading block is
executed.
4 If two threading blocks are successively executed,
the second block does not begin with the detection
of a one-rotation signal. Instead it starts the
specified movement immediately.
5 During a dry run, the feedrate is set so that the
longitudinal speed matches the dry run speed.
Reference item
Series15i/150i-MB Operator’s Manual II-4.16 Thread cutting
(Programming)
(B-63784EN)
- 561 -
6.4.2 Threading Based on an Arbitrary Spindle Gear Ratio
Overview
This function sets M:N as the gear ratio between the spindle and position
coder for threading. M and N can be represented using an arbitrary
integer from 1 to 9999.
Threading
To perform threading, the one-rotation signal of the spindle is required
for synchronization between the spindle and Z-axis. So, to perform
threading based on an arbitrary gear ratio by using a motor with a built-
in position coder, the one-rotation signal of the spindle must be sent to
the CNC as shown in Fig. 6.4.2(a). (Fig. 6.4.2(a) shows an example
where a FANUC spindle motor and spindle amplifier are used.)
CNC
Position coder signal
Signal converter Spindle

circuit amplifier
Feedback (P) One-rotation

signal
Position
detector
Spindle One-rotation signal
motor detector
M:N Spindle
∆Z
Tool L
Workpiece
Fig. 6.4.2 (a) Threading Based on an Arbitrary Gear Ratio
- 562 -
M : Number of gear teeth on the position coder [teeth]

N : Number of gear teeth on the spindle [teeth]
L : Thread pitch [machine/rev]
P : Number of pulses received by the position coder [pulses]
∆Z:Tool travel distance
Then, ∆Z is represented as follows:
L M
∆Z = ×P× . . . . . . Expression
4096 N
Error in threading
A threading error is explained below.
Under the following conditions:
- The spindle rotates at a constant speed with no rotation error.
- There is no error caused by the servo system and
acceleration/deceleration.
- There is no machine system error.
the following maximum error per pitch occurs:
L M
× [mm/rev] L : Thread pitch [machine/rev]
4096 N
(This expression is derived when P in Expression is 1.)
This error can be reduced by smoothing (setting the number of samples
in parameter No. 5611). (This error is reduced by a factor of 1/16 when
parameter No. 5611 = 4.) This error is a maximum error; errors do not
accumulate.
Setting M:N
(1) Using parameters
Parameter No. 5847 and No. 5848 are used.
(2) Using custom macros
The parameters of (1) above can be read from and written to by
using the following custom macro system variables:
#3013 :Parameter No. 5847
#3014 :Parameter No. 5848
With these system variables, a gear ratio can be sent from the PMC
to the CNC through the PMC window.
When changing the gear ratio from the PMC, observe the timing
chart of Fig. 6.4.2(b).
- 563 -
(1) For automatic operation
M code for spindle gear

ratio modification
MF
FIN
Spindle gear ratio

modification
Writing a gear ratio through

the window (ACT)
Transfer completion
information (W1)
(2) For manual operation
Gear ratio modification instruction
Spindle gear ratio

modification
Writing a gear ratio through

the window (ACT)
Transfer completion information (W1)
Fig. 6.4.2 (b) Timing Chart for Gear Ratio Modification from the PMC
- 564 -
Parameter

The mean value of sampling data is used for spindle speed indication,
feed per revolution, and threading so that the effect of fluctuation of the
spindle speed is reduced. Set how many samples of sampling data are
required to obtain the mean.
0: 1 sample
1: 2 samples
2: 4 samples
3: 8 samples
4: 16 samples
NOTE
5847 Number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth)

Set the number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth).
5848 Number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth)

Set the number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth).
- 565 -
Caution
CAUTION
1 Never modify the values of the parameters used to
set a gear ratio, during machining such as threading.
2 When 0 is set in parameter No. 5847 and No. 5848,
the setting of 1 is assumed.
Note
NOTE
1 This function cannot be used with the spindle
positioning function.
2 When the method shown in Fig. 6.4.2(a) is used, the
position of the one-rotation signal of the spindle is
shifted by the following amount:
360÷4096÷780×S (degree)
S : Spindle speed [min-1]
Reference item
Series15i/150i- Connection Manual 9.3 Spindle control
- 566 -
6.5 SINGLE DIRECTION POSITIONING
General
For accurate positioning without play of the machine (backlash), final
positioning from one direction is available.
Overrun
Start position
Start position
End position Temporary stop
Fig.6.5 (a) Direction positioning process
An overrun and a positioning direction are set by the parameter (No.

6820).
Even when a commanded positioning direction coincides with that set by
the parameter, the tool stops once before the end point.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7616 G60

[Data type] Bit
#0 G60 Specifies whether the G60 code (single direction positioning) is a one-shot
G code (00 group) or modal G code (01 group).
0: One-shot G code (00 group)
1: Modal G code (01 group)
- 567 -
6820 Overrun distance and direction of unidirectional positioning (G60)

For each axis, set the overrun distance and direction of unidirectional
positioning (G60). The positioning direction is determined by the sign
of the data set in this parameter, and the overrun distance is determined
by the value of the data set in this parameter.
Overrun distance > 0: Positioning direction is positive (+).

Overrun distance < 0: Positioning direction is negative (-).
Overrun distance = 0: Unidirectional positioning is not performed.
Overrun distance
- +
Positioning direction (positive)
Fig. 6.5 (b) Overrun distance
Reference item
Series15i/150i-MB Operator’s Manual II-4.2 Single direction
(Programming) positioning
(B-63784EN)
- 568 -
6.6 HELICAL INTERPOLATION
General
Helical interpolation which moved helically is enabled by specifying up
to two other axes which move synchronously with the circular
interpolation by circular commands.
As the feedrate, either a feedrate tangent to an arc or a tangential feedrate
determined by also considering movement along the linear axes can be
specified. The feedrate to be specified can be selected by setting bit 2
(HTG) of parameter No. 1401. If HTG is set to 0, a feedrate along an arc
is specified by an F command. Therefore, the feedrate on a linear axis is
as follows:
Length of linear axis
F×
Length of circular arc
Determine the feedrate so that the linear axis feedrate does not exceed
any of the limit values.
Tool path
X Y
The feedrate along the circumference of two

circular interpolated axes is the specified feedrate.
Fig.6.6 (a) Feedrate When Parameter HTG = 0
When bit 2 (HTG) of parameter No. 1401 is set to 1, the speed command
specifies the feedrate along the actual tool path, including movement
along the linear axis.
In this case, the feedrate along the arc on the plane is:
F×
( Length of circular arc) 2 + ( Length of linear axis ) 2
The feedrate along the linear axis is:
F×
- 569 -
Tool path
X Y
The speed command specifies the

feedrate along the tool path.
Fig.6.6 (b) Feedrate When Parameter HTG = 1
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 HTG

[Data type] Bit
#2 HTG Specifies how to specify a feedrate for helical and helical involute
interpolation.
0: Specify a feedrate in the direction tangent to an arc or involute curve.
1: Specify a tangential feedrate for axes including linear axes.
Reference item
Series15i/150i-MB Operator’s Manual II-4.5 Helical interpolation
(Programming)
(B-63784EN)
- 570 -
6.7 HELICAL INTERPOLATION B
General
With the speed command for helical interpolation B, parameter HTG (bit
2 of parameter No. 1401) can be used to specify either a feedrate
tangential to an arc or a tangential feedrate that includes movement along
the linear axis. If HTG is set to 0, a feedrate along an arc is specified by
an F command. Therefore, the feedrate on a linear axis is as follows:
F×
Determine the feedrate so that the linear axis feedrate does not exceed
any of the limit values.
Tool path
X Y
The feedrate along the circumference of two

circular interpolated axes is the specified feedrate.
Fig.6.7 (a) Feedrate When Parameter HTG = 0
When bit 2 (HTG) of parameter No. 1401 is set to 1, the speed command
specifies the feedrate along the actual tool path, including movement
along the linear axis.
In this case, the feedrate along the arc on the plane is:
F×
The feedrate along the linear axis is:
F×
- 571 -
Tool path
X Y
The speed command specifies the

feedrate along the tool path.
Fig.6.7 (b) Feedrate When Parameter HTG = 1
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 HTG

[Data type] Bit
#2 HTG Specifies how to specify a feedrate for helical and helical involute
interpolation.
0: Specify a feedrate in the direction tangent to an arc or involute curve.
1: Specify a tangential feedrate for axes including linear axes.
Reference item
Series15i/150i-MB Operator’s Manual II-4.5 Helical interpolation
(Programming) II-4.6 Helical interpolation B
(B-63784EN)
- 572 -
6.8 INVOLUTE INTERPOLATION
General
An involute curve can be machined using involute interpolation. Cutter
compensation C can also be used. The use of involute interpolation
eliminates the need to approximate an involute curve with very small
straight lines or arcs. This means that pulse distribution in high-speed
operation based on small blocks is not discontinued, thus enabling
smooth high-speed operation. Moreover, a machining tape can be
created more easily, plus it can be made shorter.
The function for automatic velocity control during involute interpolation

automatically applies either of the following two overrides to the
programmed speed during involute interpolation. With this function, a
surface can be cut with high precision:
- Override in cutter compensation mode
- Override in the vicinity of a base circle
Parameter
2510 Involute interpolation allowable error limit

[Data type] Real
Specify the limit value allowed as a shift between the involute curve
passing through the start point and the involute curve passing through
the end point.
A negative value is compared as its absolute value.
- 573 -
1483 Lower feedrate limit for the deceleration function based on the acceleration
of fine HPCC

[Data type] Real
The deceleration function based on the acceleration of fine HPCC
automatically calculates the optimum feedrate according to the
geometry.
Depending on the geometry, the calculated feedrate may become very
low.
If this occurs, to prevent the feedrate from becoming too low,
deceleration to a feedrate below that specified for this parameter can be
suppressed.
If, however, the override by the deceleration function based on the
cutting load is enabled, the feedrate may become lower than the lower
feedrate limit.
The lower feedrate limit in deceleration based on the acceleration during
circular interpolation in a mode other than fine HPCC mode can be
specified for parameter No. 1491.
NOTE
During involute interpolation, this parameter is applied to the
lower feedrate limit for the "acceleration clamp in the vicinity of
the basic circle" of involute interpolation automatic feedrate
control.
- 574 -
during circular interpolation (for normal mode)

[Data type] Real
The deceleration function based on the acceleration during circular
interpolation automatically calculates the optimum feedrate so that the
acceleration resulting from changes in the travel direction during
circular interpolation does not exceed the allowable acceleration
If the arc radius is very small, the calculated feedrate may become very
low.
deceleration to a feedrate lower than that specified for this parameter
can be suppressed.
The lower feedrate limit for the deceleration function based on the
acceleration in fine HPCC mode can be specified for parameter No. 1483.
NOTE
lower feedrate limit for the "acceleration clamp in the vicinity of
the basic circle" of involute interpolation automatic feedrate
control.
- 575 -
1663 Allowable acceleration in the deceleration function based on the

acceleration of fine HPCC for each axis

[Unit of data] mm/sec/sec, inch/sec/sec, degree/sec/sec (machine unit)
Specify the allowable acceleration that may occur due to changes in the
direction of tool travel.
For an axis for which this parameter is set to 0, the deceleration function
based on the acceleration is disabled. If 0 is set for all axes, the feedrate
is not determined based on the acceleration.
In the 15B, the time for the maximum cutting rate (parameter No. 1422)
was set for parameter No. 1643 to set the allowable acceleration. In the
15i, on the other hand, the acceleration is directly specified for this
parameter.
NOTE
allowable acceleration for the "acceleration clamp in the vicinity
of the basic circle" of involute interpolation automatic feedrate
control.
- 576 -

acceleration during circular interpolation for each axis (for normal mode)

Specify the allowable acceleration in the deceleration function based on
the acceleration during circular interpolation for each axis.
The feedrate is controlled so that the acceleration resulting from changes
in the direction of travel during circular interpolation does not exceed
the value of this parameter.
For an axis for which 0 is set for this parameter, the acceleration
function based on the acceleration is disabled.
If different values are set for this parameter for different axes, the
feedrate is determined based on the lower acceleration of the specified
two circular axes.
This parameter is effective when fine HPCC mode is not used (ordinary
mode). In fine HPCC mode, parameter No. 1663 is used.
The "deceleration function based on the acceleration during circular
interpolation" is equivalent to the "feedrate clamp with the arc radius" in
the 15B.
In the 15B, the upper feedrate limit, lower feedrate limit, and arc radius
were specified for parameters Nos. 1490 to 1492. In the feedrate clamp
based on the acceleration in the 15i, the allowable acceleration is set for
this parameter.
NOTE
allowable acceleration for the "acceleration clamp in the vicinity
of the basic circle" of involute interpolation automatic feedrate
control.
- 577 -
6630 Lower override limit of automatic velocity control during involute

interpolation

[Data type] Integer
[Unit of data] %
When the override function is used in the cutter compensation mode for
involute interpolation automatic velocity control, the feedrate of the tool
center may be reduced to an extremely low level near the base circle in
the case of internal offset. To void this, set a lower override limit in this
parameter.
Thus, the feedrate is clamped so that the feedrate is not reduced below
the specified feedrate overridden by the lower limit value set in this
parameter.
NOTE
When 0 or a value not within the specifiable range is set, involute
interpolation automatic velocity control (override in the cutter
compensation mode and acceleration/deceleration clamping
near a base circle) is disabled.
Alarm and message

PS0935 ILLEGAL FORMAT IN G02.2/G03.2 The end point of an involute curve on the currently selected
plane, or the center coordinate instruction I, J or K of the
corresponding basic circle, or basic circle radius R was not
specified.
PS0936 ILLEGAL COMMAND IN G02.2/G03.2 An illegal value was specified in the involute curve.
The coordinate instruction I, J or K of the basic circle on the
currently selected plane or the basic circle radius R is "0",
or the start and end points are not inside the basic circle.
PS0937 OVER TOLERANCE OF END POINT The end point is not positioned on the involute curve that
passes through the start point, and this error exceeds the
permissible error limit (parameter No. 2510).
Reference item
Series15i/150i-MB Operator’s Manual II-4.12 Involute interpolation
(Programming) II-5.6.1 Involute interpolation
(B-63784EN) automatic speed control
- 578 -
6.9 SPLINE INTERPOLATION
General
Helical interpolation which moved helically is enabled by specifying up
to two other axes which move synchronously with the circular
interpolation by circular commands.
Alarm and message

PS0990 SPL:ILLEGAL AXIS COMMAND An illegal axis was specified for spline interpolation or
smooth interpolation.
This alarm is also generated when an axis other than those
used for spline interpolation is specified. An "axis used for
spline interpolation" refers to the axis specified in the block
following the block in which the G06.1 G code is specified.
When smooth interpolation is executed, the axis specified
by the G5.1Q2 G code is illegal.
PS0991 SPL:ILLEGAL COMMAND PS0991
A G06.1 code was specified in a G code mode in which the
instruction is not supported.
PS0992 SPL:ILLEGAL AXIS MOVING Movement was specified for an axis other than those used
for spline interpolation.
This alarm is also generated, for example, when movement
is specified along the Z-axis when spline interpolation
along the 2 axes, X and Y, is executed in the 3-dimensional
tool offset mode in which the 3 axes, X, Y and Z, are set as
the offset vector components.
PS0993 SPL:CAN'T MAKE VECTOR A 3-dimensional tool offset vector cannot be generated.
- In generation of the 3-dimensional tool offset vector from
P2 onwards, the previous point and the following point
are on the same line, and that line is parallel with the 3-
dimensional tool offset vector for the previous point.
- The end point and the 2 previous point are the same in
generation of the 3-dimensional tool offset vector by the
end point for smooth interpolation and spline
interpolation.
Reference item
Series15i/150i-MB Operator’s Manual II-4.14 Spline interpolation
(Programming)
(B-63784EN)
- 579 -
6.10 POLAR COORDINATE INTERPOLATION
General
A command programmed in the Cartesian coordinate system is converted
into movement along a linear axis (movement of a tool) and movement
around a rotation axis (rotation of a workpiece), while contour control is
performed accordingly. This function is useful for grinding a cam shaft,
for instance.
Explanation
When G12.1 is specified, the CNC enters polar coordinate interpolation
mode, and a plane of polar coordinate interpolation is selected (Fig. 6.10
(a)). Polar coordinate interpolation is performed in the plane.
- Plane of polar coordinate interpolation
Rotation axis(virtual axis)

(Unit : mm or inch)
Linear axis
(Unit : mm or inch)
Origin of local coordinate system (command G52)

(Origin of the workpiece coordinate system if G52 is not specified)
Fig. 6.10 (a) Plane of Polar Coordinate Interpolation
At power-up or upon a reset, the CNC enters polar coordinate

interpolation cancel mode (G13.1).
The linear axis and rotation axis used for polar coordinate interpolation
must be set in parameters 1032 and 1033.
- Automatic polar coordinate interpolation speed control

The automatic polar coordinate interpolation speed control function
automatically exercises speed control to prevent a rotation axis excess
speed alarm from being issued.
- 580 -
Parameter
1032 Designation of axis (linear axis) used for polar coordinate interpolation

[Data type] Integer
Set the number of the linear control axis used for polar coordinate
interpolation.
1033 Destination of axis (rotation axis) used for polar coordinate interpolation

[Data type] Integer
Set the number of the rotation control axis used for polar coordinate
interpolation.
1056 Automatic override tolerance ratio for polar coordinate interpolation

[Data type] Integer
[Unit of data] %
Typical setting: 90% (treated as 90% when set to 0)
Set the tolerance ratio of the fastest cutting feedrate to the speed of the
rotation axis during automatic override of polar coordinate interpolation.
- 581 -
Alarm and message

PS0213 ILLEGAL USE OF G12.1/G13.1 The axis No. of plane selection parameter No. 1032 (linear
axis) and No. 1033 (axis of rotation) in the polar coordinate
interpolation mode is out of range (1 to number of controlled
axes).
PS0214 ILLEGAL USE OF G-CODE The modal G code group contains an illegal G code in the
polar coordinate interpolation mode or when a mode was
canceled.
Only the following G codes are allowed:
G40, G50, G69.1
An illegal G code was specified while in the polar coordinate
interpolation mode.
The following C codes are not allowed:
G27, G28, G30, G30.1, G31 to G31.4, G37 to G387.3, G52,
G92, G53, G17 to G19, G81 to G89, G68
In the 01 group, G codes other than G01, G02, G03, G02.2
and G03.2 cannot be specified.
Reference item
Series15i/150i-MB Operator’s Manual II-4.8 Polar coordinate
(Programming) interpolation
(B-63784EN) II-5.6.2 Polar coordinate
interpolation automatic
speed control
- 582 -
6.10.1 Virtual Axis Direction Compensation for Polar Coordinate

Interpolation
Overview
In polar coordinate interpolation, this function compensates a machine if
it has an error on the virtual axis, that is, the center of the rotation axis is
not on the X-axis.
Explanation
Virtual axis (C-axis)
C-axis
(X, C)
X-axis
Error (P) on virtual axis
Center of rotation
(X, C) : Point on the X-C plane (the origin of the X-C plane
being assumed the center of the rotation axis)
X : X coordinate in the X-C plane
C : Virtual C-axis coordinate on the X-C plane
P : Error on the virtual axis(set with parameter No.
6085.)axis
If, on a machine on which polar coordinate interpolation is performed on

the X-axis (linear axis) and the C-axis (rotation axis) as shown in the
figure above, there is an error on the virtual axis, this function
compensates for the error before interpolation.
- 583 -
Parameters
6058 Compensation for error on hypothetical axis of polar coordinate
interpolation

[Data type] Real
[Minimum unit of data]Follows the increment system of the reference axis.
[Valid data range] Nine digits of the least input increment. (Refer to the standard
parameter setting table (A).)
(For IS-B, -999999.999 to +999999.999)
This parameter is used to set the error if the center of the rotation axis on which
polar coordinate interpolation is performed is not on the X-axis.
If the setting of the parameter is "0", regular polar coordinate interpolation is
performed.
Alarm and Message

The interior of the circle with a radius of P (error) and the center of which
is at the center of the rotation axis is regarded a motion-prohibited area.
An alarm will be issued if an attempt is made to move the tool to that
motion-prohibited area.

OT0514 ILLEGAL MOTION IN G12.1 MODE In virtual axis compensation in polar coordinate
interpolation mode, an attempt was made to move the tool
to the motion-prohibited area.
Reference
FANUC Series OPERATOR’S II-4.8.1 Virtual Axis Direction
15i/150i-MB MANUAL Compensation for Polar
(PROGRAMMING) Coordinate Interpolation
(B-63784EN)
- 584 -
B-63783EN-1/01 6.NTERPOLATION FUNCTION
6.11 CYLINDRICAL INTERPOLATION
General
An amount of travel around a rotation axis specified as an angle is
internally converted into an amount of travel along a linear axis on the
circumference, and linear interpolation or circular interpolation is
performed accordingly on another axis. After the interpolation, the
distance is converted back into an amount of travel around a rotation
axis.
The cylindrical interpolation function allows a movement on a curved
surface of a cylinder to be programmed in an expanded view. With this
function, a program for grooving a cylindrical cam can be created
easily.
- Plane selection (G17, G18, G19)

Whether the rotation axis corresponds to the X-axis, Y-axis, Z-axis, or
an axis parallel to one of the three axes is set in Parameter 1022. A G
code for selecting a plane must be specified, assuming that the rotation
axis is a specified linear axis.
For example, if the rotation axis is an axis parallel to the X-axis, G17
selects a plane determined by this axis and the Y-axis or an axis parallel
to the Y-axis (Xp-Yp plane).
Only a single rotation axis can be set for cylindrical interpolation.
- Feedrate
A feedrate specified in cylindrical interpolation mode is a speed on the
expanded side surface of the cylinder.
- Circular interpolation (G02, G03)

In cylindrical interpolation mode, circular interpolation using the
rotation axis and another linear axis can be performed. This
interpolation can be programmed using the same format as the circular
interpolation in which radius R is specified, as in 6.3. The radius value,
however, is specified in millimeters (metric input) or inches (inch
input), not as an angle.
Example) Circular interpolation on the Z-axis and C-axis
Set the fifth axis (axis parallel to the X-axis) as the C-axis in
parameter 1022.
Then, circular interpolation can be programmed as follows:
G18 Z_ C_;
G02(G03) Z_ C_ R_;
The sixth axis (axis parallel to the Y-axis) may also be set as the
C-axis in parameter 1022.
Then, circular interpolation is programmed as follows:
G19 C_ Z_;
G02(G03) Z_ C_ R_;
- 585 -
6.NTERPOLATION FUNCTION B-63783EN-1/01
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROT

[Data type] Bitaxis

The rotary axis of the cylindrical interpolation is set to 1.

The rotary axis of the cylindrical interpolation is set to 0.

Planes selected for circular interpolation, cutter compensation, and so forth
G17: Xp-Yp plane
G18: Zp-Xp plane
G19: Yp-Zp plane
Set each controlled axis to one of the basic three axes X, Y, and Z of the basic
coordinate system or an axis parallel to one of the basic axes.
The basic three axes X, Y, and Z can each be set for just one controlled axis.
Two or more controlled axes can be set as axes parallel to the same basic axis.
Setting Meaning
- 586 -

For the rotary axis of the cylindrical interpolation, 360.0 must be set.
Alarm and message

PS0610 ILLEGAL G07.1 AXIS An axis which cannot perform cylindrical interpolation was
specified.
More than one axis was specified in a G07.1 block. An
attempt was made to cancel cylindrical interpolation for an
axis that was not in the cylindrical interpolation mode.
For the cylindrical interpolation axis, set not "0" but one of
5, 6 or 7 (parallel axis specification) to parameter No. 1022
to instruct the arc with axis of rotation (ROT parameter No.
1006#1 is set to "1" and parameter No. 1260 is set) ON.
PS0611 ILLEGAL G-CODE USE A G code was specified that cannot be specified in the
(G07.1 MODE) cylindrical interpolation mode.
This alarm also is generated when an 01 group G code was
in the G00 mode or code G00 was instructed.
Cancel the cylindrical interpolation mode before instructing
code G00.
Reference item
Series15i/150i-MB Operator’s Manual II-4.10 Cylindrical interpolation
(Programming)
(B-63784EN)
- 587 -
6.12 CYLINDRICAL INTERPOLATION CUTTING POINT

CONTROL
Overview
The conventional cylindrical interpolation controls the tool center in
such a manner that the axis of the tool moving along the path
programmed on the curved surface of a cylinder is always directed to
the rotation axis of the workpiece (central axis of the cylinder). The
cylindrical interpolation cutting point control function, however,
controls the tool in such a manner that the line perpendicular to the
cutting surface of an irregular figure at the cutting point passes through
the center of rotation of the workpiece.
As shown in Fig. 6.12 (a), the function controls the tool in the direction
of the offset axis (Y-axis), which is perpendicular to the central axis of
the tool and the central axis of rotation of the workpiece.
Center of rotation Center of rotation

Workpiece
Tool
Y-axis Y-axis
Tool center
Conventional cylindrical interpolation Cylindrical interpolation by this function
Fig. 6.12 (a) Comparison with Conventional Interpolation
- 588 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROT

[Data type] Bitaxis

Set the rotary axis of the cylindrical interpolation to 1.

Set the rotary axis of the cylindrical interpolation to 0.

Planes selected for circular interpolation, cutter compensation, and so forth
G17: Xp-Yp plane
G18: Zp-Xp plane
G19: Yp-Zp plane
Set each controlled axis to one of the basic three axes X, Y, and Z of the basic
coordinate system or an axis parallel to one of the basic axes.
The basic three axes X, Y, and Z can each be set for just one controlled axis.
Two or more controlled axes can be set as axes parallel to the same basic axis.
Setting Meaning
- 589 -

The rotary axis of the cylindrical interpolation must be 360.0.
#7 #6 #5 #4 #3 #2 #1 #0
6004 CYS CYA

[Data type] Bit
#5 CYA Specifies whether to perform cylindrical interpolation cutting point

compensation.
0: Perform.
1: Do not perform.
#6 CYS Specifies whether when the cylindrical interpolation cutting point

compensation function is used, cutting point compensation is performed
between blocks or together with a block movement if the cutting point
compensation value is less than the setting of parameter No. 6112.
0: Performed between blocks.
1: Performed together with a block movement if the cutting point
compensation value is less than the setting of parameter No. 6112.
6109 Tool offset axis number for the XY plane
6110 Tool offset number for the ZX plane
6111 Tool offset axis number for the YZ plane

[Data type] Integer
Specify a tool offset axis that intersects the cylindrical rotation axis at
perpendicular angle.
- 590 -
6112 Limit for changing cylindrical interpolation cutting point compensation in a

single block

[Data type] Real
The following operation is performed, depending on the setting of parameter No.
6004:
1) When CYS = 0
If the amount of cylindrical interpolation cutting point compensation is smaller than
the value set in this parameter, cylindrical interpolation cutting point compensation
is not performed. Instead, this ignored amount of cylindrical interpolation cutting
point compensation is added to the next amount of cylindrical interpolation cutting
point compensation to determine whether to perform cylindrical interpolation
cutting point compensation.
2) When CYS = 1
If the amount of cylindrical interpolation cutting point compensation is smaller than
the value set in this parameter, cylindrical interpolation cutting point compensation
is performed together with the movement of the specified block.
NOTE
Set this parameter as follows:
Setting > (setting for a rotation axis in parameter No. 1422)*4/3
where 4/3 is a constant for internal processing.
- 591 -
6113 Limit of travel distance moved with the cylindrical interpolation cutting
point compensation in the previous block unchanged.

[Data type] Real
The following operation is performed, depending on the type of
interpolation:
1) For linear interpolation
If the travel distance in a specified block is smaller than the value
set in this parameter, machining is performed without changing the
cylindrical interpolation cutting point compensation in the previous
block.
2) For circular interpolation
If the diameter of a specified arc is smaller than the value set in this
parameter, machining is performed without changing the cylindrical
interpolation cutting point compensation in the previous block.
Cylindrical interpolation cutting point compensation is not
performed according to a circular movement.
Alarm and message

PS0183 TOO MANY SIMULTANEOUS A move command was specified for more axes than can be controlled
AXES by simultaneous axis control.
Either add on the simultaneous axis control extension option, or
divide the number of programmed move axes into two blocks.
PS0610 ILLEGAL G07.1 AXIS An axis which cannot perform cylindrical interpolation was specified.
More than one axis was specified in a G07.1 block. An attempt was
made to cancel cylindrical interpolation for an axis that was not in the
cylindrical interpolation mode.
For the cylindrical interpolation axis, set not "0" but one of 5, 6 or 7
(parallel axis specification) to parameter No. 1022 to instruct the arc
with axis of rotation (ROT parameter No. 1006#1 is set to "1" and
parameter No. 1260 is set) ON.
PS0611 ILLEGAL G-CODE USE A G code was specified that cannot be specified in the cylindrical
(G07.1 MODE) interpolation mode.
This alarm also is generated when an 01 group G code was in the
G00 mode or code G00 was instructed.
Cancel the cylindrical interpolation mode before instructing code
G00.
Reference item
Series15i/150i-MB Operator’s Manual II-4.10 Cylindrical interpolation
(Programming)
(B-63784EN)
- 592 -
6.13 NORMAL DIRECTION CONTROL
General
While a tool for which orientation is determined about the rotation axis
(C-axis) is moving in the XY plane, the normal direction control
function controls the C-axis so that the orientation of the tool is always
perpendicular to the moving direction of the tool (Fig. 6.13
(a)).Between blocks in normal direction control mode, movement on
the C-axis is automatically inserted so that, as the move direction
changes, the tool is oriented in the direction perpendicular to the move
direction at the start point of each block.
Programmed path
C-axis
C-axis
Tool
Tool
Normal direction(moving direction)
Fig. 6.13 (a) Example of Tool Operation
The movement about the C-axis inserted at the beginning of each block
is carried out at the feedrate specified in parameter 1472. In dry run
mode, the dry run speed is used. If rapid traverse (G00) is specified for
movement along the X-axis and Y-axis, the rapid traverse rate is used.
If the C-axis feedrate exceeds the maximum C-axis cutting speed
specified in parameter 1422, the feedrate on each axis is clamped so
that the maximum C-axis cutting speed will not be exceeded.
- 593 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 NDC

[Data type] Bitaxis
#6 NDC Specifies the normal direction control function.

0: Not normal direction control axis
1: Normal direction control axis
Only one axis can be specified as the normal direction control axis.
1472 Feedrate when the normal-direction control axis swivels

Set the feedrate used when the normal-direction control axis swivels.
7793 Limit for normal-direction control axis rotation

[Data type] Real
When the angular displacement calculated in normal-direction
control is less than the limit specified in this parameter, the block
that specifies the calculated angular displacement is not inserted
in the program. The ignored angular displacement is added to
the angular displacement to be calculated next, which in turn is
compared with the parameter value.
Note)
- When an angle of 360 degrees or larger is specified in this
parameter, the block that specifies the angular displacement
is not inserted in the program.
- When an angle of 180 degrees or larger is specified in this
parameter, the block that specifies the angular displacement
is not inserted in the program unless circular interpolation is
performed with an angle of 180 degrees or larger.
- 594 -
7794 Limit of the travel distance moved using the normal-direction angle in the
previous block

[Data type] Real
Set a limit on the travel distance moved using the normal-direction
angle of the previous block without modification.
Tool orientation N2 Linear travel
If the amount of travel of N2 in the left
figure is smaller than the setting, the tool
N3 orientation in N1 is not changed in the N2
N1
block.
Amount of travel Programmed path
N2 Circular travel
Tool orientation If the diameter of the arc of N2 in the left
Programmed path figure is smaller than the setting, the
normal direction in N1 is kept in the circular
travel of N2.
During circular travel, the axis of normal
direction is not controlled to direct the tool
to the normal direction.
Diameter
Fig. 6.13 (b)
Alarm and message

PS0470 G40.1-G42.1 PARAMETER MISS The normal line direction control axes parameter settings
are erroneous.
- Set the normal line direction control axis setting in NDC
parameter No. 1006#6. Only one axis can be set to "1";
this is not possible for multiple axes.
- Set the axis for which NDC parameter No. 1006#6 is set
to "1" to axis of rotation (ROT parameter No. 1006#0=1,
and parameter No. 1022=0).
- Set the feedrate when rotation of the normal line
direction control axis is set to parameter No. 1472 within
the range 1 to 15000 degrees/min.
Reference item
Series15i/150i-MB Operator’s Manual II-13.8 Normal direction control
(Programming)
(B-63784EN)
- 595 -
6.14 EXPONENTIAL INTERPOLATION
General
Exponential interpolation exponentially changes the rotation of a
workpiece in the movement about the rotation axis. The function also
performs linear interpolation with another axis. This enables a tapered
groove to be formed with a constant helix angle (constant helix
tapering). This function is very useful for grinding and grooving tools
such as an end mill.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7610 CBK

[Data type] Bit
#7 CBK Specifies whether to use parameter No. 7685 or address K to specify the
amount of linear axis division (span value) in exponential interpolation.
0: Use parameter No. 7685.
1: Use address K together with the G02.2/G03.3 code.
7636 Number of a linear axis for which exponential interpolation is performed

[Data type] Integer
Set the ordinal controlled axis number of a linear axis for which
exponential interpolation is performed.
7637 Number of a rotation axis for which exponential interpolation is performed

[Data type] Integer
Set the ordinal controlled axis number of a rotation axis for which
exponential interpolation is performed.
- 596 -
7685 Interval in exponential interpolation for a linear axis (span value)

[Data type] Real
When bit 7 (CBK) of parameter No. 7610 is set to 0, set an interval in
exponential interpolation for a linear axis.
Alarm and message

PS0895 ILLEGAL PARAMETER IN The parameter setting that specifies the axis on which to
G02.3/G03.3 execute exponential interpolation is incorrect.
Parameter No. 7636: Linear axis No. on which exponential
interpolation is executed
Parameter No. 7637: Axis of rotation No. on which
exponential interpolation is executed
The setting is 1 to the number of controlled axes. The same
axis Nos. must not be set.
PS0896 ILLEGAL FORMAT IN G02.3/G03.3 The format for specifying exponential interpolation is
incorrect.
Addresses I slope angle, J excessive torsion and setting R
in exponential interpolation are not specified, or are set to
"0".
The setting ranges for I and J are -89.0 to +89.0 (excluding
"0"). This alarm is also generated when addresses I and J
are outside of this range.
When CBK parameter No. 7610#7 is set to "0", the linear
axis span value is assigned by parameter No. 7685. When
the CBK parameter is set to "1", the span value is specified
by address K in the G02.3/G03.3 block.
This alarm is also generated when these span values are
"0".
PS0897 ILLEGAL COMMAND IN G02.3/G03.3 An illegal value was specified in exponential interpolation.
The natural logarithm parameter fell to less than "0" during
exponential interpolation calculation. Review the
exponential interpolation instruction.
Reference item
Series15i/150i-MB Operator’s Manual II-4.11 Exponential
(B-63784EN)
- 597 -
6.15 SMOOTH INTERPOLATION
General
Either of two types of machining can be selected, depending on the
program command.
1) For those portions where the accuracy of the figure is critical,
such as at corners, machining is performed exactly as specified by
the program command.
2) For those portions having a large radius of curvature where a
smooth figure must be created, points along the machining path
are interpolated with a smooth curve, calculated from the
polygonal lines specified with the program command (smooth
interpolation).
Parameter
7672 Maximum travel of a block executed with smooth interpolation

[Data type] Real
[Minimum unit of data] Depends on the increment system of the reference axis.
[Valid data range] Nine digits of the least input increment (see Standard Parameter Setting
Table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the length specified in each block that is to be checked as a condition for
performing smooth interpolation. When the length specified in a block is longer
than this setting, the block is executed without smooth interpolation.
7673 Angle for which smooth interpolation is not performed

[Data type] Real
Set the angle to be checked as a condition for performing smooth interpolation.
Smooth interpolation is not performed for a point at which the difference in the
angle is greater than this setting.
- 598 -
7675 Minimum travel of a block executed with smooth interpolation

[Data type] Real
Table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the length specified in each block that is to be checked for a condition for
performing smooth interpolation. When the length specified in a block is shorter
than this setting, the block is executed without smooth interpolation.
7676 Maximum tolerance of a block executed with smooth interpolation

[Data type] Real
Table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the tolerance to be checked as a condition for performing smooth interpolation.
When the tolerance specified in a block is larger than this setting, the block is
executed without smooth interpolation.
When a value of 0 is set for this parameter, the tolerance is not checked.
The tolerance means a distance between a curve-C and a line-L.
Curve-C
Command
Line-L point
Tolerance
- 599 -
7677 Minimum tolerance of a block executed with smooth interpolation

[Data type] Real
Table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the tolerance to be checked as a condition for performing smooth interpolation.
When the tolerance specified in a block is smaller than this setting, the block is
executed without smooth interpolation.
Normally, set a value near one-tenth of the maximum tolerance (parameter No.
7676). When a value of 0.0 is set, the minimum tolerance is assumed to be one-
tenth of the maximum tolerance (parameter No. 7676). When a negative value is
set, the minimum tolerance is assumed to be 0.0.
Alarm and message

PS0990 SPL:ILLEGAL AXIS COMMAND An illegal axis was specified for spline interpolation or
smooth interpolation.
This alarm is also generated when an axis other than those
used for spline interpolation is specified. An "axis used for
spline interpolation" refers to the axis specified in the block
following the block in which the G06.1 G code is specified.
When smooth interpolation is executed, the axis specified
by the G5.1Q2 G code is illegal.
PS0993 SPL:CAN'T MAKE VECTOR A 3-dimensional tool offset vector cannot be generated.
- In generation of the 3-dimensional tool offset vector from
P2 onwards, the previous point and the following point
are on the same line, and that line is parallel with the 3-
dimensional tool offset vector for the previous point.
- The end point and the 2 previous point are the same in
generation of the 3-dimensional tool offset vector by the
end point for smooth interpolation and spline
interpolation.
Reference item
Series15i/150i-MB Operator’s Manual II-4.16 Smooth interpolation
(Programming)
(B-63784EN)
- 600 -
6.16 HYPOTHETICAL AXIS INTERPOLATION
General
Sinusoidal interpolation can be performed by using a circular
interpolation axis of helical interpolation as a hypothetical axis and
distributing pulses.
By using a circular interpolation axis as a hypothetical axis and
distributing pulses, the travel speed about the remaining axis can be
changed sinusoidally. If the longitudinal axis of threading (axis of the
greatest travel amount) is set as a hypothetical axis, a fractional thread
can be formed. The axis to be set as the hypothetical axis is specified
by G07.
0 Z
l
4
Fig. 6.16 Sinusoidal Interpolation
Reference item
Series15i/150i-MB Operator’s Manual II-4.7 Hypothetical axis
(B-63784EN)
- 601 -
6.17 SPIRAL INTERPOLATION, CONICAL INTERPOLATION
General
Spiral interpolation is enabled by specifying the circular interpolation
command together with a desired number of revolutions or a desired
increment (decrement) for the radius per revolution.
Conical interpolation is enabled by specifying the spiral interpolation
command together with one or two additional axes of movement, as
well as a desired increment (decrement) for the position along the
additional axes per spiral revolution.
- Spiral interpolation
+Y
+X
Fig. 6.17 (a) Spiral interpolation
- 602 -
- Conical interpolation
+Z
+Y
+X
Fig. 6.17 (b) Conical interpolation
Parameter
2440 Minimum radius to which a specified feedrate is kept in spiral interpolation

or conical interpolation

[Data type] Real
[Valid data range] (In case of IS-B, from 1.0 through 999999.999 for mm input and from 1.0
through 99999.9999 for inch input)
If this parameter is set to 0 or out of range, it is assumed that the minimum value in
the data range is specified. In spiral interpolation and conical interpolation, the
feedrate is usually kept constant. When the radius of a spiral becomes small near
the center of the spiral, however, the corresponding angular velocity may become
very high. To prevent this from occurring, the system keeps the angular velocity
constant when the radius of a spiral reaches the value specified in this parameter,
resulting in a lower velocity than before.
- 603 -
2511 Permissible difference between the positions of the specified end point and
the end point calculated from the increment or decrement and number of
circles in spiral or conical interpolation

Specify the maximum permissible difference (absolute value) between the positions
of the specified end pint and the end point calculated from the increment or
decrement and number of circles in spiral or conical interpolation.
Alarm and message

PS0280 ILLEGAL COMMAND IN SPIRAL R was specified in the program block; 4 or more axes were
specified in the program block; or the direction of the
acceleration/deceleration vector on the specified radius is
opposite to the direction of the end point.
PS0281 OVER TOLERANCE OF END POINT The distance between the positions of the specified end
IN SPIRAL point and the end point calculated from the programmed
block exceeds the value set to parameter No. 2511.
Either change the end point to be specified, or set a larger
value to parameter No. 2511.
Reference item
Series15i/150i-MB Operator’s Manual II-4.15 Spiral interpolation,
(Programming) conical interpolation
(B-63784EN)
- 604 -
6.18 NURBS INTERPOLATION
General
Many computer-aided design (CAD) systems used to design metal dies
for automobiles utilize non-uniform rational B-spline (NURBS) to
express a sculptured surface or curve for the metal dies.
This function enables NURBS curve expression to be directly specified
to the CNC. This eliminates the need for approximating the NURBS
curve with minute line segments. This offers the following advantages:
1.No error due to approximation of a NURBS curve by small line
segments
2.Short part program
3.No break between blocks when small blocks are executed at high
speed
4.No need for high-speed transfer from the host computer to the CNC
When this function is used, a computer-aided machining (CAM)
system creates a NURBS curve according to the NURBS expression
output from the CAD system, after compensating for the length of the
tool holder, tool diameter, and other tool elements. The NURBS curve
is programmed in the NC format by using these three defining
parameters: control point, weight and knot.
CAD (designing a metal die)
Generating a metal die surface

(NURBS surface or curve)
CAM (creating an NC part program)
Studying the machining

method, etc.
Tool compensation file
NC part program after tool compensation

(NURBS curve)
NURBS curve (control point, weight, knot)
CNC Machine tool
Fig.6.18 (a) NC part program for machining a metal die according to a

NURBS curve
The CNC executes NURBS interpolation while smoothly accelerating
or decelerating the movement so that the acceleration on each axis will
not exceed the allowable maximum acceleration of the machine. In this
way, the CNC automatically controls the speed in order to prevent
excessive strain being imposed on the machine.
- 605 -
Parameter
1478 Allowable speed difference for automatic corner deceleration

When a function for determining the feedrate based on the corner feedrate
difference is used, if a change in a feedrate component on each axis at a boundary
between blocks is about to exceed the value set in this parameter,
acceleration/deceleration before interpolation is applied to reduce the feedrate to
the value obtained for that purpose. This reduces the impact on the machine
around corners and the machining error.


Specify the allowable acceleration that may occur due to changes in the direction of
tool travel.
For an axis for which this parameter is set to 0, the deceleration function based on
the acceleration is disabled. If 0 is set for all axes, the feedrate is not determined
based on the acceleration.
In the 15B, the time for the maximum cutting rate (parameter No. 1422) was set for
parameter No. 1643 to set the allowable acceleration. In the 15i, on the other hand,
the acceleration is directly specified for this parameter.
- 606 -
Alarm and message

PS1001 ILLEGAL ORDER (NURBS) The specified number of levels is incorrect.
PS1002 NO KNOT COMMAND (NURBS) Knot has not been specified, or a block not related to
NURBS interpolation was specified in the NURBS
interpolation mode.
PS1003 ILLEGAL AXIS COMMAND (NURBS) An axis not specified as a control point was specified in the
No. 1 block.
PS1004 ILLEGAL KNOT There is an insufficient number of knot individual blocks.
PS1005 ILLEGAL CANCEL (NURBS) The NURBS interpolation mode was turned OFF even
though NURBS interpolation was not completed.
PS1006 ILLEGAL MODE (NURBS) A mode that cannot be paired with the NURBS interpolation
mode was specified.
PS1007 ILLEGAL MULTI-KNOT Nested knots for each level can be specified for the start
and end points.
PS1008 ILLEGAL KNOT VALUE (NURBS) Knot is not increased TANCHO.
PS1009 ILLEGAL 1ST CONTROL POINT The No. 1 control point is erroneous, or there is no
(NURBS) continuity with the previous block.
PS1010 ILLEGAL RESTART (NURBS) An attempt was made to resume NURBS interpolation after
manual intervention with manual absolute ON.
Note
NOTE
If the axis name expansion function uses address K as
an axis name, it is impossible to perform NURBS
interpolation. (Alarm PS1002 is issued.)
Reference item
Series15i/150i-MB Operator’s Manual II-4.17 NURBS interpolation
(Programming)
(B-63784EN)
- 607 -
6.18.1 NURBS Interpolation Additional Functions
The following functions are added to the NURBS interpolation for the
FANUC Series 15i.
- Parametric velocity control

The maximum speed of each segment is determined by the specified
speed and acceleration. For consecutive segments, the segment start
speed and end speed are determined as stated below to allow the speed
to change continuously during movement from the start point to the end
point. This function is valid only for NURBS interpolation when
parameter FDI (bit 5 of parameter No. 8412) is 1.
- High-precision knot command

When parameter HIK (bit 1 of parameter No. 8412) = 1, it is possible to
use the knot command in a range between 12 digits to the left of the
decimal point and 12 decimal places. This function is valid only for a
floating-point knot command (address K) during NURBS
interpolation.
- Simplified start command

When parameter EST (bit 0 of parameter No. 8412) is 1, it is possible to
omit a control point command for the first control point. Because the
first and second blocks have the same knot value, a knot command for
the first block can also be omitted.
- Supporting maximum cutting feedrate for individual axes

With the conventional specification, the speed F specified during
NURBS interpolation is clamped at the minimum of the maximum
cutting feedrates (parameter No. 1422) of each axis, using the
following expression:
F ≤ Min( Fmax ( X ), Fmax (Y ), Fmax ( Z ), Fmax ( A), Fmax ( B ))
If the maximum cutting feedrate Fmax for a rotation axis is low, the
speed F specified during NURBS interpolation is clamped at Fmax,
resulting in an increased machining time.
This function uses a different method of clamping the specified speed F,
as described below.
The specified speed F is clamped in such a way that the each axis
component of the F will not exceed the maximum cutting feedrate
(parameter No. 1422) for the target axis. (Fig. 6.18.1(a))
F(1)
1 segment
F
F(t)
F
F(0)
Fig. 6.18.1(a)
- 608 -
- Supporting roll-over
If a control point command is issued to a rotation axis to be subjected to
roll-over in absolute (G90) mode, a change made due to short-cutting to
the relative position of the control point is calculated after roll-over is
performed on the control point.
- Supporting inverse-time feed

Issuing G93 during NURBS interpolation puts the machine in inverse-
time (G93) mode. The inverse time (FRN) is specified using an F code.
The inverse time (FRN) for NURBS interpolation is represented using
the following expression:
FRN = Speed/Distance
Speed: mm/min (metric input) or inch/min (inch input)

Distance: mm (metric input) or inch (inch input)
(Distance of movement along the NURBS curve. It is not
necessarily the distance moved if a rotation axis is involved.)
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
8412 FDI HIK EST

[Data type] Bit
#0 EST Specifies whether to enable the simplified start command for NURBS
interpolation, as follows:
0: Disable.
1: Enable.
#1 HIK Specifies whether to enable the high-precision knot command for NURBS
interpolation as follows:
0: Disable.
1: Enable.
#5 FDI Specifies whether to enable parametric velocity control for NURBS

interpolation, as follows:
0: Disable.
1: Enable.
- 609 -
6.19 3-DIMENSIONAL CIRCULAR INTERPOLATION (G02.4 AND

G03.4)
Specifying an intermediate and end point on an arc enables circular

interpolation in a 3-dimensional space.
An arc in a 3-dimensional space is uniquely defined with its start point
(current position) and a specified intermediate point and end point, as
shown below. Two command blocks are used to define this arc. The
first command block specifies the tool path between the start point and
intermediate point. The second command block specifies the tool path
between the intermediate point and end point.
X Mid-point (X1,Y1,Z1)
Start point End point (X2,Y2,Z2)
Fig. 6.19 Start, Mid, and End Points
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 HTG

[Data type] Bit
#2 HTG Specifies the type of feedrate that is used for velocity commands for
helical interpolation, helical involute interpolation, and three-
dimensional circular interpolation, as follows:
0: The velocity commands are specified using a tangential feedrate for circular
interpolation, involute interpolation, and three-dimensional circular
interpolation.
1: The velocity commands are specified using a tangential feedrate also for a linear
axis (or, for three-dimensional circular interpolation, a specified axis other than
the circular interpolation axis).
Alarms and messages

PS0710 ILLEGAL COMMAND IN 3-D CIR A three-dimensional circular interpolation command
(G02.4/G03.4) was issued in a modal state in which no
three-dimensional circular interpolation can be used.
PS0712 G02.4/G03.4 FORMAT ERROR The specified three-dimensional circular interpolation
command (G02.4/G03.4) is incorrect.
PS0713 MANUAL INTERVENTION IN In three-dimensional circular interpolation mode
G02.4/G03.4 (ABS ON) (G02.4/G03.4), manual intervention was attempted with the
manual absolute switch turned on.
- 610 -
B-63783EN-1/01 7.FEEDRATE CONTROL/ACCELERATION AND DECELERATION CONTROL
7 FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL
- 611 -
7.FEEDRATE CONTROL/ACCELERATION AND DECELERATION CONTROL B-63783EN-1/01
7.1 FEEDRATE CONTROL
The feed functions control the feedrate of the tool. The following two
feed
functions are available:
1. Rapid traverse
When the positioning command (G00) is specified, the tool moves
at a rapid traverse rate set in the CNC.
2. Cutting feed
The tool moves at a programmed cutting feedrate.
Override can be applied to a rapid traverse rate or cutting feedrate using
the override signal.
- 612 -
7.1.1 Rapid Traverse Rate
Overview
The positioning command (G00) positions the tool by rapid traverse.
G00 IP_ ;
G00 : G code (group 01) for positioning (rapid traverse)
IP_ ; Dimension word for the end point
With rapid traverse, the system waits for the specified feedrate to fall to
zero, then performs the in-position check set for parameter CIP (bit 0 of
No. 1000). The system then executes the next block.
A rapid traverse rate is set for each axis by parameter No. 1420, so no
rapid traverse rate need be programmed.
The following overrides can be applied to a rapid traverse rate with the
rapid traverse override signal:F0, F1, 50, 100%
F0 : Allows a fixed feedrate to be set for each axis by parameter No.
1421.
F1 : Constant percentage, which can be set for parameter No. 1412.
By setting parameter ROV (bit 0 of No. 1402), a rapid traverse override
of 0 to 100% can be applied, in 1% steps.
(For an explanation of the rapid traverse override, see Section 7.1.7.1.)
Signal
Rapid traversing signal RPD<F001#5>

[Function] This signal indicates that a move command is executed at rapid
traverse.
[Output condition] "1" indicates that an axis starts moving after
rapid traverse has been selected.
"0" indicates that an axis starts moving after a feedrate other than rapid
traverse has been selected. This holds true for both automatic and
manual operation modes.
NOTE
1 The rapid traverse in automatic operation includes all
rapid traverses in canned cycle positioning, automatic
reference point return, etc., as well as the move
command G00. The manual rapid traverse also
includes the rapid traverse in reference position return.
2 Once rapid traverse has been selected, this signal
remains "1", including during a stop, until another
feedrate has been selected and movement is started.
3 If both automatic and manual operations are performed
at the same time, the value of this signal depends on
whether the feed in automatic operation is rapid
traverse; it does not depend on the feed in manual
operation.
- 613 -
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 RPD
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1000 CIP

[Data type] Bit
#0 CIP Specifies what to confirm with an in-position check.

0: Merely confirm that the specified feedrate reaches zero during deceleration (the
acceleration/deceleration delay becomes zero).
1: Confirm that the specified feedrate reaches zero during deceleration (the
acceleration/deceleration delay becomes zero) and that the machine reaches the
specified position (the servo position deviation falls within the valid area set for
#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP RDR

[Data type] Bit
#0 RDR Specifies whether dry runs can be performed for the rapid traverse
command.

traverse feedrate)
- 614 -
#7 #6 #5 #4 #3 #2 #1 #0
1401 RFO

[Data type] Bit
#3 RFO Specifies whether to stop during rapid traverse when the cutting feedrate
override is set to 0%.
0: Stop.
1: Do not stop.

override is 100%.
Reference item
Series15i/150i-MB Operator’s Manual II-5.2 Rapid traverse
(Programming)
(B-63784EN)
- 615 -
7.1.2 Cutting Feedrate Clamp
Overview
A common upper limit can be set on the cutting feedrate along each
axis with parameter No. 1422. If an actual cutting feedrate (with an
override applied) exceeds a specified upper limit, it is clamped to the
upper limit.
Set the clamp value in mm/min or inch/min.
Convert the feed per revolution into mm/min or inch/min, using the
following formula:
fm = fr×R
where fm: Feedrate per minute in mm/min or inch/min
fr: Rate of feed per revolution in mm/rev or inch/rev
R: Spindle speed in rpm (rev/min)
Parameter

Alarm and message

been set to 0.
Warning
WARNING
The arithmetic operation error of the CNC for the
value specified for a feedrate is 2%. This does not,
however, apply during acceleration/deceleration.
The above error is incurred when measuring the time
required for the tool to move a distance of 500 mm or
more after the stable state has been attained.
Reference item
Series15i/150i-MB Operator’s Manual II-5.3 Cutting feed
(Programming)
(B-63784EN)
- 616 -
7.1.3 Feed per Minute
General
After specifying G94 (in the feed per minute mode), the amount of feed
of the tool per minute is to be directly specified by setting a number
after F. G94 is a modal code. Once a G94 is specified, it is valid until
G95 (feed per revolution) is specified. G95 (bit 4 of parameter No.
2401) can be set to 0 to set feed per minute mode at power-on.
An override from 0% to 254% (in 1% steps) can be applied to feed per
minute using the feedrate override signal.
In addition, an override of 0 to 254% (in 1% steps) or of 0 to 655.35%
(in 0.01% steps) can be applied using the second feedrate override
signal.
(For an explanation of feedrate override, see Section 7.1.7.2.)
(For an explanation of second feedrate override, see Section 7.1.7.3.)
Feed amount per minute

(mm/min or inch/min)
Tool
Workpiece
Table
Fig. 7.1.3 Feed per minute
CAUTION
No override can be used for any commands such as
for threading.
Format
Feed per minute
G94; G code for feed per minute (Group 05)
F_; Feed rate (mm/min or inch/min)
- 617 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2400 F41

[Data type] Bit
#1 F41 If the feed per minute of F code (G94 mode) is entered in metric without
the decimal point, the unit is:
0: 1 mm/min
1: 0.1 mm/min
If it is entered with the decimal point, the unit is always mm/min.
#7 #6 #5 #4 #3 #2 #1 #0
2401 G95

[Data type] Bit

0: G94 mode (feed per minute)
1: G95 mode (feed per revolution)
Alarm and message

PS0187 FEED ZERO ( COMMAND ) The cutting feedrate instructed by an F code has been set to 0.
This alarm is also generated if the F code instructed for the S code
is set extremely small in a rigid tapping instruction as the tool
cannot cut at the programmed lead.
Reference item
(Programming)
(B-63784EN)
- 618 -
7.1.4 Feed per Revolution/Feed per Revolution without Position

Coder
Overview
- Feed per revolution

Specify G95 (feed-per-revolution mode), then directly specify a
numeric value, preceded by F, to indicate the amount by which the tool
is to be fed per rotation about the spindle. G95 is modal; once it is
specified, it remains effective until G94 (feed-per-minute mode) is
specified. Feedrate overrides can be applied to feed per revolution, in
the same way as feed per minute.
F Feed amount per spindle revolution

(mm/rev or inch/rev)
Fig. 7.1.4 (a) Feed per revolution
- Position-coder-less feed per revolution

For a machine without a position coder (or a machine that does not use
one), the feedrate specified in feed-per-revolution mode is converted
into a feedrate per minute, assuming that the spindle rotates under the
control of the spindle speed command (S code), and that tool is moved
along the feed axis at that rate.
- 619 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2405 RSO FPR

[Data type] Bit
#6 FPR Specifies whether the function for feed per rotation without a position
coder (the function for converting feed-per-rotation F into feed-per-
minute F) is used in the feed-per-rotation mode (G95).
0: Not used.
1: Used.
#7 RSO Specifies whether spindle override is enabled when the function for feed-
per-rotation without a position coder (the function for converting feed-
per-rotation F into feed-per-minute F) is being used in the feed-per-
rotation mode (G95).
0: Disabled.
1: Enabled.
Caution
CAUTION
1 For feed per revolution, if the spindle speed is low,
the feedrate will be uneven. The lower the spindle
speed, the more uneven the feedrate.
2 Threading is performed according to the signal
returned from the position coder, even if the system
has been set up to use position-coder-less feed per
revolution.
In other words, position-coder-less feed per
revolution is not enabled for the threading
command.
3 When position-coder-less feed per revolution is
enabled, the following functions are also enabled:
- Feedrate override signal
- Spindle override signal
- Dry run signal
- Clamping of the maximum cutting feedrate on
each axis
- Dwell per revolution
Reference item
(Programming)
(B-63784EN)
- 620 -
7.1.5 F1-digit Feed
General
When a one-digit number from 1 to 9 is specified after F, the feedrate
set for that number in a parameter (Nos. 1451 to 1459) is used. When
F0 is specified, the rapid traverse rate is applied.
The feedrate corresponding to the number currently selected can be
increased or decreased by turning on the switch for changing F1-digit
feedrate on the machine operator's panel, then by rotating the manual
pulse generator.
The increment/decrement, DF, in feedrate per scale of the manual pulse
generator is as follows:
F max
∆F =
100 X
Fmax : feedrate upper limit for F1-F4 set by parameter 1460, or
feedrate upper limit for F5-F9 set by parameter 1461
X : any value of 1-127 set by parameter 1450
The feedrate set or altered is kept even while the power is off.
Signal
F1-digit feed select signal F1D<G005#3>

[Function] Increases or decreases F1-digit speed set by the parameters No. 1451 to
1459 using the manual pulse generator.
Since the manual pulse generator may also be used for axis feeding,
signal F1D (G016#7) designates which function may be used.
[Operation] When the signal is "1", the F1-digit speed can be increased/decreased
using the manual pulse generator.
- If, in automatic operation mode, the tool is not moved under the
control of single-digit F command, single-digit F feedrate
adjustment cannot be performed. Because, however, the manual
pulse generator is reserved for that purpose, the manual pulse
generator cannot be used for axis feed.
- In manual operation mode, this signal is meaningless. Even if it is
"1," manual handle feed is possible.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 F1D
- 621 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1406 F1O

[Data type] Bit
#0 F1O Specifies whether to enable feedrate override, second feedrate override,

and override cancellation for the feedrates of F codes with a one-digit
number (F1 to F9).
0: Disable them.
1: Enable them.
NOTE
Rapid traverse override is enabled for the feedrate of F0,
regardless of the setting of this parameter.
1450 Resolution of the feedrate specified by the F code with a one-digit number

[Data type] Integer
Set the constant used to determine the change in the feedrate when the manual pulse
generator is rotated one graduation while that F code with a one-digit number is
specified.
Fmaxi
∆F = (i = 1, 2)
100X
This parameter is represented in the above expression as the letter X. Set X to

determine how many times the manual pulse generator needs to be rotated for the
feedrate to become Fmax. Fmax in the above expression represents the upper limit
for the feedrate specified by the F code with a one-digit number. The limit is set in
parameter Nos. 1460 and 1461.
Fmax1: Upper feedrate limit for F1 to F4 (1460)

Fmax2: Upper feedrate limit for F5 to F9 (1461)
- 622 -
1451 F1 feedrate
1452 F2 feedrate
1453 F3 feedrate
1454 F4 feedrate
1455 F5 feedrate
1456 F6 feedrate
1457 F7 feedrate
1458 F8 feedrate
1459 F9 feedrate

[Data type] Real
Specify the feedrate assigned to the F code with a one-digit number Fn
(n=1 to 9). When the feedrate is changed by the manual pulse
generator, this parameter changes along with the change in the feedrate.
- 623 -
1460 Upper feedrate limit for F1 to F4

[Data type] Real
Set the upper limits for the feedrates specified by the F codes with a
one-digit number. When the feedrate is increased by turning the
manual pulse generator, these upper limits are used to clamp the
feedrate. The upper limit of feedrates for F1 to F4 is specified in this
parameter.
1461 Upper feedrate limit for F5 to F9

[Data type] Real
Set the upper limits for the feedrates specified by the F codes with a
one-digit number. When the feedrate is increased by turning the
manual pulse generator, these upper limits are used to clamp the
feedrate. The upper limit of feedrates for F5 to F9 is specified in this
parameter.
Caution
CAUTION
When more than one handle is provided, the first
handle is always used.
Reference item
(Programming)
(B-63784EN)
- 624 -
7.1.6 Feedrate Inverse Time Specification
Overview
Feedrate of the tool can be specified by the move distance of the block
and inverse time (FRN).
FRN=1/Time(min)=Speed/Distance
Speed : mm/min (metric input)
inch/min (inch input)
Distance: mm (metric input)
inch (inch input)
- Circular interpolation (G02, G03)
FRN=1/Time(min)=Speed/Circular radius
Speed : mm/min (metric input)
inch/min (inch input)
Distance: mm (metric input)
inch (inch input)
NOTE
In circular interpolation, the distance is not an actual
distance of the block but the speed is calculated from
the circle radius.
Caution
CAUTION
1 When the cutter compensation function is used,
programmed commands are subject to
compensation before travel, so that the actual
feedrate may be different from the specified feedrate.
When the cutter compensation function is used,
inverse time mode must not be used.
2 When F0 is specified, the feedrate is equal to the
maximum cutting feedrate.
3 In inverse time mode, F codes are not regarded as
being modal and, therefore, an F command is
required for each block.
Alarm and message

PS0202 NO F COMMAND AT G93 F codes in the inverse time specification mode (G93) are
not handled as modal, and must be specified in individual
blocks.
Reference item
(Programming)
(B-63784EN)
- 625 -
7.1.7 Override
7.1.7.1 Rapid traverse override
Overview
The rapid traverse rate can be overridden as follows:
F0, F1%, 50%, 100%
F0:Feedrate to be set for each axis (parameter No. 1421)
F1:Percentage (parameter No. 1412)
or, 0% to 100% (in steps of 1%) by setting bit 0 (ROV) of
parameter No. 1402
Rapid traverse rate Override 50% 5m/min

10 m/min
Fig. 7.1.7 (a) Rapid traverse override
- Feedrate
Actual feedrate is obtained by multiplying the rapid traverse rate preset
by parameter no.1420 by the override value determined by this signal,
whether in automatic or manual operation (including manual reference
position return).
- F0 rate
For F0 value, an absolute value is set by parameter no.1421 within a
range of 0 to rapid traverse rate (for each axis).
- F1%
Set F1, i.e., the feedrate override value, for parameter No. 1412, to a
value in the range of 0 to 100%.
- 1% step rapid traverse override selection signal

1% step rapid traverse override selection signal ROV (No.1402#0)
determines whether rapid traverse override specified with rapid
traverse override signals ROV1 and ROV2 is used or 1% step rapid
traverse override is used.
When signal ROV is 0, override is applied to the rapid traverse rate
using signals ROV1 and ROV2.
When signal ROV is 1, ROV1 and ROV2 are ignored, 1% step rapid
traverse override signals *RV0B to *RV6B being used to override the
rapid traverse rate.
- PMC axis control
Control signals are dedicated to PMC axis control. The rapid traverse
overrides described in this section are not effective.
(See Chapter 15 PMC axis control.)
- 626 -
Signal
Rapid traverse override signal

ROV1, ROV2 <G006#5, #6>
[Function] These signals override the rapid traverse rate
[Operation] These code signals correspond to the rates as follows (Table. 7.1.7 (a)):
Table. 7.1.7 (a) ROV1/2signals and Override value

Rapid traverse override signal Override value
ROV2 ROV1
0 0 100%
0 1 50%
1 0 F1%
1 1 F0
F1 : Set in parameter No. 1412
F0 : Set in parameter No. 1421
1% step rapid traverse override signals

*RV0B to *RV6B <G040#0 to #6>
[Function] Applies override to the rapid traverse rate in the range of 0% to 100%
in steps of 1%.
[Operation] These seven signals give a binary code indicating an override applied to
the rapid traverse rate.
- When a binary code corresponding to an override value of 101%
to 127% is specified, the override applied is clamped at 100%.
- Signals *RV0B to *RV6B are inverted signals.
To set an override value of 1%, set signals *RV0B to *RV6B to
1111110, which corresponds to a binary code of 0000001.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G006 ROV2 ROV1
#7 #6 #5 #4 #3 #2 #1 #0
G040 *RV6B *RV5B *RV4B *RV3B *RV2B *RV1B *RV0B
- 627 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1402 ROV

[Data type] Bit
#0 ROV Specifies override of the rapid traverse feedrate.

0: The override is F0, F1, 50%, or 100%, as specified by input signals ROV1 and
ROV2.
1: The override is determined by seven input signals *RV0B to *RV6B (in 1%
units) within a range from 0% to 100%.
1412 Percentage value for rapid traverse override F1

[Data type] Integer
[Unit of data] %
Set the percentage value to use for rapid traverse override F1.
1421 F0 feedrate for each axis for rapid traverse override

Set the F0 feedrate for each axis for rapid traverse override.
Reference item
Series15i/150i-MB Operator’s Manual II-5.4.2 Rapid traverse override
(Programming)
(B-63784EN)
- 628 -
7.1.7.2 Feedrate override
General
A programmed feedrate can be reduced or increased by a percentage
(%) selected by the override dial. This feature is used to check a
program.
For example, when a feedrate of 100 mm/min is specified in the
program, setting the override dial to 50% moves the tool at 50 mm/min.
Feedrate 100 mm/min
(Specified by programmed)
Tool
Check the machining by altering
the feedrate from the value
Feedrate 50 mm/min after specified in the program.
feedrate override
Workpiece
Fig. 7.1.7 (b) Feedrate override
Signal
Feedrate Override signal

*FV0 to *FV7 <G012>
[Function] These signals override the cutting feedrate. Eight binary code signals
correspond to override values as follows:
7
Override value = å | 2 i × Vi | %
i= 0
Vi=0 when *FVi is "1" and
Vi=1 when *FVi is "0"
These signals have the following weight.
*FV0 : 1% *FV1 : 2%
*FV2 : 4% *FV3 : 8%
*FV4 : 16% *FV5 : 32%
*FV6 : 64% *FV7 : 128 %
When all signals are "0", they are regarded as overriding 0%
in the same way as when all signals are "1" .
Thus, the override is selectable in steps over a range of 0 to 254%.
[Operation] Actual feedrate is obtained by multiplying the speed
specified in cutting feed in automatic operation mode by the override
value selected by this signal.
The override is regarded as 100%, regardless of this signal, in the
following cases:
- Override cancel signal OVC(G004#4) is "1".
- During cutting in tap cycle of canned cycle;
- Tapping mode (63); or
- Thread cutting is in progress.
- 629 -
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G012 *FV7 *FV6 *FV5 *FV4 *FV3 *FV2 *FV1 *FV0
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 RFO

[Data type] Bit
#3 RFO Specifies whether to stop during rapid traverse when the cutting feedrate
override is set to 0%.
0: Stop.
1: Do not stop.
Reference item
Series15i/150i-MB Operator’s Manual II-5.4.1 Feed rate override
(Programming)
(B-63784EN)
- 630 -
7.1.7.3 Second feedrate override
Overview
These signals override the cutting feedrate after the cutting feedrate has
been overridden by first override *FV0 to *FV7.
There are two types of second feedrate override:
- 0 to 254% (in 1-% steps)
- 0 to 655.34% (in 0.01-% steps)
Which of the above is to be used can be specified using parameter APO
(bit 0 of No. 1403).
Signal
Second feedrate override signal

*AFV0 to *AFV7 <G013>
[Function] Applies second feedrate override to the cutting feedrate. These eight
binary code signals correspond to the override values as follows.
7
Override value = å | 2 i × Vi | %
i= 0
Vi=0 when *AFVi is "1" and
Vi=1 when *AFVi is "0"
These signals have the following weight.
*AFV0=1% *AFV1=2%
*AFV2=4% *AFV3=8%
*AFV4=16% *AFV5=32%
*AFV6=64% *AFV7=128%
If all signals are "0" or "1", the override is regarded as
0%. The override is selectable in steps over a range of 0 to 254%.
[Operation] For cutting feed during automatic operation, the actual feedrate is the
result of applying the first override and then the override value selected
with this signal to the specified feedrate.
The conditions under which the first override is assumed to be 100%
remain effective. If any of the conditions is satisfied, second feedrate
override is also assumed to be 100%.
Second feedrate override signal B

*AFV0B to *AFV15B <G146 to G147>
[Function] Applies second feedrate override to the cutting feedrate. These sixteen
binary code signals correspond to the override values as follows.
15
Override value = 0.01 × å | 2 i × Vi | %
i= 0
Vi=0 when *AFViB is "1" and
Vi=1 when *AFViB is "0"
If all signals are "0" or "1", the override is regarded as
0%. The override is selectable in 0.01 steps over a range of 0 to
655.34%.
[Operation] Has the same function as the second feedrate override signal.
- 631 -
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G013 *AFV7 *AFV6 *AFV5 *AFV4 *AFV3 *AFV2 *AFV1 *AFV0
#7 #6 #5 #4 #3 #2 #1 #0
G146 *AFV7B *AFV6B *AFV5B *AFV4B *AFV3B *AFV2B *AFV1B *AFV0B
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 AOV

[Data type] Bit
#5 AOV Specifies whether to enable second feedrate override.
0: Disable second feedrate override.
1: Enable second feedrate override.
#7 #6 #5 #4 #3 #2 #1 #0
1403 APO

[Data type] Bit
#0 APO Specifies the steps in which the second feedrate override is selected.
0: 1% steps.
1: 0.01% steps.
However, this bit is valid only when AOV (bit 5 of parameter No. 1400) is
set to 1.
- 632 -
7.1.7.4 Override cancel
Overview
The override cancel signal fixes the feedrate override to 100%.
Signal
Override cancel signal OVC <G004#4>

[Function] Feedrate override is fixed to 100%.
[Operation] When the signal is "1", the CNC operates as follows:
- The override is fixed to 100% regardless of the feedrate override
and second feedrate override signals. Thus, the tool operates
exactly at the specified feedrate.
- Rapid traverse override and spindle speed override are not
affected.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 OVC
- 633 -
7.1.8 Automatic Corner Override
Overview
- Inner corner automatic override
When G62 is specified, and the tool path with cutter compensation
applied forms an inner corner, the feedrate is automatically overridden
at both ends of the corner.
There are four types of inner corners (Fig. 7.1.8 (a)).
2°≤θ≤θp≤178°, in Fig. 7.1.8 (a). θp is a value set with parameter No.
6611. When θ is approximately equal to θp, the inner corner is
determined with an error of 0.001,or less.
1.Straight line-straight line 2.Straight line-arc

:Tool
:Programmed path
:Cutter center path
θ θ
3.Arc-straight line 4.Arc-arc
Fig. 7.1.8 (a) Inner corner
NOTE
When the block before a corner is a start-up block, or
the block after a corner includes G41 or G42, the
feedrate is not overridden. The feedrate override
function is disabled when the offset value is 0.
- Override value
An override value is set with parameter No. 6612. An override value is
valid even for dry run and F1-digit feed specification.
In the feed per minute mode, the actual feedrate is as follows:
F × (inner corner automatic override) × (feedrate override)
- 634 -
- Internal circular cutting feedrate change

For internally offset circular cutting, the feedrate on a programmed
path is set to a specified feedrate (F) by specifying the circular cutting
feedrate with respect to F, as indicated below.
Rc
F×
Rp
Rc : Cutter center path radius
Rp : Programmed radius
It is also valid for the dry run and the F1-digit feed command.
Programmed path
Rc
Cutter center
Rp path
Fig. 7.1.8 (b) Internal circular cutting feedrate change
If Rc is much smaller than Rp, Rc/Rp≡0; the tool stops. A minimum

deceleration ratio (MDR) is to be specified with parameter No. 6610.
When Rc/Rp≤MDR, the feedrate of the tool is (F×MDR).
NOTE
1 By setting parameter CAFC (bit 5 of No. 1402), the
circular cutting feedrate can be changed even when
an offset is applied externally.
2 This function is enabled in cutter compensation
mode, regardless of the setting of G62. By setting
parameter COV (bit 0 of No. 6600), the function can
be enabled in G62 mode only.
Caution
CAUTION
When circular cutting must be performed together
with automatic override for inner corners, the
feedrate of the tool is as follows:
F×(Rc/Rp)×(inner corner override)×(feedrate
override)
- 635 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1402 CAFC

[Data type] Bit
#5 CAFC Specifies whether to perform circular cutting point feedrate change in

cutter compensation mode and tool nose radius compensation mode for
the inner arc only.
0: Performed on the inner arc only.
1: Performed on the inner and outer arcs.
#7 #6 #5 #4 #3 #2 #1 #0
6600 COV

[Data type] Bit
#0 COV Specifies whether a circular cutting point feedrate change is valid.

0: Valid at all times.
1: Valid only in the automatic corner override (G62) mode.
6610 Minimum deceleration rate (MDR) for circular cutting feedrate change

[Data type] Integer
[Unit of data] %
Set a minimum deceleration rate (MDR) for automatic corner override in circular
cutting feedrate change.
- 636 -
6611 θp)
Effective angle for internal corner automatic override (θ

[Data type] Real
When θ≤θp, the corner is assumed to be an inside corner.
When a corner is determined to be an inside corner, the feedrate is overridden within
the distance Le in the block before the corner and the distance Ls in the next block
from the corner intersection.
Le and Ls are set in parameter Nos. 6613 and 6614, respectively.
Programmed path
a
Cutter center path
Le θ b
Ls
The feedrate is overridden from point a to point b.
6612 Gear reduction ratio for automatic corner override (COUR)

[Data type] Integer
[Unit of data] %
6613 Distance for starting automatic override (Le)

[Data type] Real
table(A))
- 637 -
6614 Distance for ending automatic override (Ls)

[Data type] Real
table(A))
Reference item
Series15i/150i-MB Operator’s Manual II-5.5.2 Automatic corner
(Programming) override
(B-63784EN)
- 638 -
7.1.9 External Deceleration
General
These signals decelerate the feedrate of the control axes down to the
speed which has been set by parameter No. 1426 and 1427.
Signal
External deceleration signal

*+ED1<G64#2>, *+ED2<G68#2>, ...
*-ED1<G64#3>, *-ED2<G68#3>, ...
[Function] These signals are used to apply deceleration; provided for each
direction of each control axis; +/* indicates the direction, while the
signal number corresponds to the number of the controlled axis.
*xEDy
y : 1 ..... The 1st axis is decelerated.
2 ..... The 2nd axis is decelerated.
3 ..... The 3rd axis is decelerated.
:
x : + : The feed is decelerated in the plus (+) direction.
- : The feed is decelerated in the minus (-) direction.
[Operation] When a signal becomes "0", the corresponding axis decelerate to stop
in the specified direction.
If the specified feedrate is lower than the external deceleration feedrate,
the specified feedrate is assumed.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 *-ED1 *+ED1
the Appendix A.1.
- 639 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 EDM EDP

[Data type] Bitaxis
#4 EDP For each axis, specifies whether the external deceleration signal for the
positive direction is valid during cutting feed.
0: Invalid.
1: Valid.
#5 EDM For each axis, specifies whether the external deceleration signal for the
negative direction is valid during cutting feed.
0: Invalid.
1: Valid.
1426 External deceleration rate during cutting feed

[Data type] Real
Set the external deceleration rate used during cutting feed and
positioning using linear interpolation (G00).
1427 External deceleration rate for each axis during rapid traverse

This parameter sets the external deceleration feedrate used in rapid
traverse.
- 640 -
7.1.10 Feed Stop Function
Overview
During axis motion, the feed stop function checks a position deviation
amount at all times. When the amount exceeds the "feed stop position
deviation amount" set by the parameter (No. 1832), the function
suspends pulse distribution and acceleration/deceleration control
during such a period of time, and terminates the move command for the
positioning control circuit. Thus the function can minimize an
overshoot that may occur with a large servo motor in rapid traverse
acceleration operation.
Speed
Specified speed
Actual speed
Time
Feed stop
Parameter
1832 Feed-stop position deviation for each axis

Specify the feed-stop position deviation for each axis. If the
positioning deviation of an axis while it is moving exceeds the feed-
stop position deviation for the axis, pulse distribution and
acceleration/deceleration control are temporarily stopped. When
the positioning deviation becomes less than the feed-stop position
deviation, pulse distribution and acceleration/deceleration control
are restarted.
The feed-stop function is mainly used for decreasing overshoot
when a large servo motor is accelerated or decelerated.
Generally, specify the intermediate value between the positioning
deviation limit while the tool moving and the positioning deviation
limit for the axis in the rapid traverse mode as the feed-stop
position deviation.
- 641 -
7.1.11 Deceleration Based on Acceleration during Circular

Interpolation
General
When cutting is performed at high speed for circular, helical, or spiral
interpolation, the actual tool path will vary slightly from that intended..
This error in circular interpolation can be approximated by the formula
given below:
Y
∆r : Error
Programmed ∆r
path : Maximum radial error (mm)
v : Feedrate (mm/sec)
r : Arc radius (mm) 2
Actual path a : Acceleration (mm/sec )
T1 : Time constant (s) for
exponential acceleration /
deceleration of cutting feed
r (sec)
T2 : Time constant of the servo
0 X motor (sec)
2
1 2 2 v 1 2 2
∆r = (T + T ) = (T + T ) ⋅ a ................ (Equation 1)
2 1 2 r 2 1 2
When actual machining is performed, radius r of the arc to be machined
and permissible error Dr are given. Then, maximum allowable
acceleration a (mm/sec2) is determined from the above expression.
The function for clamping the feedrate by the acceleration
automatically clamps the feedrate of arc cutting to the value set in a
parameter. This function is effective when the specified feedrate may
cause the radial error for an arc with a programmed radius to exceed the
permissible degree of error.
When the permissible maximum acceleration for each axis is set for a
parameter, and the larger of the permissible maximum accelerations for
the two axes used for circular interpolation is assumed to be A, the
permissible maximum feedrate v at the radius r specified by the
program is
v = A ⋅ r .............................................................. (Equation 2)
If the specified feedrate exceeds feedrate v, determined with equation 2,
the feedrate is automatically clamped to the determined feedrate.
- 642 -
NOTE
In fine HPCC mode, an optimum feedrate that
causes the accelerations on individual axes to fall
within the range of permissible acceleration is
calculated even if the permissible accelerations
specified for the axes are different.
In a mode other than fine HPCC mode (in normal
mode), the smaller of the permissible accelerations
on the two axes of circular interpolation is used. If
either of the values of the two interpolation axes is 0,
the non-zero value is used as the permissible
acceleration. If both values are 0, deceleration is
not performed.
If the radius of the arc is small, the calculated deceleration speed v may
become very small. To prevent the feedrate from becoming too low,
the minimum feedrate can be specified in a parameter. The following
parameters are used to specify the minimum feedrate:
In fine HPCC mode: Parameter 1483
In a mode other than fine HPCC mode (in normal mode):
Parameter 1491
Explanations
- Linear acceleration/deceleration after interpolation in cutting feed
If the function for linear acceleration/deceleration in cutting feed is
applied, an error in circular cutting can be approximated using formula
3.
2
1 2 1 2 v 1 2 1 2
∆r = ( T + T ) = ( T + T ) ⋅ a ...... (Formula 3)
24 1 2 2 r 24 1 2 2
Because the relationship of formula 2 holds, as indicated by formula 3,
deceleration by linear acceleration/deceleration after interpolation can
be based on the acceleration during circular interpolation.
- Actual error
Formulas 1 and 3 provide only the theoretical approximate errors
obtained by the CNC. Those values are not errors in actual machining.
The error in actual machining r all is given by the following formula:
∆r all =∆r NC +∆r machine................................... (Formula 4)
∆r machine : Error caused by the machine
∆r NC : Error resulting from acceleration/deceleration time constant
(T1) and servo motor time constant (T2)
This function keeps only the first term on the right side, which is the
error resulting from the acceleration/deceleration time constant (T1)
and servo motor time constant (T2), constant and is unrelated to the
error caused by the machine.
Formulas 1 and 3 are expressions of approximations. The precision of
the approximation decreases with a decrease in the radius of the arc.
Even if the speed is clamped to the maximum permissible speed v
obtained by formula 2, the error may not be permissible.
- 643 -
Parameter
of fine HPCC

[Data type] Real
The deceleration function based on the acceleration of fine HPCC automatically
calculates the optimum feedrate according to the geometry.
Depending on the geometry, the calculated feedrate may become very low.
If this occurs, to prevent the feedrate from becoming too low, deceleration to a
feedrate below that specified for this parameter can be suppressed.
If, however, the override by the deceleration function based on the cutting load is
enabled, the feedrate may become lower than the lower feedrate limit.
The lower feedrate limit in deceleration based on the acceleration during circular
interpolation in a mode other than fine HPCC mode can be specified for parameter
No. 1491.
during circular interpolation (for normal mode)

[Data type] Real
The deceleration function based on the acceleration during circular interpolation
automatically calculates the optimum feedrate so that the acceleration resulting
from changes in the travel direction during circular interpolation does not exceed
the allowable acceleration specified for parameter No. 1665.
If the arc radius is very small, the calculated feedrate may become very low.
If this occurs, to prevent the feedrate from becoming too low, deceleration to a
feedrate lower than that specified for this parameter can be suppressed.
The lower feedrate limit for the deceleration function based on the acceleration in
fine HPCC mode can be specified for parameter No. 1483.
- 644 -


tool travel.
In the 15B, the time for the maximum cutting rate (parameter No. 1422) was set for
parameter No. 1643 to set the allowable acceleration. In the 15i, on the other hand,
the acceleration is directly specified for this parameter.
- 645 -
1665 Allowable acceleration in the deceleration function based on the acceleration

during circular interpolation for each axis (for normal mode)

Specify the allowable acceleration in the deceleration function based on the
acceleration during circular interpolation for each axis.
The feedrate is controlled so that the acceleration resulting from changes in the
direction of travel during circular interpolation does not exceed the value of this
parameter.
For an axis for which 0 is set for this parameter, the acceleration function based on
the acceleration is disabled.
If different values are set for this parameter for different axes, the feedrate is
determined based on the lower acceleration of the specified two circular axes.
This parameter is effective when fine HPCC mode is not used (ordinary mode).
In fine HPCC mode, parameter No. 1663 is used.
The "deceleration function based on the acceleration during circular interpolation"
is equivalent to the "feedrate clamp with the arc radius" in the 15B.
In the 15B, the upper feedrate limit, lower feedrate limit, and arc radius were
specified for parameters Nos. 1490 to 1492. In the feedrate clamp based on the
acceleration in the 15i, the allowable acceleration is set for this parameter.
- 646 -
7.1.12 Advanced Preview Control
General
This function is provided to enable high-speed high-precision
machining with the FANUC Series 16i. With the FANUC Series 15i,
on the other hand, the look-ahead acceleration/deceleration before
interpolation function is used for high-speed high-precision machining,
instead of advanced preview control.
The look-ahead acceleration/deceleration before interpolation function
contains functions equivalent to the linear acceleration/deceleration
before interpolation function and the automatic corner deceleration
function contained in the advanced preview control.
For details, see the section on look-ahead acceleration/deceleration

before interpolation.
Reference item
Series15i/150i-MB Operator’s Manual II-18.4 Look-ahead
(Programming) acceleration/deceleratio
(B-63784EN) n before interpolation
Series15i/150i- Connection Manual 7.2.2 Look-ahead
MODEL B (This manual) acceleration/deceleratio
n before interpolation
- 647 -
7.1.13 Nano Interpolation
General
The output from the NC to the servo is usually in units of detection
units. This function allows output to the servo in units of thousandths
of detection units, thereby improving machining precision. This is
particularly effective for improving the surface roughness.
Note that the positioning precision depends on the machine conditions,
such as the resolution of the detector.
This function is part of the look-ahead acceleration/deceleration before

interpolation function. When the look-ahead acceleration/deceleration
before interpolation function is enabled, nano interpolation is also
enabled.
For details, see the section on look-ahead acceleration/deceleration

Note
NOTE
This function is most effective when the resolution
of the detector is higher than the detection units.
Even when the resolution of the detector is the
same as the detection units (in the case of a closed
loop, for example), it is effective if the feed forward
function is used.
Reference item

- 648 -
7.1.14 Fine HPCC
General
This function is designed to achieve high-speed, high-precision
machining with a program involving a sequence of very small straight
lines and NURBS curved lines, like those used for metal die machining.
This function can suppress the servo system delay and delay caused by
acceleration/deceleration that increase as a higher feedrate is used.
This function can be used to ensure that the tool strictly traces the
specified values, thus minimizing machining profile errors and
achieving high-speed, high-precision machining.
HPCC stands for high precision contour control. In fine HPCC mode,
acceleration/deceleration is performed more precisely than in the
conventional HPCC mode, resulting in an increase in the cutting speed.
Format
Thus, this function can be used to ensure that the tool strictly traces the
specified values, thus minimizing machining profile errors for higher-
speed, higher-precision machining.
G05.1 Q1 :
Look-ahead acceleration/deceleration before
interpolation mode on
(Multi-buffer mode is set at the same time.)
G05.1 Q0 :
interpolation mode off
(Multi-buffer mode remains set.)
G05.1 P1 Q0 :
interpolation mode off
(Multi-buffer mode is cleared.)
Specify G05.1 alone in a block.

Fine HPCC mode can be automatically turned on at
power-up and upon a reset if the MBF bit (bit 6 of
parameter 2401) is specified accordingly.
Fine HPCC mode can be turned on and off by
G05P10000 and G05P0, which specify the
application of high precision contour control by the
64-bit RISC processor of the FANUC Series 15-MB.
For details, see "Specifying G05P10000/G05P0,"
below.
- Functions enabled
In fine HPCC mode, the following functions are enabled:
(1) Linear acceleration/deceleration before interpolation or bell-
shaped acceleration/deceleration before interpolation
(2) Deceleration function based on feedrate differences at corners
- 649 -
(3) Advanced feed-forward function

(4) Nano interpolation
With the fine HPCC function, the additional functions listed below can
be used to achieve high-speed, high-precision machining for very small
straight lines and NURBS curved lines:
(1) Feedrate determination based on acceleration on each axis
(2) Deceleration function based on Z-axis fall angle
(3) Fifteen-block multi-buffer function
(The number of blocks can be optionally increased to a maximum
of 100 blocks.)
Automatic feedrate control function

In fine HPCC mode, the feedrate is automatically controlled by the
reading-ahead of blocks.
The feedrate is determined using the following conditions. If the
specified feedrate exceeds the determined feedrate, acceleration/
deceleration before interpolation is performed to achieve the
determined feedrate.
(1) Feedrate changes on each axis at a corner and the permissible
feedrate change that has been set
(2) Expected acceleration on each axis and the permissible
acceleration that has been set
(3) Cutting load that is expected from the travel direction on the Z-
axis
The machining error is decreased Specified tool path
because of the deceleration by
difference in feedrate.
Tool path assumed when
fine HPCC is not used
Tool path assumed when
fine HPCC is used
The machining error is decreased

because of deceleration with the
acceleration.
Fig. 7.1.14 (a)
To enable this function, set the desired values for the following
parameters:
Parameter No. 1478:
Permissible feedrate difference used when the feedrate is to be
determined from the feedrate difference at a corner
Parameter No. 1663:
Permissible acceleration when the feedrate is to be determined
from the acceleration
For details, see the explanation of these parameters.
- 650 -
Feedrate control conditions

In automatic feedrate control mode, the feedrate is controlled as
described below:
(a) From the feedrate difference on each axis at a corner, the feedrate
in the corner is determined, and deceleration is performed to
achieve the feedrate at the corner.
(Example)
N1
Specified
Y F
N2
X
N1 N2 N3 t
N3
(b) From the acceleration on each axis at the corners at the start and
end points of each block, the feedrate in the block is determined,
and deceleration is performed so that the feedrate in the block is
equal to or less than the determined feedrate.
(Example) N2N3
N1 N4
Specified
Y feedrate
N5
X N8 N6
N7 N1 N2 N3 N6 N7 N8 t
(c) During descent on the Z-axis, the cutting load increases, and
override is applied according to the Z-axis descent angle.
(Example)
Specified
Z N1 N2 feedrate
X
N3 N1 N2 N3 t
- 651 -
Example of determining the feedrate from the feedrate difference on each axis
The feedrate at a corner is calculated from the feedrate difference on
each axis, as described below.
he tangent feedrate that does not cause the feedrate change on each axis
to exceed the permissible feedrate difference set for parameter No.
1478 is calculated, and deceleration at performed at the corner.
- Example
When the tool travel direction changes by 90 degrees from the X-axis
to the Y-axis, deceleration is performed as shown below, if the feedrate
is 1000 mm/min and the permissible feedrate difference is 500
mm/min.
N1 G01 G91 X100. F1000 ;

N2 N2 Y100. ;
N1
Tool path assumed if deceleration
is not performed at the corner
← Tool path assumed if deceleration is

performed at the corner
Feedrate
F1000
If deceleration is not
performed at the corner
Feedrate on the If deceleration is performed
X-axis at the corner
F500
Feedrate Time
F1000
Feedrate on the
Y-axis
F500
N2 Time
Feedrate
F1000
Tangent feedrate
F500
N1 N2 Time
Fig. 7.1.14 (b) Example of Determining the Feedrate from the Feedrate
Difference
NOTE
The method of deceleration with the feedrate
difference differs depending on the setting of
parameter FNW (bit 6 of No. 1517). For details,
refer to the section on " Look-ahead acceleration/
deceleration before interpolation " in this manual.
- 652 -
Example of determining the feedrate with the acceleration on each axis

When consecutive small lines are used to form a curve, as in the
example shown in the figure below, the feedrate differences on each
axis at the individual corners are not very large. Thus, deceleration with
the feedrate differences is not effective. Consecutive small feedrate
differences, however, cause a large acceleration on each axis, as a
whole.
In such a case, deceleration can be performed to reduce the impact on
the machine and the machining error caused by too large an
acceleration. The deceleration feedrate is determined to be the feedrate
that does not cause the acceleration on each axis to exceed the
permissible acceleration set for parameter No. 1663.
The deceleration feedrate is determined for each corner. The actual
feedrate is the smaller of the deceleration feedrate determined at the
start point of the block and that determined at the end point.
- Example
In the following example, the acceleration (gradient of the broken line
in the feedrate graph) at too large at corners N2 to N4 and N6 to N8 and,
therefore, deceleration is performed.
N8
N7 N9
N6
N5
Y
N1
X N4
N3
N2
X-axis
feedrate
Y-axis
feedrate
Tangent
feedrate
N1 N5 N9 N1 N5 N9
Fig. 7.1.14 (c) Example of Determining the Feedrate with the Acceleration
- 653 -
The method of determining the feedrate with the acceleration differs

depending on the setting of parameter FNW (bit 6 of No. 1517).
If "0" is set, the highest feedrate that does not cause the permissible
acceleration set for parameter No. 1663 to be exceeded is assumed to
be the deceleration feedrate. In this case, the deceleration feedrate
differs depending on the travel direction even if the shape is the same,
as shown in the figure below.
(Example) If a circular shape with a radius of 10 mm is specified with small line blocks
Parameter FNW (bit 6 of No. 1517) = 0
Permissible acceleration = 1000 mm/s2 (on all axes)
Tangent feedrate
F6000
The feedrate is higher

in these directions.
Time
If "1" is set, the feedrate is determined with not only the condition that
the permissible acceleration on each axis is not exceeded but also the
condition that the deceleration feedrate is constant regardless of the
travel direction if the shape is the same.
If 1 is set for this parameter, the deceleration feedrate determined with
the feedrate difference or acceleration may be up to 30% lower than
that determined if 0 is set.
(Example) If a circular shape with a radius of 10 mm is specified with small line blocks
Parameter FNW (bit 6 of No. 1517) = 1,
radius = 10 mm, permissible acceleration = 1000 mm/s2 (on all axes)
Tangent feedrate
F6000
The tangent feedrate

is constant.
Time
NOTE
In circular interpolation, the tangent feedrate is
constant regardless of the setting of the parameter.
- 654 -
Example of determining the feedrate with the cutting load

This function is enabled when parameter ZAG (bit 4 of No. 7565) is set
to 1.
Fig. 7.1.14 (d) During ascent on the Z-axis
Fig. 7.1.14 (e) During descent on the Z-axis
Usually, the cutting resistance is higher when machining is performed

with the bottom of the cutter, as shown in Fig. 7.1.14 (a) an when
machining is performed with the side of the cutter, as shown in Fig.
7.1.14 (d). Deceleration is, therefore, required. In fine HPCC, the tool
travel direction on the Z-axis is used as a condition for calculating the
machining feedrate.
The descent angle during descent on the Z-axis (angle formed by the
XY plane and the tool center path) is as shown in Fig. 7.1.14 (e). The
descent angle is divided into four areas, and the override values for the
individual areas are set for the following parameters:
Parameter No. 7591 for area 2
For area 1, however, no parameter is available, and an override of
100% is used at all times. The feedrate obtained according to other
feedrate control is multiplied by the override value of the area to which
descent angle belongs.
Area1 0° ≤ θ <30°
Area2 30° ≤ θ <45°
Area3 45° ≤ θ <60°
Area4 60° ≤ θ ≤90°
- 655 -
XY plane
30° Area1
90°
60°
Area4 45°
Area3 Area2
CAUTION
1 The function for determining the feedrate with the
cutting feed is effective only when the tool is parallel
with the Z-axis. Thus, it may not be possible to apply
this function, depending on the structure of the
machine used.
2 In the function for determining the feedrate with the
cutting feed, the travel direction on the Z-axis is
determined with the appropriate NC command. If,
therefore, manual intervention is performed on the
Z-axis with manual absolute on, or if a mirror image is
applied on the Z-axis, the direction on the Z-axis
cannot be determined. When using the function for
determining the feedrate with the cutting load, do not
use these functions.
3 When performing three-dimensional coordinate
conversion, determine the descent angle on the Z-
axis using the converted coordinate system.
- 656 -
Ignoring F code commands

In a block in which automatic feedrate control is enabled, all feed
commands (F commands) can be ignored by setting parameter NOF (bit
7 of No. 7565). The term feed commands, as used here, refer to the
following commands:
(1) Modal F commands before the block in which automatic feedrate
control is enabled
(2) F commands and modal F commands in the block in which
automatic feedrate control is enabled
When the F commands are ignored, it is assumed that the upper
feedrate limit specified for parameter No. 7567 is specified.
Note, however, that any issued F commands and modal F commands
are stored within the CNC.
Thus, in a block in which automatic feedrate control changes from the
enabled state to the disabled state, the modal values of the F commands
described in 1 and 2 described above are used as modal F commands,
instead of the modal values of the F commands calculated by automatic
feedrate control.
Another example of determining the feedrate

If the calculated feedrate exceeds either the upper limit (parameter No.
7567) for automatic feedrate control that is set for the appropriate
parameter or the feedrate specified with an F command, clamping is
performed with the smaller of the upper limit feedrate and the feedrate
specified with the F command.
If the feedrate calculated by the deceleration function based on the
acceleration is smaller than the lower feedrate limit for the deceleration
function based on the acceleration of fine HPCC set for parameter No.
1483, the lower feedrate limit is used for the feedrate. If, however, the
specified feedrate is smaller than the lower feedrate limit, the specified
feedrate is used.
- 657 -
Parameter
See also the explanation of those parameters for look-ahead
acceleration/deceleration before interpolation because this function
uses it.
of fine HPCC

[Data type] Real
The deceleration function based on the acceleration of fine HPCC
automatically calculates the optimum feedrate according to the
geometry.
Depending on the geometry, the calculated feedrate may become very
low.
deceleration to a feedrate below that specified for this parameter can be
suppressed.
If, however, the override by the deceleration function based on the
cutting load is enabled, the feedrate may become lower than the lower
feedrate limit.
The lower feedrate limit in deceleration based on the acceleration during
circular interpolation in a mode other than fine HPCC mode can be
NOTE
During involute interpolation, the lower feedrate limit for the
"acceleration clamp in the vicinity of the basic circle" of involute
interpolation automatic feedrate control is applied.
- 658 -
#7 #6 #5 #4 #3 #2 #1 #0
1517 FNW

[Data type] Bit
#6 FNW Specifies whether the method of determining the feedrate based on the
feedrate difference in look-ahead acceleration/deceleration before
interpolation and the method of determining the feedrate based on the
acceleration of fine HPCC.
0: The highest feedrate that does not exceed the allowable feedrate difference or
allowable acceleration for each axis is assumed.
1: In addition to the condition that the feedrate must not exceed the allowable
feedrate difference and allowable acceleration, the condition that the
deceleration feedrate must be constant if the geometry is the same must be
satisfied in determining the feedrate.
When this parameter is set to 1, the feedrate determined with the feedrate
difference or acceleration may be lower by up to 30% than that determined when it
is set to 0.
1663 Allowable acceleration in the deceleration function based on the acceleration

for each axis of fine HPCC

tool travel.
In the 15B, the time for the maximum cutting rate (parameter No. 1422) was set
for parameter No. 1643 to set the allowable acceleration. In the 15i, on the other
hand, the acceleration is directly specified for this parameter.
NOTE
During involute interpolation, the allowable acceleration for the
"acceleration clamp in the vicinity of the basic circle" of involute
interpolation automatic feedrate control is applied.
- 659 -
#7 #6 #5 #4 #3 #2 #1 #0
7565 NOF ZAG

[Data type] Bit
#4 ZAG Specifies whether to perform the deceleration function (deceleration by

Z-axis falling angle) based on cutting load of fine HPCC.
0: Do not perform.
1: Perform.
After setting 1 in this parameter, be sure to set parameter No. 7591, No. 7592, and
No. 9593.
#7 NOF Specifies whether to ignore an F command in fine HPCC.
0: Do not ignore.
1: Ignore.
When 1 is set in this parameter, the specification of the upper feedrate
limit of parameter No. 7567 is assumed.
7567 Upper feedrate limit for fine HPCC

[Data type] Real
Set an upper feedrate limit for fine HPCC. If a feedrate higher than the
value set in this parameter is specified in the fine HPCC mode, the
feedrate is clamped to the value set in this parameter.
When 0 is set in this parameter, the feedrate is not clamped.
When bit 7 (NOF) of parameter No. 7565 is set to 1, the specification of

the feedrate set in this parameter is assumed. If 0 is set in this
parameter at this time, the PS0187 alarm is issued.
- 660 -
7591 Override for area 2 in deceleration based on fine HPCC cutting load

[Data type] Integer
[Unit of data] %
With the deceleration function based on fine HPCC cutting load, a specified
override can be applied according to the Z-axis falling angle.
A feedrate found from other conditions is multiplied by the override value of an
area to which the falling angle θ belongs. Note, however, that no parameter is
available for area 1, and an override of 100% is used at all times.
Area1 0° ≤ θ <30°
Area2 30° ≤ θ <45°
Area3 45° ≤ θ <60°
Area4 60° ≤ θ ≤90°
Limitation
Because this function uses look-ahead acceleration/deceleration before
interpolation, see the section on look-ahead acceleration/deceleration
before interpolation for an explanation of the restrictions.
Reference item
Series15i/150i-MB Operator’s Manual II-18.5 Fine HPCC
(Programming) II-18.4 Look-ahead
(B-63784EN) acceleration/deceleratio
- 661 -
7.1.14.1 Smooth Velocity Control

Overview
Smooth velocity control is a function that performs smooth velocity
determination by recognizing the overall figure from the multiple
preceding and succeeding blocks containing look-ahead in velocity
determination with acceleration in fine HPCC mode.
If a curved figure is specified with consecutive minute straight lines,
the machining program is rounded in the least input increment before
being executed, so that the machining profile is approximated with
lines.
In regular velocity determination with acceleration, an optimum velocy
is automatically calculated faithfully for the program-specified figure.
Depending on the specification, therefore, the acceleration may
increase, possibly causing deceleration to be performed.
If, in such a case, smooth velocity control is used, velocity control is
performed by recognizing the overall figure, thereby enabling smooth
velocity control while suppressing local deceleration, and improving
velocity control.
Explanation
Large acceleration
: Program-specified path
: Figure as recognized
Even for those portions of a program-specified figure for which the

acceleration may increase, the acceleration is determined on the basis
of the figure as recognized from multiple blocks, and velocity
determination is performed so that the acceleration does not exceed the
permissible velocity set with parameter No. 1663
Tangent velocity Regular deceleration with acceleration
Smooth velocity control
Command with large acceleration
Time
- 662 -
Regular deceleration with acceleration determines an optimum velocity

for the specified figure. If, therefore, a curve is approximated with
consecutive minute stright lines, for example, deceleration will be
performed locally where there is a command that causes the
acceleration to increase.
Smooth velocity control determines the acceleration on the basis of the
figure as recognized from the multiple preceding and succeeding
blocks containing look-ahead, thereby performing smooth velocity
control even in portions where the acceleration increases.
Smooth velocity control takes effect under the following conditions:
1) The system is in fine HPCC mode and velocity determination with
acceleration is effective
2) The command is a continuous linear interpolation command.
3) HPF, bit 0 of parameter No. 8495, is set to 1.
Smooth velocity control determines the acceleration for each axis from
the figure as recognized from multiple blocks, but the velocity
determination with acceleration is still effective if it is made effective
with FNW, bit 6 of parameter No. 1517. If the parameter bit FNW is
set to "1", the feedrate is determined so that the deceleration is constant
regardless of the movement direction if the figure recognized by this
function is the same and so that the permissible acceleration for each
axis is not exceeded. See the examplation of the parameter bit FNW for
details.
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
8495 HPF

[Data type] Bit
#0 HPF In fine HPCC's velocity determination with acceleration, smooth velocity

control is:
0: Not used.
1: Used.
Caution
CAUTION
If smooth velocity control is used, the velocity
determined by it may be larger than that determined
by regular velocity determination with acceleration at
some figure portions such as corners.
For corners, set the permissible velocity difference
parameter, No. 1478, for velocity determination with
a corner velocity difference, so that velocity
determination with a corner velocity difference
performs appropriate deceleration.
- 663 -
7.1.15 Machining type in HPCC screen programming
General
The high-speed high-precision machining setting screen supports three
machining parameter sets (FINE, MEDIUM, and ROUGH). The
parameter set to use can be selected in MDI mode. Selecting one
parameter set causes the working parameters to be rewritten. If FINE is
selected, for example, the values of the finish machining parameters
listed below are set in the working parameters.
Finish machining Working

parameter parameter
ACC/DEC LEVEL 1533 (None)
(*1)
ACC FOR BIPL 1534 1660
ACC CHANGE TIME (BELL) 1536 1656
(*2)
MAX ACCELERATION 1535 1663
T-CONST AIPL ACC/DEC 1522 1635
CORNER FEED 1524 1478
(*3)
FEED FORWARD COEFFICIENT 1529 1985, 3344
*1,*2 These values have been overridden on the acceleration/
deceleration level.
*3 These values apply only when parameter TSP (bit 0 of parameter
No. 8403) is set to 1.
This function enables a machining parameter set to be selected by a
command in a program during operation as well as in MDI mode. The
selected machining parameters are reflected on the high-speed high-
precision machining setting screen.
Retaining the Defaults of High-Speed High Precision Parameters

If processing-specific parameters are selected with the G05.1 Q1 Rx or
G10 L80 Rx command, execution parameters are changed so that
machining can be performed with the settings for each mode. In
previous versions, the execution parameters did not return to the
previous settings when the mode was turned off. In the current version,
if ATDF (bit 5 of parameter No. 1517) is set to 1, the execution
parameters return to the previous settings (defaults) after machining in
each mode.
- Restoration
Execution data is restored from default data when:
1. G05.1Q1 is issued.
2. G05.1Q0 is issued.
3. The CNC is reset.
- Setting defaults
Default data is updated when execution parameters are changed with an
event other than the selection of processing-specific parameters (MDI
input, window input, or G10 parameter input).
- 664 -
- Parameter numbers
The defaults of the following parameters can be retained and restored:
1473,1476,1635,1656,1660,1663,1985
NOTE
If ATDF is set to 1 so that execution parameters are
restored to their defaults at the end of machining
with machining-mode-specific parameters, the
machining mode cannot be changed by operating
on MDI keys on the high-speed high precision
machining setup screen. ("WRITE
PROTECT(DATA NUMBER 1517#5 IS 1)" warning
is issued.)
The G05 P10000 and G05 P0 commands do not
cause the parameters to be restored to their
defaults.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1517 ATDF

#5 ATDF If processing-specific parameters are selected with the G05.1 Q1 Rx; or

G10 L80 Rx; comand, execution parameters are changed so that
machining can be performed with the settings for each mode. When the
fine HPCC mode is turned off after the end of machining;
0: The execution paramters remain changed.
1: The execution parameters are restored to the values prior to the
change (defaults).
Conditions under which the parameters are restored
- G05.1 Q0 ; is issued.
- G05.1 Q1 ; is issued.
- The CNC is reset.
If this parameter bit is set to 1, the machining mode cannot be changed
by operating on MDI keys on the high-speed high precision machining
setup screen.
When this parameter bit is set to 1, the values that was previously set in
execution parameters are not retained in default data. If a restore
operation is performed in this state, the execution parameters are
changed (cleared).
After changing this parameter bit to 1, be sure to re-specify the
following execution parameters.
Parameters that require re-specification:
1473,1476,1635,1656,1660,1663,1985
- 665 -
#7 #6 #5 #4 #3 #2 #1 #0
8403 TSP

[Data type] Bit
#0 TSP Specifies whether to transfer the same advance feedforward

coefficient to the corresponding working parameter on the spindle
side (parameter No. 3344) and to the servo side (parameter No.
1985), using the high-speed high-precision machining setting screen
or the pattern program command function for individual machining
types, as follows:
0: Do not transfer
1: Transfer
Alarm
PS0302 ILLEGAL DATA NUMBER The pattern program command for individual machining
types on the high-speed high-precision setting screen
contains an incorrect value for address R.
- 666 -
7.1.16 Feedrate Specification on a Virtual Circle for a Rotary Axis
This function improves a method of specifying a speed for a machine

having a rotation axis.
[Conventional method]
Y
Specified speed Program example
(deg/min) N1G91G01X10.F100.
N2C10.F50
C N2
The rotation axis command
specifies the speed of the
rotation axis.
N1 X
[Method of specifying the speed on a virtual circle for a rotation axis]

Y
Specified speed Program example
(mm/min) N1G91G01X10.F100.
N2C10.
C N2
The speed at which the tool moves
along a virtual circle having a radius
specified using a parameter
Virtual-circle N1 X
becomes the "specified speed."
radius Using a virtual-circle radius of 0 can
exclude the rotation axis from
speed calculation.
NOTE
Using this function causes the movement speed
along a virtual circle to be used as the specified
speed. This does not generally mean that a speed at
a cutting point becomes the specified speed.
Explanation
The following description exemplifies a machine having three linear
axes (X, Y, Z) and two rotation axes (B, C).
- Calculating the rotation axis feedrate

[Conventional method]
Conventionally, the feedrate has been controlled in such a way
that it takes the time T, calculated using the following expression,
to move through the specified distance.
L = ∆X 2 + ∆Y 2 + ∆Z 2 + ∆B 2 + ∆C 2
L
T=
F
- 667 -
[Method of specifying a speed on a virtual circle for a rotation axis]

This method controls the feedrate in such a way that it takes the
time T', calculated using the following expression, to move
through the specified distance.
L' = ∆X 2 + ∆Y 2 + ∆Z 2 + (l B * ∆B * π / 180 )2 + (l C * ∆C * π / 180 )2
L'
T'=
F
l B , lC : 仮想円半径
: Virtual-circle radius
∆X , ∆Y ,:∆Amount
Z : 各軸の移動量
of movement (mm
along each , inch
axis )
(mm,inch)
∆B, ∆C : 各軸の移動量
: Amount of movement (deg)
along each axis (deg)
L, L' : Distance : 距離
F : 指令速度
: Specified speed (mm/min,( mm / min, inch / min)
inch/min)
T,T ' : Time : 時間
- Usable functions
This function can be used with the following functions:
- Linear interpolation
- Dry run
- Tool length compensation for the specified direction (when parameter
FWR (bit 2 of parameter No. 7711) = 1)
- Look-ahead pre-interpolation acceleration/deceleration
Look-ahead pre-interpolation acceleration/deceleration is performed
for the movement speed along the virtual circle. Values specified in the
speed tolerance parameter (No. 1478) and maximum permissible
acceleration parameter (No. 1660) are represented in the measurement
unit set up for the rotation axis.
- Parameter setting
Set up the following parameters for the rotation axis that uses this
function.
- Parameter ROT (bit 0 of parameter No. 1006) = 1
- Parameter RFD (bit 1 of parameter No. 1010) = 1
- Parameter No. 2524 = virtual-circle radius
- Setting for excluding a rotation axis from speed calculation

The following setting (virtual-circle radius = 0.0) excludes a rotation
axis from speed calculation
- Parameter ROT (bit 0 of parameter No. 1006) = 1
- Parameter RFD (bit 1 of parameter No. 1010) = 1
- Parameter No. 2524 = 0.0
If a command specifies the speed of only a rotation axis when the above
setting exists, the rotation axis runs with the maximum cutting feedrate.
- G10-based parameter rewriting

The following parameters can be rewritten using G10 in a part
program.
- Parameter RFD (bit 1 of parameter No. 1010)
- Parameter No. 2524
- 668 -
Restrictions
- Unusable functions
This function cannot be used with the following functions:
- The following G functions in group 01
Positioning
Circular interpolation, helical interpolation, spiral interpolation,
and conical interpolation
Arc threading B
Involute interpolation
Exponential interpolation
Three-dimensional circular interpolation
Spline interpolation
NURBS interpolation
- Cylindrical interpolation
- Polar coordinate interpolation
- Normal-direction control
- Feed per rotation
- Inverse time feed
- Parallel-axis control and twin-table control
To use this function together with parallel-axis or twin-table control,
set parameter No. 2524 with the same value for the master and slave
axes.
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1010 RFD

#1 RFD RFD specifies the feedrate control for a rotation axis as follows:
0: Conventional method
1: Method of specifying the speed on a virtual circle for a rotation axis
- 669 -
2524 Virtual-circle radius in specifying the speed on a virtual circle for a rotation
axis

[Data type] Real-number axis
[Minimum unit of data]Increment system for the axis of interest
[Valid data range] 0 or 9 digits of the minimum increment system on the positive side (see
the "Standard Parameter Setting Table (B).")
(For IS-B, 0.0 to +999999.999)
Specify the radius of a virtual circle for the method of specifying the speed on a
virtual circle for a rotation axis.
Specifying 0.0 in this parameter causes the rotation axis to be excluded from speed
calculation.
Reference item
FANUC Series Operator's Manual II.5.3 Cutting Feed
15i/150i-MB (Programming)
(B-6378EN)
- 670 -
7.1.17 Automatic Feedrate Control by Area
Overview
When an area on the XY plane(*1) is specified in cutting mode in
automatic operation, the area override can be applied to a specified
feedrate(*2) if the tool is in the specified area.
To do this, set an area on the XY plane first by setting parameter Nos.
1280 to 1287.
Up to four areas can be set on the XY plane.
(For details on how to set areas, see the explanation of operation.)
When the tool is in an area set as mentioned above, the tool can be
moved at a feedrate resulting from the specified feedrate overriden by
the area override set in parameter No. 2060 to 2063.
For each of the four areas, a separate area override can be set.
NOTE
1 X and Y denote the two axes set to 1 and 2 in
parameter No. 1022, respectively.
2 (Specified feedrate) =
(Cutting feedrate specified with F in program) ×
(Feedrate override)
Area 1 Area 3
Area 2
Area 4
Fig. 7.1.17 (a) Example of Setting Four Areas on the XY Plane
- 671 -
Defining areas
- Up to four areas can be set. We'll use area numbers to call these
areas area 1 to area 4.
- Each area is set as a quadrangle whose sides are parallel to the X-
and Y-axes.
Each area includes the border of the quadrangle.
- An area is defined by setting one of the two pairs of diagonal
vertexes of a quadrangle. (See Fig. 7.1.17(b).)
Either of the two vertex pairs may be used to determine a unique
quadrangle.
If two diagonal vertexes are at the same coordinates, the area is a
point.
- When two or more areas overlap each other, the area override for
the area with the smallest area number is used for the overlap
portion. (See Fig. 7.1.17(c).)
Y-axis
Vertex pair 1 Vertex pair 2
Vertex pair 2 Vertex pair 1

X-axis
Fig. 7.1.17 (b) Two Pairs of Diagonal Vertexes of a Quadrangle
Y-axis
Area 4, area override 4
In the portion where

areas 1 and 4
overlap, area
override 1 is
applied.
Area 1, area override 1

X-axis
Fig. 7.1.17 (c) When Areas Overlap One Another
- 672 -
Determining whether the tool is in an area

Whether the tool has entered an area is checked based on the machine
coordinates.
Setting an area
There are three methods for setting an area, that is, for setting two diagonal
vertexes, as follows:
(1) Specify and write a parameter number in G10.
Press the [Setting] key several times to display the automatic feedrate
control: area setting screen.
(2) Enter the necessary data directly in MDI mode.
(3) Move the tool manually to a desired position, then press CRT/MDI soft
key [Area setting] to record the position.
Then, the coordinates of the current cursor position are changed.
Setting an area override

An area override is set within the range from 0% to 127%.
For each of four areas, a separate area override can be set.
There are two methods of setting an area override as follows:
(1) Specify and write a parameter number in G10.
Press the [Setting] key several times to display the automatic feedrate
control: area setting screen.
(2) Enter the necessary data directly in MDI mode.
Notes
NOTE
1 In cutting mode in automatic operation, a check is
made to see whether the tool has entered an area,
and the tool is moved at a feedrate multiplied by the
percentage set in parameter Nos. 2060 to 2063.
2 This function is disabled in the following modes:
Threading, Feed per revolution, Tapping
3 This function is also disabled when the X-axis and
Y-axis are used as axes subjected to the following:
PMC axis control, Chopping
4 The percentage of the cutting feedrate is obtained by
multiplying the normal feedrate override by the area
override of this function. If the multiplication result
exceeds 254%, it is clamped to 254%.
5 This function is disabled when the tool moves at a dry
run speed.
6 In three-dimensional coordinate conversion mode,
this function is valid for areas on the XY plane in the
machine coordinate system.
7 In synchronization control, areas are set for the
master axis. The area override of this function is
applied to all the synchronized axes.
- 673 -
Parameters
1280 Coordinates of diagonal vertex 1 of area 1 in automatic feedrate control by
area

area

area

area

area

area

area

area

[Unit of data] Machine unit
[Valid data range] Nine digits in least input increment (See the standard parameter setting
table (A).)
(For IS-B, -999999.999 to +999999.999)
The positions, in the machine coordinate system, of two diagonal vertexes of each
of areas 1 to 4 in automatic feedrate control by area are set.
2060 Area override for area 1 in automatic feedrate control by area
- 674 -

[Data type] Integer
[Unit of data] %
The area overrides for areas 1 to 4 in automatic feedrate control by area are set as
percentages. If 0 is set for an area, the setting for the area becomes invalid.
The area override is applied to the feedrate resulting from the override of a
specified feedrate.
- 675 -
7.1.18 Jerk Control
Overview
Look-ahead acceleration/deceleration before interpolation and fine
HPCC, which are high-speed, high-precision machine functions,
perform speed control in such a way that the rate of change of
acceleration (jerk) will be smooth.
As a result, vibration and shocks on the machine are reduced, leading to
machining at higher precision.
There are two types of jerk control functions as described below.
<1> Speed control based on changes to acceleration for each axis

Speed control for portions where there is a large change to
acceleration, for example, a portion where a specified shape
changes from a straight line to a curved line, is performed using
look-ahead acceleration/deceleration before interpolation by
obtaining a feed rate that can keep a change to acceleration for
each axis from exceeding their permissible acceleration change
level.
As a result, vibration in a servo section where there can be a large
change to acceleration is suppressed, leading to an improved
precision for cut surfaces.
<2> Look-ahead smooth bell-shaped acceleration/deceleration before

interpolation
Look-ahead bell-shaped acceleration/deceleration before
interpolation performs control in such a way that tangential
changes to acceleration in the acceleration change time will be
smooth.
As a result, ordinary bell-shaped acceleration/deceleration can
become smoother, leading to a reduction in shocks to the machine
at acceleration/deceleration.
If the bell-shaped acceleration/deceleration is specified as an
acceleration/deceleration type for the following functions
performed in acceleration/deceleration before interpolation, the
same effect as stated above can be achieved because this function
makes changes to acceleration smoother.
- Acceleration/deceleration before interpolation for linear
rapid traverse
- Optimum-torque acceleration/deceleration
Limitations
For explanations about the restrictions of this function, see the
descriptions about look-ahead acceleration/deceleration before
interpolation, because the function uses it.
- 676 -
7.1.18.1 Speed control based on changes to acceleration for each axis

Vibration or shocks may occur to the machine in portions where there
is a large change to acceleration, for example, a portion where the
shape specified by the machining program changes from a straight line
to a curved line.
To reduce machining error that may result from vibration or shocks to
the machine when the acceleration changes, speed control based on
changes to acceleration for each axis reduces the tool speed at
acceleration/deceleration before interpolation by obtaining a feed rate
that can keep acceleration changes from exceeding the permissible
acceleration change level set in parameters for each axis.
Example
The following example performs deceleration at a point of tangency
between linear interpolation and circular interpolation because there is
a large changes to acceleration along the Y-axis.
Linear interpolation (N1) → circular interpolation (N2)
Y
N1 N1
N2 N2
X
Vibration due to changes to

Speed acceleration Speed
Tangential
speed
Time Time
Time Time
Y-axis
acceleration
Acceleration Acceleration
Setting a permissible acceleration change level

Parameter No. 1673 is used to set a permissible acceleration change
level for each axis. The permissible acceleration change level is a rate.
If a parameter value is 0, speed control based on changes to
acceleration is not performed for the axis that corresponds to that
parameter value.
- 677 -
Example of parameter setting

The following figure consists of a straight line and an arc. Assume that
the specified speed is 6000 mm/min and the radius of the arc is 10 mm.
Then the acceleration change level for the Y axis at the contact between
the straight line and arc is obtained as follows:
v2
= 1000mm / s 2
r
Y Line → Arc
Command speed 6000mm/min

X
Radius of the arc : 10mm
Time
Accelerati
on on the
Y axis Acceleration
change level
1000mm/s2
Acceleration
To restrict the acceleration change level to 300 mm/s2, set 300 mm/s2
for the Y axis in parameter No. 1673.
Note that the acceleration change level is determined using the
interpolation data in the CNC. Therefore, it may differ from the
theoretical value.
In addition, the actual machine is affected by acceleration, deceleration,
and other factors. Determine the setting after adjustment.
- 678 -
Continuous linear interpolation

In speed control based on acceleration changes in continuous linear
interpolation, the deceleration speed is obtained from changes to
acceleration between the start and end points of a command block.
When a machining program specifies a curved shape using continuous
very small line segments, the machining program approximates the
shape with a polygonal line because it rounds off specified values to the
least input increment.
This rounding error makes acceleration changes larger and therefore
can prevent the cutting speed from increasing especially in short blocks
because of frequent reductions in speed.
If this is the case, setting a larger permissible acceleration change level
for each axis for repeated linear interpolation in parameter No. 1674
can increase the cutting speed.
If a nonzero value is specified in parameter No. 1674 for axes for which
speed reduction based on acceleration changes are effective, the setting
becomes a permissible acceleration change level for corners where
linear interpolation is repeated. (Between linear interpolation and
circular interpolation operations and between circular interpolation
operations, a setting of parameter No. 1673 is effective.)
For an axis for which parameter No. 1674 is 0, a setting of parameter
No. 1673, that is, an ordinary permissible acceleration change level,
becomes effective also for corners where linear interpolation is
repeated.
If smooth speed control is used as speed control based on the
permissible acceleration for fine HPCC, the deceleration speed is
obtained from a acceleration change calculated in smooth speed
control.
For this reason, the deceleration speed can become higher compared
with the ordinary permissible acceleration change level.
In transition of linear interpolation R

circular interpolation, speed control
is performed based on a permissible
acceleration change level set in
parameter No. 1673.
Linear Circular
interpolation interpolation
If linear interpolation is repeated,

speed control is performed based on
a permissible acceleration change
level set in parameter No. 1674.
Linear
interpolation
- 679 -
Parameter
1673 Permissible acceleration change level for each axis in speed control based
on acceleration changes for jerk control

(When the increment system is IS-B, 0.0 to +99999.999 in metric
system, , 0.0 to +9999.9999 in inch system)
Specify a permissible acceleration change level for each axis in speed
control based on acceleration changes under jerk control.
For an axis for which this parameter is 0, speed control based on
acceleration changes is ineffective.
If the parameter is 0 for all axes, speed control based on acceleration
changes is not performed at all.
1674 Permissible acceleration change level for each axis in speed control based
on acceleration changes for jerk control when linear interpolation is repeated

(When the increment system is IS-B, 0.0 to +99999.999 in metric
system, , 0.0 to +9999.9999 in inch system)
Specify a permissible acceleration change level for each axis in speed
control under jerk control when liner interpolation is repeated.
In speed control based on acceleration changes at a corner where linear
interpolation is repeated, a permissible acceleration change level in this
parameter rather than parameter No. 1673 becomes effective.
For axes for which this parameter is 0, a permissible acceleration
change level specified in parameter No. 1673 is effective.
For axes for which parameter No. 1673 is 0, speed control based on
acceleration changes is ineffective, so this parameter is meaningless.
Caution
CAUTION
Using speed control based on acceleration changes
for each axis requires the jerk control option and the
fine HPCC option.
- 680 -
Reference item
Series15i/150i-MB Operator’s Manual II-18.5 Fine HPCC
(Programming) II-18.4 Look-ahead
(B-63784EN) acceleration/deceleration
before interpolation
Series15i/150i-B Connection Manual 7.2.2 Look-ahead
(this manual) acceleration/deceleration
(B-63784EN-1) before interpolation
- 681 -
7.1.18.2 Look-ahead smooth bell-shaped acceleration/deceleration

Look-ahead bell-shaped acceleration/deceleration before interpolation

achieves smooth acceleration/deceleration by making constant changes
to acceleration in the specified acceleration change time.
Look-ahead smooth bell-shaped acceleration/deceleration before
interpolation performs control in such a way that the acceleration
changes in a bell-shaped form, by specifying the jerk change time for
bell-shaped acceleration/deceleration before interpolation in parameter
No. 1675.
For this reason, acceleration/deceleration can become smoother,
leading to a reduction in vibration and shocks to the machine at
(Look-ahead bell-shaped acceleration/deceleration (Look-ahead smooth bell-shaped

before interpolation) acceleration/deceleration before interpolation)
Tangential Tangential
speed speed
Time Time
Acceleration Acceleration change time Acceleration

Time specified in parameter
No. 1656
Time Time
Jerk Jerk change time Jerk

Time at a ratio specified
in parameter No. 1675
to the acceleration
change time
Time Time
- 682 -
Setting jerk change time

The jerk change time is set in parameter No. 1675 as a ratio to the
acceleration change time.
Therefore, the actual jerk change time is determined as the ratio to the
acceleration change time set in parameter No. 1656.
The jerk change time must be below or equal to half the acceleration
change time, so the range of values that can be set in parameter No.
1675 is 0 to 50 (percent).
If a value out of the permissible range or 0 is set in parameter No. 1675,
look-ahead smooth bell-shaped acceleration/deceleration before
interpolation is ineffective.
Acceleration/deceleration before interpolation for linear rapid traverse

When look-ahead smooth bell-shaped acceleration/deceleration before
interpolation becomes effective, smooth bell-shaped acceleration/
deceleration also becomes effective for acceleration/deceleration
before interpolation for linear rapid traverse if bell-shaped
acceleration/deceleration is used as acceleration/deceleration before
interpolation for linear rapid traverse.
In this case, the jerk change time is determined as the ratio set in
parameter No. 1675 to the acceleration change time specified in
parameter No. 1672.
Optimum-torque acceleration/deceleration
When look-ahead smooth bell-shaped acceleration/deceleration before
interpolation becomes effective, smooth bell-shaped acceleration/
deceleration also becomes effective for optimum-torque acceleration/
deceleration if bell-shaped acceleration/deceleration is used for
optimum-torque acceleration/deceleration.
In this case, the jerk change time is determined as the ratio set in
parameter No. 1675 to the acceleration change time specified in
parameter No. 1672.
- 683 -
Parameter
1675 Ratio of the jerk change time in smooth bell-shaped
acceleration/deceleration before interpolation

[Data type] Integer
[Unit of data] %
Specify the percent jerk change time with respect to the acceleration
change time (*1) in look-ahead smooth bell-shaped acceleration/
deceleration.
If this parameter is 0 or out of the valid data range, no look-ahead
smooth bell-shaped acceleration/deceleration before interpolation is
performed.
(*1) Parameter No. 1656 for look-ahead acceleration/deceleration
before interpolation (cutting feed) or parameter No. 1672 for
acceleration/deceleration before interpolation for linear rapid
traverse and optimum-torque acceleration/deceleration.
Caution
CAUTION
Using look-ahead smooth bell-shaped
acceleration/deceleration before interpolation
requires the jerk control option.
Reference item
FANUC Series Operator’s Manual II-18.4 Look-ahead
15i/150i-MB (Programming) acceleration/deceleration
(B-63784EN) before interpolation
Series15i/150i-B Connection Manual 7.2.2 Look-ahead
(this manual) acceleration/deceleration
(B-63783EN-1) before interpolation
- 684 -
7.2 ACCELERATION AND DECELERATION CONTROL
7.2.1 Post-interpolation Automatic Acceleration/Deceleration
General
Acceleration and deceleration is performed when starting and ending
movement, resulting in smooth start and stop. Automatic
acceleration/deceleration is also performed when feedrate changes, so
change in speed is also smoothly done. It is not necessary to take
acceleration/deceleration into consideration when programming.
Rate after acceleration/deceleration

Rate after Interpolation
CNC command
SERVO motor
Acceleration SERVO
/deceleration control
Pulse control
distribution
Acceleration
/deceleration SERVO
control control
Post-interpolation automatic acceleration/deceleration enables the

following acceleration/deceleration methods for each feed.
Select the desired acceleration/deceleration type using the
corresponding parameter settings given in the table below.
- Rapid traverse
REX(No.1600#0) NEX(No.1600#7) RTB(No.1601#5) Acceleration/deceleration type
0 Linear acceleration/deceleration
(constant acceleration)
0 __
1 Bell-shaped acceleration/deceleration
(constant acceleration)
0 __ Exponential acceleration/deceleration
(constant acceleration time)
0 Linear acceleration/deceleration
1
1
1 Bell-shaped acceleration/deceleration
- Cutting feed (including dry run)

CTE(No.1600#4) Acceleration/deceleration type
Linear acceleration/deceleration (constant acceleration time)
0 Bell-shaped acceleration/deceleration (constant acceleration time) if the bell-shaped
acceleration/deceleration option is supported.
1 Exponential acceleration/deceleration (constant acceleration time)
- 685 -
- Jog feed
JGE(No.1600#5) Acceleration/deceleration type
Linear acceleration/deceleration (constant acceleration time)
0 Bell-shaped acceleration/deceleration (constant acceleration time) if the bell-shaped
acceleration/deceleration option is supported.
1 Exponential acceleration/deceleration (constant acceleration time)
- Constant acceleration and constant acceleration time acceleration/deceleration

With constant acceleration acceleration/deceleration,
acceleration/deceleration can be performed efficiently with the
acceleration set for each axis. Because acceleration/deceleration is
performed for each axis, the specified path may be shifted, and constant
acceleration acceleration/deceleration can be applied to rapid traverse
only. (When linear interpolated positioning is performed, the path may
not be on the specified line.)
With constant acceleration time acceleration/deceleration, the
specified path will not be shifted. Because the time constant is constant
regardless of the specified feedrate, the time required for
acceleration/deceleration does not change, no matter how small the
specified feedrate.
F e e d ra te C o n s ta n t a c c e le ra tio n
T im e
F e e d ra te C o n s ta n t a c c e le ra tio n t im e
T im e
T im e c o n s t a n t
- 686 -
- Linear acceleration/deceleration
With linear acceleration/deceleration, the time required for
acceleration/deceleration is the shortest, provided that the acceleration
is the same. Note, however, that if the acceleration is large (the time
constant is low), the stress and strain imposed on the machine system
may be considerable.
The time constant and FL feedrate for each feed is set in the following
parameters.
Feed Time constant FL feedrate

Rapid traverse (constant Parameter(No.1620) Parameter(No.1621)
acceleration)
Rapid traverse (constant Parameter(No.1628) __
acceleration time)
Cutting feed Parameter(No.1622) __
Jog feed Parameter(No.1624) __
<Linear acceleration/deceleration>
Feedrate
T : Time constant
Specified feedrate
Time
T T
- Bell-shaped acceleration/deceleration
With bell-shaped acceleration/deceleration, acceleration/deceleration
is smoothed to reduce the amount of stress and strain imposed on the
machine system when the acceleration is large.
The time constant and FL feedrate for each feed is set for the following
parameters.

Rapid traverse (constant Parameter(No.1620)T1
Parameter(No.1621)
acceleration) Parameter(No.1636)T2
Rapid traverse (constant Parameter(No.1628) __
acceleration time)
Cutting feed Parameter(No.1622) __
Jog feed Parameter(No.1624) __
- 687 -
Feedrate Feedrate Bell-shaped

Bell-shaped acceleration/deceleration
(constant acceleration) acceleration/deceleration
Time Time
T2 T
T T
T
Set time constants T1 and T2 for parameters. T::Time constant
(The acceleration in the straight-line portion 1 is made
constant from the rapid traverse feedrate (parameter
No. 1420) and the setting of T1).
- Exponential acceleration/deceleration
With exponential acceleration/deceleration, the acceleration/
deceleration delay is large. On large machines, however, the overshoot
can be reduced.
The time constant and FL feedrate for each feed is set for the following
parameters.

Rapid traverse Parameter(No.1628) Parameter(No.1629)
Cutting feed Parameter(No.1622) Parameter(No.1623)
Jog feed Parameter(No.1624) Parameter(No.1625)
<Exponential function acceleration/deceleration>
Feedrate T : Time constant
Specified feedrate
Time
T T
- 688 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1600 NEX JGE CTE REX

[Data type] Bitaxis
#0 REX Specifies acceleration/deceleration for rapid traverse as follows:

0: constant-acceleration acceleration/deceleration.
1: constant-time acceleration/deceleration
When setting this parameter to 1, set the acceleration/deceleration time
constant for parameter No. 1628.
#4 CTE Specifies method of acceleration/deceleration used during cutting feed
and dry runs.
0: Linear acceleration/deceleration is used. However, when the bell-shaped
acceleration/deceleration option is selected, bell-shaped
#5 JGE Specifies the method of acceleration/deceleration used during jogging.
0: Linear acceleration/deceleration is used. However, when the bell-shaped
acceleration/deceleration option is selected, bell-shaped
#7 NEX Specifies the rapid traverse acceleration/deceleration type when the
acceleration/deceleration for rapid traverse is constant-acceleration time
(bit 0 of parameter No. 1600 (REX) = 1) .
1: Linear or bell-shaped acceleration/deceleration. Which of them is
effective depends on bit 5 of parameter No. 1601 (RTB) .
#7 #6 #5 #4 #3 #2 #1 #0
1601 RTB

[Data type] Bit
#5 RTB Specifies acceleration/deceleration for rapid traverse as follows:

0: Linear acceleration/deceleration
1: Bell-shaped acceleration/deceleration
To apply bell-shaped acceleration/deceleration to the corresponding axis, specify
time constant T1 in parameter No. 1620 and time constant T2 in parameter No.
1636, in addition to setting this bit to 1.
- 689 -
1620 Time constant (T) for linear acceleration/deceleration or time constant (T1)
for bell-shaped acceleration/deceleration for rapid traverse along each axis

[Unit of data] msec
Example: Linear type
Feedrate
Rapid traverse rate
T T
Time
T: Value set in parameter No. 1620
Bell-shaped type
Feedrate
Rapid traverse rate

1420)
T2 T2 T2 T2
Time
T1 T1
T1: Value set in parameter No. 1620

T2 : Value set in parameter No. 1636 (Set these parameters so that T1 ≥ T2 .)
Total acceleration (deceleration) time: T1 + T2
Time of the linear portion: T1 - T2
Time of the curved portions: T2 × 2
- 690 -
1621 FL feedrate for linear or bell-shaped acceleration/deceleration for rapid

traverse along each axis

Specify the FL feedrate for linear or bell-shaped acceleration/deceleration or rapid
traverse along each axis.
Example: Linear type
Feedrate Rapid traverse rate
(parameter No.1420)
FL feedrate
T
Time
T: Value set in parameter No. 1620

Bell-shaped type
Feedrate
Rapid traverse rate
1420)
FL feedrate
T2 T2
Time
T1

NOTE
When the feedrate is decelerated to the value set in this
parameter at any point regardless of whether during a linear or
nonlinear feedrate increase, the tool moves at that feedrate for
the remaining distance then stops.
- 691 -
1622 Cutting feed acceleration/deceleration time constant for each axis

[Unit of data] msec
For each axis, set the time constant used for acceleration/deceleration during
cutting feed.
The time constant is fixed irrespective of the feedrate (fixed time constant method).
Linear acceleration/deceleration after Bell-shaped acceleration/deceleration after

cutting feed interpolation cutting feed interpolation
Feedrate Feedrate
Time Time constant Time

Time constant
NOTE
However, note that the valid range is 0 to 2000 when the bell-
shaped acceleration/deceleration option is provided.
Except in special cases, this time constant should be set to the
same value for all axes. When different values are specified,
the desired straight and curved lines will not be obtained.
1623 FL feedrate for cutting feed acceleration/deceleration after interpolation

along each axis

NOTE
Be sure to always set 0 in this parameter for all axes, except for a
special application. Otherwise, correct linear or circular figures
cannot be obtained.
- 692 -
1624 Jog acceleration/deceleration time constant for each axis

[Unit of data] msec
For each axis, set the time constant used for acceleration/deceleration
during jog feed.
1625 FL feedrate for each axis for acceleration/deceleration during jog feed

For each axis, set the FL feedrate used for acceleration/deceleration
during jog feed.
1628 Time constant for rapid traverse acceleration/deceleration with constant

time for individual axes

[Unit of data] msec
Specifies the time constant for rapid traverse with constant time for
individual axes.
This parameter is effective only when bit 0 of parameter No. 1600 (REX)
is set to 1.
1629 FL feedrate for rapid traverse acceleration/deceleration with constant time

for each axis

Specify the FL feedrate for rapid traverse acceleration/deceleration with
constant time along each axis.
- 693 -
1636 Time constant for bell-shaped acceleration/deceleration for rapid traverse

along each axis (T2)

[Unit of data] msec
Set time constant T2 of bell-shaped acceleration/deceleration for rapid
traverse along each axis. Specify this parameter so that it does not
exceed the value of parameter No. 1620 (T1).
Note
NOTE
In circular interpolation especially when circular

cutting is executed at high speed, the actual path of
the accelerated or decelerated tool deviates from the
specified arc in the direction of the radius.
Y ∆r : radius error
Specified path
∆r : Maximum radius error (mm)

Actual path v : Feedrate: (mm/s)
r : Radius of arc: (mm)
T1 : Acceleration/deceleration time
constant (s)
T2 : Time constant of servo loop (s)
r
0 X
The maximum error in the radial direction (∆r) can be

approximated by the following expressions:
Exponential acceleration/deceleration
2
1 2 1 2 V
∆r = ( T1 + T2 )
2 2 r
Linear acceleration/deceleration
2
1 2 1 2 V
∆r = ( T1 + T2 )
24 2 r
Bell-shaped acceleration/deceleration
2
1 2 1 2 V
∆r = ( T1 + T2 )
48 2 r
If the error caused by the time constant of the servo
loop is excluded, the error cause by linear
acceleration/deceleration or bell-shaped
acceleration/deceleration after interpolation is 1/12 of
that caused by exponential
- 694 -
7.2.2 Look-ahead Acceleration/Deceleration Before interpolation
General
When acceleration/deceleration after interpolation is used,
acceleration/deceleration is applied to the interpolated data.
Consequently, the interpolated data is changed by acceleration/
deceleration. When acceleration/deceleration before interpolation is
used, however, acceleration/deceleration is applied to the feedrate data
before interpolation. Consequently, the interpolated data is not
changed by acceleration/deceleration. Accordingly, interpolation data
ensures that machining follows a specified line or curve at all times,
thus eliminating the machining profile errors that result from delays in
High-precision machining using continuous minute line segments or
NURBS curve commands, such as metal die machining, additionally
requires the use of the fine HPCC function.
Format
G05.1 Q1 : Look-ahead acceleration/deceleration
before interpolation mode on
(The multi-buffer mode is also set to on.)
G05.1 Q0 : Look-ahead acceleration/deceleration
before interpolation mode off
(Multi-buffer mode is kept on.)
G05.1 P1 Q0 : Look-ahead acceleration/deceleration
before interpolation mode off
(Multi-buffer mode is set off.)
Specify only G05.1 in a single block.
interpolation mode can be automatically turned on at
power-up and upon a reset if the MBF bit (bit 6 of
parameter 2401) is specified accordingly.
Explanation
Valid functions
In look-ahead acceleration/deceleration before interpolation mode, the
following functions are valid:
(1) Linear acceleration/deceleration before interpolation or bell-
shaped acceleration/deceleration before interpolation
(2) Deceleration based on a feedrate difference at a corner
(3) Advance feed forward
(4) Nano interpolation
- Fine high-precision contour control (fine HPCC)

If the fine HPCC function is provided, fine HPCC mode is turned on
when the CNC enters the look-ahead acceleration/deceleration before
interpolation mode.
- 695 -
Acceleration/deceleration types
There are two types of acceleration/deceleration, the linear
acceleration/deceleration type and the bell-shaped acceleration/
deceleration type. By setting a non-zero value for parameter No. 1656,
bell-shaped acceleration/deceleration is assumed. Bell-shaped
acceleration/deceleration produces smoother acceleration/
deceleration.
Look-ahead linear acceleration/deceleration before interpolation

If 0 is set for parameter No. 1656, linear acceleration/deceleration is
applied as the acceleration/deceleration before interpolation.
- Example of deceleration
Deceleration starts in advance so that the feedrate specified for a block
can be attained when the block is executed.
Feedrate
Programmed speed
Feedrate obtained by
F3 acceleration/deceleration
P1 before interpolation
F2
P2
F1 Time
N1 N2
To decrease the feedrate from F3 to F2, deceleration must be started

from P1.
To decrease the feedrate from F2 to F1, deceleration must be started
from P2.
Because multiple blocks are read in advance, deceleration can be
performed over all those blocks.
- 696 -
- Example of acceleration
Acceleration is performed so that the feedrate specified for a block is
attained when the block is executed.
Feedrate
Programmed speed
Feedrate obtained by
F3 acceleration/deceleration
F2
F1 Time
N1 N2
- Look-ahead bell-shaped acceleration/deceleration before interpolation

If a non-zero value is set for parameter No. 1656, bell-shaped
acceleration/deceleration is applied as the acceleration/deceleration
- Setting an acceleration
A permissible acceleration for the linear acceleration/deceleration of
each axis is set in parameter 1660. Acceleration change time (B)
(period of transition from constant speed state (A) to constant
acceleration/deceleration state (C)) is set in parameter 1656 (common
to all axes). In the constant acceleration/deceleration state (C),
acceleration/deceleration is performed with the maximum tangential
acceleration not exceeding the permissible acceleration of each axis
specified in parameter 1660.
The acceleration change time specified in parameter 1656 is held
constant, regardless of the tangential acceleration.
Tangential feedrate
An optimum gradient is automatically

calculated from the setting made in
parameter 1660.
(A) (B) (C) (B) (A) (B) (C) (B) (A)
Time set in parameter 1656
- 697 -
- Method of determining the tangent acceleration

Acceleration/deceleration is performed with the largest tangent
acceleration/deceleration that does not exceed the acceleration set for
each axis.
(Example)
X-axis permissible acceleration: 1000 mm/sec2
Y-axis permissible acceleration: 1200 mm/sec2
Acceleration change time: 20 msec
Program:
N1 G01 G91 X20. F6000 Move on the X-axis.
G04 X0.01
N2 Y20. Move on the Y-axis.
G04 X0.01
N3 X20. Y20. Move in the XY direction (at 45 degrees).
The acceleration in N3 is 1414 mm/sec2 . At this point, the acceleration

on the X-axis is equal to the set value (1000 mm/sec ).
Tangent feedrate
20ms
2 2
1000 mm/sec 1200mm/sec 2
1414mm/sec
gradient gradient
gradient
20ms 20ms 20ms
- 698 -
- Acceleration
Acceleration is performed so that the feedrate programmed for a block
is attained at the beginning of the block.
Feedrate Speed control by bell-shaped

acceleration/deceleration
Programmed speed
Time
N1 N2 N3 N4 N5
- Deceleration
Deceleration starts in advance so that the feedrate programmed for a
block is attained at the beginning of the block.
Deceleration can be performed over several blocks.
Feedrate Speed control by

bell-shaped
Deceleration start point acceleration/deceleration
Programmed speed
Deceleration start point
Time
- 699 -
- Deceleration based on a distance

If the total distance of the blocks read ahead becomes shorter than or
equal to the deceleration distance obtained from the current feedrate,
deceleration starts.
If the total distance of the blocks read ahead during deceleration
increases, acceleration is performed.
If the blocks of a small amount of travel are successively specified,
deceleration and acceleration may be performed alternately, making
the feedrate inconsistent. To avoid this, decrease the programmed
feedrate.
- Single-block commands during look-ahead bell-shaped acceleration/deceleration

before interpolation control
If a single-block command is executed during look-ahead bell-shaped
acceleration/deceleration control, the following control is applied.
(1) If acceleration/deceleration is performed when the single-block

command is executed
(a) If A + B ≤ Remaining amount of travel in the block executed

when the single-block command is executed
Deceleration is performed for a stop so that the feedrate falls
to zero at the point at which the block executed when the
single-block command was executed terminates.
Feedrate
Single-block command
B
A
Time
A : Amount of travel to a point where the target feedrate is

attained and the current acceleration/deceleration ends
B : Amount of travel corresponding to deceleration from the
feedrate attained at the end of acceleration/deceleration to 0
- 700 -
(b) If A + B > Remaining amount of travel in the block being

executed when the single-block command is executed
A stop state may continue over several blocks.
The stop is made as described later.
Feedrate
Stop state continuing over

multiple blocks
A B
Time
A : Amount of travel to a point where the target feedrate is

attained and the current acceleration/deceleration ends
B : Amount of travel corresponding to deceleration from the
feedrate attained at the end of acceleration/deceleration to 0
(2) If acceleration/deceleration is not performed when the single-

block command is executed
(a) A ≤ Remaining amount of travel in the block being executed

when the single-block command is executed
Movement is decelerated and stopped so that the feedrate
falls to zero at the end of the block which was being executed
when the single-block command was executed.
Feedrate
Time
A : Amount of travel corresponding to deceleration from the

current feedrate to 0
- 701 -
(b) If A > Remaining amount of travel in the block being

executed when the single-block command is executed
A stop state may continue over several blocks.
The stop is made as described later.
Feedrate
Stop state continuing over

multiple blocks
Time
A : Amount of travel corresponding to deceleration from the

current feedrate to 0
(3) Stopping a movement if the stop may continue over several blocks
Acceleration/deceleration is performed over several blocks to
decrease the feedrate to zero.
Feedrate
Time
- 702 -
Deceleration based on the feedrate difference at a corner

With look-ahead acceleration/deceleration before interpolation, the
tangent feedrate is changed smoothly. Thus, no path error occurs due
to acceleration/deceleration delay. With this acceleration/declaration,
however, acceleration/deceleration is not performed for any feedrate
change on any axis that may be made where the travel direction
changes.
By using the function for deceleration based on the feedrate difference
at a corner, if a feedrate change occurs on an axis at a corner, the
feedrate is determined so that any feedrate difference exceeding the
permissible feedrate difference on that axis that has been set for
parameter No. 1478 does not occur, and deceleration is automatically
performed.
(Example)
Program
N1 G01 G91 X100. F5000
N2 Y100.
N2
N1
Tangent feedrate Tangent feedrate
The deceleration based

on the feedrate difference
is used.
X-axis feedrate X-axis feedrate
The feedrate difference
The tangent feedrate is becomes small, and the
smooth, but the feedrate feedrate on each axis
on each axis is not. becomes smooth.
Y-axis feedrate Y-axis feedrate
- 703 -
The method of deceleration based on the feedrate difference differs

depending on the setting made for parameter FNW (bit 6 of No. 1517).
If "0" is set, the largest feedrate that does not exceed the permissible
feedrate difference set for parameter No. 1478 is assumed to be the
deceleration feedrate. In this case, the deceleration feedrate differs if
the travel direction differs, even if the shape is the same.
(Example)
If parameter FNW (bit 6 of No. 1517)
= 0 and the permissible feedrate difference
= 500 mm/min (on all axes)
Deceleration to
Deceleration to
354 mm/min
500 mm/min
If "1" is set, the feedrate is determined not only with the condition that
the permissible feedrate difference and permissible acceleration on
each axis are not exceeded, but also that the deceleration feedrate is
constant regardless of the travel direction if the shape is the same.
If 1 is set for this parameter, the deceleration feedrate determined with
the feedrate difference or acceleration may be up to 30% lower than
that determined if 0 is set.
(Example)
If parameter FNW (bit 6 of No. 1517)
= 1 and permissible feedrate difference
= 500 mm/min (on all axes)
Deceleration to
Deceleration to
354 mm/min
354 mm/min
- 704 -
Override to a determined feedrate
The following gives the specifications of override to a feedrate

determined by functions such as deceleration based on feedrate
difference in look-ahead acceleration/deceleration before interpolation
and deceleration based on acceleration rate in fine HPCC.
- When bit 6 (OVR) of parameter No. 1403 = 0
The conventional specifications apply.
Override is invalid for deceleration functions such as deceleration
based on feedrate difference and deceleration based on
acceleration rate.
- When bit 6 (OVR) of parameter No. 1403 = 1
Override is valid for deceleration functions such as deceleration
acceleration rate.
When bit 6 (OVR) of parameter No. 1403 is 1, the following feedrates

can be overridden:
- Feedrate decelerated by deceleration based on feedrate difference
in look-ahead acceleration/deceleration before interpolation
- Feedrate decelerated by deceleration based on acceleration rate in
fine HPCC.
circular interpolation
- Feedrate decelerated by acceleration clamp in involute
interpolation
- Minimum feedrate for deceleration based on acceleration rate in
fine HPCC and circular interpolation
- Maximum feedrate of fine HPCC
Even when the feedrate is overridden, the resulting feedrate does not
exceed the maximum cutting feedrate (parameter No. 1422).
- 705 -
Restrictions
- Conditions under which look-ahead acceleration/deceleration before interpolation

are performed
Even when look-ahead acceleration/deceleration before interpolation
mode are specified, look-ahead acceleration/deceleration before
interpolation are not performed if any of the following conditions is
satisfied:
- The system is in threading mode.
- The system is in feed-per-revolution mode (G95).
- The system is in tapping mode (G93).
- The system is in a canned cycle (other than G80).
- No move command is issued.
- The machine is positioning the spindle
- One-shot G code other than G38, G45, G46, G47, G48, G39, and
G09
- Positioning (G00, G60)
- Block with an alarm
In look-ahead acceleration/deceleration before interpolation mode, the

following functions cannot be executed. To execute any of the
following functions, cancel look-ahead acceleration/deceleration
before interpolation mode, execute the desired function, then set look-
ahead acceleration/deceleration before interpolation mode again.
- Cs contour axis control function
- Hypothetical axis interpolation function
- Electronic gear box function (EGB)
- Setting of acceleration/deceleration, and feedrate

Upon executing a command that requires an acceleration time of one
second or longer if look-ahead acceleration/deceleration before
interpolation is performed, the specified feedrate may not be reached.
By setting "1" for parameter FCC (bit 7 of No. 1517), the feedrate can
be increased. If it is increased, however, the interpolation precision
may decrease in curve interpolation such as circular and NURBS
interpolation.
- 706 -
Signal
Look-ahead acceleration/deceleration before interpolation mode signal ADMOD <F159#2>

[Function] Notifies the user that the system is in look-ahead acceleration/
deceleration before interpolation mode.
[Output condition] This signal is set to "1" if G05.1Q1 (look-ahead acceleration/
deceleration before interpolation mode ON) is specified by the
program and the look-ahead acceleration/deceleration before
interpolation conditions such as a cutting command are satisfied.
This signal is set to "0" if:
(1) The system is in the automatic operation deactivated state.
(2) The system is in the automatic operation stopped state.
(3) Any of the conditions that automatically cancel look-ahead
acceleration/deceleration before interpolation, such as threading
and rapid traverse, is satisfied.
(4) Look-ahead acceleration/deceleration before interpolation mode
is canceled.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F159 ADMOD
- 707 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1403 OVR

[Data type] Bit
#6 OVR In look-ahead acceleration/deceleration before interpolation and fine

HPCC:
0: Override is disabled for deceleration functions such as deceleration
acceleration rate.
1: Override is enabled for deceleration functions such as deceleration
acceleration rate.
This function allows the following feedrates to be overridden:

- Feedrate decelerated by deceleration based on feedrate difference
in look-ahead acceleration/deceleration before interpolation
fine HPCC.
circular interpolation
- Feedrate decelerated by acceleration clamp in involute
interpolation
- Minimum feedrate for deceleration based on acceleration rate in
fine HPCC and circular interpolation
- Maximum feedrate of fine HPCC
Even when the feedrate is overridden by this function, the resulting

feedrate does not exceed the maximum cutting feedrate (parameter No.
1422).
1478 Allowable feedrate difference for corner deceleration based on the feedrate
difference

When a function for determining the feedrate based on the corner feedrate
difference is used, if a change in a feedrate component on each axis at a boundary
between blocks is about to exceed the value set in this parameter,
acceleration/deceleration before interpolation is applied to reduce the feedrate to
the value obtained for that purpose. This reduces the impact on the machine
around corners and the machining error.
- 708 -
#7 #6 #5 #4 #3 #2 #1 #0
1517 FCC FNW

[Data type] Bit
#6 FNW Specifies whether the method of determining the feedrate based on the
feedrate difference in look-ahead acceleration/deceleration before
interpolation and the method of determining the feedrate based on the
acceleration of fine HPCC are the same as those of the 15B.
0: Same as those of the 15B. Thus, the highest feedrate that does not exceed the
allowable feedrate difference or allowable acceleration for each axis is
assumed.
1: In addition to the condition that the feedrate must not exceed the allowable
feedrate difference and allowable acceleration, the condition that the
deceleration feedrate must be constant if the geometry is the same must be
satisfied in determining the feedrate.
When this parameter is set to 1, the feedrate determined with the feedrate
difference or acceleration may be lower by up to 30% than that determined when it
is set to 0.
#7 FCC If, in look-ahead acceleration/deceleration before interpolation, there is
an axis for which the acceleration time is one second or longer:
0: The specified feedrate may not be attained because the precision is important.
1: The specified feedrate will be attained because the feedrate is important.
NOTE
When this parameter is set to 1, the precision of curve
interpolation such as circular and NURBS interpolation may
reduce.
1635 Time constant for cutting feed acceleration/deceleration after interpolation in

the mode of look-ahead acceleration/deceleration before interpolation

[Unit of data] msec
In the mode of look-ahead acceleration/deceleration before interpolation and in
fine HPCC mode, this parameter is used instead of the ordinary time constant
(parameter No. 1622).
Be sure to always set the same time constant in this parameter for all axes, except
for a special application. Otherwise, correct linear or circular figures cannot be
obtained.
- 709 -
1656 Acceleration change time of bell-shaped acceleration/deceleration before

interpolation

[Data type] Integer
[Unit of data] msec
This parameter sets the acceleration change period in bell-shaped
acceleration/deceleration before interpolation (the time taken for the
change from the constant speed state (A) to the certain
acceleration/deceleration state (C) using an acceleration calculated
based on the acceleration set in parameter No. 1660: the period of (B)
in the following figure).
Tangential feedrate
Optimum inclination is
automatically calculated based
on the value set in parameter
No. 1660.
(A) (B) (C) (B) (A) (B) (C) (B) (A)
Set the period in parameter

No. 1656.
- 710 -
1660 Maximum allowable acceleration of acceleration/deceleration before

interpolation for each axis

Specify the maximum allowable acceleration of acceleration/deceleration before
interpolation for each axis.
If a value greater than 100000.0 is set, it is clamped to 100000.0.
If 0 is set, it is regarded to be 100000.0. If 0 is set for all axes, look-ahead
acceleration/deceleration before interpolation will not be performed.
If the allowable acceleration for one axis is twice as large as that for another or
more, the feedrate may temporarily reduce around corners where the direction to
travel changes suddenly.
#7 #6 #5 #4 #3 #2 #1 #0
2401 MBF

[Data type] Bit
#6 MBF Selects or cancels the multibuffer mode at power on and in the clear
state.
0: Cancels the multibuffer mode.
1: Selects the multibuffer mode. (When the optional multibuffer 15-block/100-
block function is not provided, five buffer blocks are used for the look-ahead
operation.)
When the multibuffer mode is selected, look-ahead acceleration/deceleration before
interpolation is enabled at the same time.
If the fine HPCC option is provided, fine HPCC mode is enabled at the same time.
NOTE
This parameter becomes valid when the system is reset.
- 711 -
Note
NOTE
1 If the permissible acceleration set for one axis is two
or more times greater than that set for another, the
feedrate may decrease temporarily at those corners
where the travel direction changes abruptly.
2 If the machine lock signal is turned on during travel
in look-ahead acceleration/deceleration before
interpolation mode, the machine enters the machine
lock state after the end of deceleration.
3 If there is a block with no travel or a one-shot G code
command such as G04 in look-ahead
acceleration/deceleration before interpolation mode,
deceleration is performed for a stop in the preceding
block.
4 If the dry run signal changes from "0" to "1" or from
"1" to "0" during travel on an axis,
acceleration/deceleration is performed to achieve
the prescribed feedrate without deceleration to
feedrate 0.
The function for deceleration with the feedrate
difference at a corner is effective even during dry
run.
Reference item
Series15i/150i- Connection Manual 7.1.13 Nano interpolation
- 712 -
7.2.2.1 Bell-shaped acceleration/deceleration time constant change
In Look-ahead bell-shaped acceleration/deceleration before

interpolation, the speed during acceleration/deceleration is as shown in
the figure below.
Linear
Speed acceleration/deceleration
Non-linear Non-linear
acceleration/deceleration acceleration/deceleration
Specified speed
Time
T1
T2 T2
T1: Time determined from the specified speed and the specified acceleration
(specified speed/acceleration (parameter 1660))
T2: Acceleration change time (parameter 1656)
Fig.7.2.2.1(a)
The time T1, shown above, varies with the feedrate. If the feedrate is
low, the speed will be as shown below, causing linear
acceleration/deceleration not reaching the specified acceleration.
In the example below, T2 is extended for ease of understanding, as
compared with that in the above example.
Linear acceleration/deceleration not reaching specified

Specified
speed
Time
T1 T1
T2
Fig.7.2.2.1(b)
- 713 -
If linear acceleration/deceleration not reaching the specified

acceleration occurs as shown above, this function shortens the
acceleration/deceleration time by changing the internal acceleration for
acceleration/deceleration before interpolation and the bell-shaped time
constant in order to generate an acceleration/deceleration pattern as
close as possible to that that permits optimum bell-shaped
acceleration/deceleration before interpolation for the specified speed.
Optimum bell-shaped acceleration/deceleration before interpolation,
as mentioned here, refers to bell-shaped acceleration/deceleration
before interpolation in which if T2 > T1, T1 and T2 are changed to T1'
and T2' as shown in the figure below so that linear
acceleration/deceleration not reaching the specified
acceleration/deceleration does not occur.
Non-linear
Specified
speed
T1'
T2' T2'
Fig.7.2.2.1(b)
Methods of specifying the acceleration/deceleration reference speed

The acceleration/deceleration reference speed refers to the feedrate
used as the reference for calculating optimum acceleration. In Fig. 3, it
is equivalent to the specified speed used to determine T1' and T2'.
There are three methods for specifying the acceleration/deceleration
reference speed.
Specifying a value close to the actually specified speed as the
acceleration/deceleration reference speed will be effective.
(1) Specifying the speed using an F in a G05.1 Q1 block

(2) Setting the speed on the High-speed High-precision Machining
Setting Screen
(3) Setting the speed specified with the F command issued at the start
of cutting as the reference speed
NOTE
This function is effective if BCG (No. 1603 bit 6) is 1.
- 714 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1603 BCG

#6 BCG The bell-shaped acceleration/deceleration time constant change

function is:
0: Disabled.
1: Enabled.
1473 Acceleration/deceleration reference speed for the bell-shaped

acceleration/deceleration time constant change function
[Input section] Setting input

[Data type] Real type
[Unit of data] mm/min, inch/min, degrees/min (input unit)
[Minimum data unit] Follows the increment system of the reference axis.
[Valid data range] See the standard parameter setting table (C).
(0.0 to +240000.0 for the IS-B)
This parameter is used if the bell-shaped acceleration/deceleration time
constant change function is used.
The speed entered from the High-speed High-precision Machining
Setting Screen is transferred to this parameter either by clicking the
"Active selection" key on the High-speed High-precision Machining
Setting Screen or by issuing the G05.1Q1Rx command. Usually,
therefore, this parameter need not be specified directly.
An acceleration/deceleration pattern is generated so that optimum
look-ahead bell-shaped acceleration/deceleration before interpolation
for this reference speed is performed.
1539 Acceleration/deceleration reference speed (for finishing) for the bell-shaped


[Data range] See the standard parameter setting table (C).
(0.0 to +240000.0 for the IS-B)
This parameter is used if the pre-interpolation bell-shaped
acceleration/deceleration time constant change function is used.
It stores the acceleration/deceleration reference speed for the finishing
parameter set. Usually, enter the speed from the High-speed High-
precision Machining Setting Screen. For the setting to take effect
during operation, either click the "Active selection" key on the High-
speed High-precision Machining Setting Screen or issue the
G05.1Q1Rx command using a program.
- 715 -
1559 Acceleration/deceleration speed (for semifinishing) for the bell-shaped


(0.0 to +240000.0 for the IS-B)
It stores the acceleration/deceleration reference speed for the
semifinishing parameter set. Usually, enter the speed from the High-
speed High-precision Machining Setting Screen. For the setting to take
effect during operation, either click the "Active selection" key on the
High-speed High-precision Machining Setting Screen or issue the
1579 Acceleration/deceleration reference speed (for roughing) for the bell-shaped


(0.0 to +240000.0 for the IS-B)
It stores the acceleration/deceleration reference speed for the roughing
parameter set. Usually, enter the speed from the High-speed High-
precision Machining Setting Screen. For the setting to take effect
during operation, either click the "Active selection" key on the High-
speed High-precision Machining Setting Screen or issue the
- 716 -
7.2.3 Corner Control
7.2.3.1 In-position check
General
Whether the position of the servo motor is within a specified range is
checked.
If the in-position check function is enabled, the CNC checks the
position during deceleration. If the position is found to exceed the
specified range, the CNC does not execute the next block.
NOTE
The purpose of in-position check is to check that the
servo motor has reached within a specified range
(specified with parameter No. 1000#0).
Signal
In-position check signal

*CSMZ <G008#1>
[Function] Determines whether the in-position check is to be performed in the
gaps between blocks in cutting feed during automatic operation.
Generally, in the gaps between blocks in cutting feed, slight rounding
occurs due to the delay of acceleration/deceleration and servo. By
performing the in-position check (waiting for the delay of
acceleration/deceleration and servo before executing the next block),
this rounding can be removed.
[Operation] If this signal is "0" at a gap between blocks in cutting feed during
automatic operation, the system performs the in-position check before
proceeding to the next block.
If it is "1," the system proceeds to the next block immediately without
performing the in-position check.
NOTE
1 Before and after a positioning block, the in-position
check is performed regardless of the setting of this
signal.
2 Generally, this signal is manipulated with the
appropriate auxiliary function so that whether to
perform the in-position check can be specified from
a program. Because, however, the state in which
this signal is "0" is equivalent to that in which a
program specifies G09 or G61, it is recommended
that these preparatory functions be applied except
where other reasons make their application
impossible.
- 717 -
In-position signals
INP1<F64#6>, INP2<F68#6>, ...
[Function] These signals indicate that the control axes are set to the in-position
condition.
They are provided for each control axis, and the number in the signal
name corresponds to the control axis number.
INPx
x : 1 - - - The 1st axis is set to the in-position condition.
2 - - - The 2nd axis is set to the in-position condition.
3 - - - The 3rd axis is set to the in-position condition.
: :
[Output condition] These signals turn to "1" in the following case :
- The acceleration/deceleration delay of the corresponding control
axis is zero and the servo error is within the specified allowance.
These signals turn to "0" in the following cases :
- The acceleration/deceleration delay of the corresponding control
axis is not zero.
- The servo error of the corresponding control axis exceeds the
specified allowance
NOTE
By setting parameter CIP (bit 0 of No. 1000), the
condition stating that the servo error must be within a
constant limit can be lifted.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G008 *CSMZ
#7 #6 #5 #4 #3 #2 #1 #0
F064 INP1
the Appendix A.1.
- 718 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1000 CSZ CIP

[Data type] Bit
#0 CIP Specifies what to confirm with an in-position check.

0: Merely confirm that the specified feedrate reaches zero during
deceleration (the acceleration/deceleration delay becomes zero).
1: Confirm that the specified feedrate reaches zero during deceleration
(the acceleration/deceleration delay becomes zero) and that the
machine reaches the specified position (the servo position deviation
falls within the valid area set for parameter No. 1827).
#1 CSZ Specifies whether to enable the in-position check signal (*CSMZ).

0: Disable
1: Enable
1827 Valid area for each axis

Specify the valid area for each axis.
When the deviation of the machine position and specified position
(absolute positioning deviation) does not exceed the valid area, it is
assumed that the machine reaches the specified position, that is, it
moves correctly.
Note
NOTE
The in-position signals may turn to "1" even during
the movement if the axis is fed at very low speed.
- 719 -
7.2.4 Feed Forward in Rapid Traverse
General
Feed-forward control can be performed even during rapid traverse. In
this case, the servo position error is reduced, thus reducing the time
required for positioning to within the specified range.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1800 RFW

[Data type] Bit
#3 RFW Specifies whether to enable forward feed control during rapid traverse.
0: Disables forward feed control.
1: Enables forward feed control.
Normally, forward feed control is enabled only when cutting feed is
performed. When this parameter is set to 1, forward feed is also enabled
during rapid traverse. This decreases positional deviation in the servo,
reducing the time for entering an effective area during positioning.
Reference item
For details of this function, refer to the "FANUC SERVO MOTOR αi
series Maintenance Manual (B-65285EN)."
- 720 -
7.2.5 Acceleration/Deceleration before Interpolation of Linear Type

Rapid Traverse
Conventionally, only acceleration/deceleration after interpolation

could be applied to rapid traverse.
This function allows acceleration/deceleration before interpolation to
be applied to linear type rapid traverse.
Description
- Acceleration/deceleration after interpolation to rapid traverse
Table 7.2.5 (a) Acceleration/Deceleration after Interpolation to Rapid Traverse

Acceleration/deceleration type REX NEX RTB Time constant FL feedrate parameter
1600#0 1600#7 1601#5 parameter
Linear type acceleration/ 0 0 0 No.1620 No.1621
deceleration at constant
acceleration
Bell-shaped acceleration/ 0 0 1 No.1620 None
deceleration at constant No.1636
acceleration
Exponential acceleration 1 0 - No.1628 No.1629
/deceleration in constant time
Linear type acceleration/ 1 1 0 No.1628 None
deceleration in constant time
Bell-shaped acceleration/ 1 1 1 No.1628 None
deceleration in constant time
As listed above, five types of acceleration/deceleration after
interpolation could conventionally be used for rapid traverse.
- Acceleration/deceleration before interpolation to rapid traverse
Table 7.2.5 (b) Acceleration/Deceleration before Interpolation to Rapid Traverse

Acceleration/deceleration type FRP LRP Acceleration Parameter of acceleration change period in
1603#5 1400#4 parameter bell-shaped acceleration/deceleration
Linear type acceleration/ 1 1 No.1671 No.1672 = 0
deceleration before interpolation
Bell-shaped acceleration/ 1 1 No.1671 No.1672 = other than 0
deceleration before interpolation
As shown in the above, acceleration/deceleration before interpolation
is enabled for rapid traverse by parameter setting.
- 721 -
Restrictions
- Conditions for acceleration/deceleration before interpolation

When the conditions listed below are all satisfied, acceleration/
deceleration before interpolation becomes valid for rapid traverse. The
acceleration used is set to the maximum value that does not exceed the
maximum allowable acceleration for each axis, as set in parameter No.
1671.
(1) Bit 5 (FRP) of parameter No. 1603 = 1
(2) Bit 4 (LRP) of parameter No. 1400 = 1: Linear interpolation type
positioning
(3) A non-zero value is set for any axis in parameter No. 1671.
(4) Look-ahead acceleration/deceleration before interpolation (or
fine HPCC) mode is currently set.
(5) The conditions for look-ahead acceleration/deceleration before
interpolation are satisfied.
When acceleration/deceleration before interpolation becomes valid,

acceleration/deceleration after interpolation set in Table 7.2.5 (a) is
disabled. This means that only acceleration/deceleration before
interpolation is applied.
If the above conditions are not satisfied, acceleration/deceleration after
interpolation set in Table 7.2.5 (a) becomes valid.
- 722 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1603 FRP

[Data type] Bit
#5 FRP To linear type rapid traverse:

0: Acceleration/deceleration after interpolation is applied.
The type of acceleration/deceleration after interpolation is
determined by bit 0 (REX) of parameter No. 1600, bit 7 (NEX) of
parameter No. 1600, and bit 5 (RTB) of parameter No. 1601.
1: Acceleration/deceleration before interpolation is applied.
The maximum allowable acceleration for each axis is set in
parameter No. 1671.
When using bell-shaped acceleration/deceleration before
interpolation, set the acceleration change period in parameter No.
1672.
When this parameter is set to 1, acceleration/deceleration before
interpolation is also applied to rapid traverse if the conditions listed
below are all satisfied. In this case, acceleration/deceleration after
interpolation is not applied.
- Bit 4 (LRP) of parameter No. 1400 = 1: Linear interpolation type
positioning
- A non-zero value is set for any axis in parameter No. 1671.
- Look-ahead acceleration/deceleration before interpolation (or
fine HPCC) mode is currently set.
- The conditions for look-ahead acceleration/deceleration before
interpolation are satisfied.
If the conditions listed above are not satisfied, acceleration/
deceleration after interpolation is applied.
1671 Maximum allowable acceleration for each axis in acceleration/deceleration

before interpolation to linear type rapid traverse

(For millimeter machines, 0.0 to +100000.0; for inch machines, 0.0 to
+10000.0)
This parameter sets the maximum allowable value of acceleration/
deceleration before interpolation to linear type rapid traverse. If a value
in excess of 100000.0 is set, the acceleration is clamped to 100000.0.
If 0 is set, the following value is assumed:
1000.0 mm/sec/sec
100.0 inch/sec/sec
100.0 degrees/sec/sec
If 0 is set for all axes, acceleration/deceleration before interpolation is
not performed.
- 723 -
1672 Acceleration change period of bell-shaped acceleration/deceleration before

interpolation to linear type rapid traverse

[Data type] Integer
[Unit of data] msec
This parameter sets the acceleration change period of bell-shaped
acceleration/deceleration before interpolation to linear type rapid
traverse (the period during which the acceleration changes from
constant feedrate state (A) to constant acceleration/deceleration state
(C) with the acceleration calculated based on the acceleration value set
in parameter No. 1671: portion (B) in the following figure).
Tangential feedrate
Maximum acceleration is
calculated automatically so that
maximum allowable acceleration
for each axis set in parameter No.
1671 is not exceeded.
(A) (B) (C) (B) (A) (B) (C) (B) (A)
Set period of time in

parameter No. 1672.
Reference
FANUC Series Connection Manual 7.2.2 Look-ahead
15i/150i-MODEL B (Function) acceleration/deceleration
(This manual) before interpolation
- 724 -
7.2.6 Optimum Torque Acceleration/Deceleration
Overview
This function enables acceleration/deceleration in accordance with the
torque characteristics of the motor and the characteristics of the
machines due to its friction and gravity. Usually, because of the
friction and gravity of the machine, the torque characteristics of the
motor, and other factors, the acceleration/deceleration performance
that is attainable (referred to as the limited acceleration/deceleration
curve) is not symmetrical with respect to the line separating the low-
and high-speed portions. This function enables
acceleration/deceleration in such a way that in positioning, the actual
acceleration curve follows the limited acceleration curve as closely as
possible. This makes the most of the capability of the motor, reducing
positioning time.
By setting limited acceleration curve data for each axis using the
appropriate parameter, this function performs linear type positioning
with acceleration/deceleration on the basis of limited acceleration
curve data in the state in which look-ahead acceleration/deceleration is
effective.
V e lo c i t y M o v e c o m m a n d a fte r V e lo c i t y
a c c e le r a t io n / d e c e le r a t io n
: P a t t e r n s y m m e t r ic a l w i t h L im it e d
r e s p e c t t o t h e c e n t r a l lin e a c c e le r a t io n c u r v e
A c tu a l
a c c e le r a t io n
c u rv e
T im e A c c e le r a t io n
Fig. 7.2.6 (a) Conventional bell-shaped acceleration/declaration
V e lo c it y M o v e c o m m a n d a f te r V e lo c it y
a c c e le r a t io n / d e c e le r a t io n
:A c c e le r a tio n /d e c e le r a t io n L im it e d
c u r v e f o llo w in g lim ite d a c c e le r a t io n
a c c e le r a t io n c u r v e c u rv e
A c tu a l
a c c e le r a t io n
c u rv e
T im e A c c e le r a t io n
Fig. 7.2.6 (b) Acceleration/deceleration with this function where the

actual acceleration curve follows the limited acceleration curve
- 725 -
Explanation
Optimum torque acceleration/deceleration selects the limited
acceleration curve data set with a parameter on the basis of the axial
movement direction and the acceleration/deceleration state, determines
the permissible acceleration for each axis from the current speed, and
controls the acceleration/deceleration for rapid traverse so that the
permissible acceleration for each axis is not exceeded.
- Setting optimum torque acceleration/deceleration

By setting both FAP, bit 0 of parameter No. 6700, and LRP, bit 4 of
parameter No. 1400, to 1 and setting the reference acceleration
parameter (No. 1671) for any one axis to a non-zero value, as below,
the acceleration/deceleration for rapid traverse in look-ahead
acceleration/deceleration mode will be optimum torque
Table 7.2.6 (c) Optimum torque acceleration/deceleration
FAP LRP Reference Bell-shaped Limited
6700#0 1400#4 acceleration acceleration acceleration
(linear change time curve data
positioning)
1 1 No.1671 No.1672 See "Setting
limited
acceleration
curve data."
To enable bell-shaped acceleration/deceleration in addition to optimum

torque acceleration/declaration, set the bell-shaped acceleration change
time with parameter No. 1672.
- Non-parameter conditions that must be satisfied

If the following conditions are satisfied as well as the above parameter
conditions, the acceleration/deceleration for rapid traverse will be
optimum torque acceleration/deceleration.
1. The system is in look-ahead acceleration/deceleration mode or in
fine HPCC mode.
2. The conditions under which look-ahead acceleration/deceleration is
performed are satisfied.
If rapid traverse is subject to optimum torque acceleration/deceleration,
post-interpolation acceleration/deceleration does not apply to rapid
traverse.
For details of look-ahead acceleration/deceleration and fine HPCC,

refer to the following:
FANUC Series15i/150i-MB Operator's Manual (Programming)
B-63784EN
- Cases in which optimum torque acceleration/deceleration is disabled

If the parameter settings are such that optimum torque
acceleration/deceleration is disabled or if the non-parameter conditions
are not satisfied, the acceleration/deceleration for rapid traverse will be
post-interpolation acceleration/deceleration.
- 726 -
- Setting limited acceleration curve data

Permissible
acceleration
P0 P1 Limited acceleration
curve
P2
Aa P3
P4 P5
Ab
Speed
Fa Fb
Fig. 7.2.6 (c) Acceleration setting points
For each movement direction, for each of acceleration and deceleration,

and for each axis, set the speed and the permissible acceleration at each
of the acceleration setting points P0 to P5. The line joining the
acceleration setting points is regarded a limited acceleration curve.
For example, while the speed changes from Fa to Fb in the above figure,
the permissible accelerations corresponding to speeds Aa and Ab are
used. Tangent acceleration is controlled so that the permissible
acceleration for each axis is not exceeded.
Table 7.2.6 (d) Limited acceleration curve data for each axis
Acceleration Speed Permissible acceleration parameter
setting point parameter During acceleration During deceleration
During movement During movement During movement During movement
in plus direction in minus direction in plus direction in minus direction
P0 Speed 0 No.6714 No.6720 No.6726 No.6732
P1 No.6710 No.6715 No.6721 No.6727 No.6733
P2 No.6711 No.6716 No.6722 No.6728 No.6734
P3 No.6712 No.6717 No.6723 No.6729 No.6735
P4 No.6713 No.6718 No.6724 No.6730 No.6736
P5 No.1420 No.6719 No.6725 No.6731 No.6737
The speed at P0 is 0, and the speed at P5 is the one specified with the
rapid traverse rate parameter (No. 1420). The speeds at P1 to P4 are to
be set with speed parameters Nos. 6710 to 6713 as ratios to the rapid
traverse rate (parameter No. 1420).
The permissible accelerations at P0 to P5 are to be set with permissible
acceleration parameters Nos. 6714 to 6737 as ratios to the reference
acceleration (parameter No. 1671).
By setting both FAP, bit 0 of parameter No. 6700, and LRP, bit 4 of
parameter No. 1400, to 1 and setting the reference acceleration
parameter (No. 1671) for one axis to a non-zero value, this function is
enabled.
If this function is enabled and the reference acceleration parameter
(parameter No. 1671) for an axis is set to 0, the following values are
assumed as the reference acceleration for that axis:
1000. mm/sec/sec, 100. inch/sec/sec, 100. degrees/sec/sec
- 727 -
Any acceleration setting point for which the speed parameter (one of
Nos. 6710 to 6713) is set to 0 will be skipped, and the preceding and
succeeding points for which the parameter is set to a non-zero value
will be joined together.
If any of the permissible acceleration parameters Nos. 6714 to 6737 is
set to 0, the acceleration is assumed 100%.
- Relationship between torque and acceleration

Let the torque be x(N⋅m), the inertia be y(kg⋅m2), and the ball screw
pitch P(mm), then the acceleration A is calculated as follows:
A = x(N⋅m)/y(kg⋅m2)⋅p/(2π)(mm)
= x((kg⋅m/sec2)(m))/y(kg⋅m2) ⋅p/(2π)(mm)
= x⋅p/((2π) ⋅y)(mm/sec2)
- Example of setting limited acceleration curve data

The model αC12/2000 is used as the motor as an example.
30
25
Torque (Nm)
20
15
10
5
0
0 500 1000 1500 2000
Speed (1/min)
Fig. 7.2.6 (d) Speed-torque characteristics of model αC12/2000
Specifications of the motor model αC12/2000

Rotor inertia: 0.0062(kg⋅m2)
Maximum torque: 25(N⋅m) Speed: 0 to 1000(min-1)
Minimum torque: 12(N⋅m) Speed: 2000(min-1)
Ball screw pitch: 15(mm)
The machine inertia is to be 2.5 times higher than that of the rotor to get
a total inertia 3.5 times higher.
From the above-mentioned relationship between torque and
acceleration, the acceleration a(mm/sec2) at the maximum torque
25(N⋅m) is calculated as follows:
a = 25⋅15/((2π)⋅3.5⋅0.0062)(mm/sec2)
= 2750(mm/sec2)
Similarly, the acceleration b(mm/sec2) at the minimum torque 12 (N⋅m)
is calculated as follows:
b = 12⋅15/((2π)⋅3.5⋅0.0062)(mm/sec2)
= 1320(mm/sec2)
An example of setting the parameters related to limited acceleration

curve data is given in the table below.
The example assumes that the acceleration is the same regardless of
whether acceleration or deceleration is in progress or whether the
movement is in the plus or minus direction.
- 728 -
Table 7.2.6 (e) Example of setting parameters related to limited acceleration curve data
Parameter No. Setting Unit Remarks
Rapid traverse rate 1420 30000. mm/min The ball screw pitch is assumed 15 mm, so that
the rapid traverse rate is 30000 mm/min at the
-1
maximum speed 2000(min ).
2
Reference acceleration 1671 2750. mm/sec The acceleration a is set.
Speed at P1 6710 5000 0.01% 50% (15 m) is set at P1 because the torque 25
-1
(N⋅m) is up to 1000 (min ).
Speeds at P2 to P4 6711 to 6713 0 0.01% P2 to P4 are skipped because the torque drops
-1
almost linearly from the speed 1000 (min ) to
-1
2000 (min ).
Acceleration at P0 6714,6720 10000 0.01% The acceleration at a speed of 0 is set to 100%
6726,6732 (torque 25 (N⋅m)).
Acceleration at P1 6715,6721 10000 0.01% The acceleration at the speed at P1 is set to
6727,6733 100% (torque 25 (N⋅m)).
Acceleration at P2 to P4 6716 to 6718 0 0.01% No acceleration need be set because P2 to P4
6722 to 6724 are skipped.
6728 to 6730
6734 to 6735
Acceleration at P5 6719,6725 4800 0.01% The acceleration at the speed at P5 (30000
6731,6737 mm/min) is b, and the ratio of b to the reference
acceleration a is set. (0.48 = 1320/2750)
With the above parameter settings, the limited acceleration curve will
be as shown in the figure below: At P0, the speed is 0 and the
acceleration is 2750 mm/sec2, at P1, the speed is 15000 mm/min and
the acceleration is 2750 mm/sec2, P2 to P4 are skipped, and at P5, the
speed is 30000 mm/min and the acceleration is 1320 mm/sec2.
3000 P0 P1
Acceleration mm/sec/sec
2500
2000
1500
P5
1000
500
0
0 15000 30000
Speed mm/min
Fig. 7.2.6 (e) Example of limited acceleration curve
NOTE
The values in the model αC12/2000 speed-torque
characteristic diagram are just typical ones. The
values will change depending on the digital servo
software, parameters, input voltage, and other
factors.
The optimum acceleration will, therefore, change
due to the characteristics of the machine.
- 729 -
- Examples of setting if the limited acceleration curve differs depending on whether

acceleration or deceleration is in progress and whether the movement is in the
minus or plus direction
If the limited acceleration curve differs depending on whether

acceleration or deceleration is in progress or whether the movement is
in the plus or minus direction, the parameters may be set as follows.
The differences from the above example are explained.
(1) For acceleration and movement in the plus direction

If the limited acceleration curve is as shown in the figure below,
set the parameters as follows:
(0.01-% units)
Parameter No. 6714
= 6364 (ratio to the reference acceleration 1750mm/sec2 at P0)
Parameter No. 6715
= 6364 (ratio to the reference acceleration 1750 mm/sec2 at P1)
Parameter No. 6719
= 1818 (ratio to the reference acceleration 500 mm/sec2 at P5)
3000
2500
2000 P0 P1
1500
1000
500 P5
0
0 15000 30000
Speed mm/min
Fig. 7.2.6 (f) Limited acceleration curve example for acceleration and
movement in plus direction
- 730 -
(2) For acceleration and movement in the minus direction

(0.01-% units)
Parameter No. 6720
= 7273 (ratio to the acceleration reference 2000 mm/sec2 at P0)
Parameter No. 6721
Parameter No. 6725
3000
2500
P0
P1
2000
1500
1000
P5
500
0
0 15000 30000
Speed mm/min
Fig. 7.2.6 (g) Limited acceleration curve example for acceleration and
movement in minus direction
(3) For deceleration and movement in the plus direction

(0.01-% units)
Parameter No. 6726
Parameter No. 6727
Parameter No. 6731
P0 P1
3000
2500
2000
1500 P5
1000
500
0
0 15000 30000
Speed mm/min
Fig. 7.2.6 (h) Limited acceleration curve example for deceleration and
movement in plus direction
- 731 -
(4) For deceleration and movement in the minus direction

(0.01-% units)
Parameter No. 6732 = 9091 (ratio to the acceleration reference
2500 mm/sec2 at P0)
2500 mm/sec2 at P1)
1000 mm/sec2 at P5)
3000
P0
P1
2500
2000
1500
1000 P5
500
0
0 15000 30000
Speed mm/min
Fig. 7.2.6 (i) Limited acceleration curve example for deceleration and
movement in minus direction
- 732 -
Limitations
- Linear type positioning
Optimum torque acceleration/deceleration is not enabled unless linear
type positioning is enabled (LRP, bit 4 of parameter No. 1400, = 1).
- Modes and conditions
Optimum torque acceleration/deceleration is enabled if the system is in
look-ahead acceleration/deceleration mode (or in fine HPCC mode)
and the conditions under which look-ahead acceleration/deceleration
are satisfied.
- Target axes
Optimum torque acceleration/deceleration cannot be performed on a
specific axis only. All the axes subject to program commands are
subject to optimum torque acceleration/deceleration. The PMC axis is
not, therefore, subject to it.
- Limited acceleration curve (permissible acceleration)

Different limited acceleration curves (permissible accelerations) may
be set for acceleration and deceleration, provided that the ratio of the
deceleration acceleration to the acceleration is 1/3 or greater.
For example, if the acceleration at a certain acceleration setting point
(Pn) is set to 90%, the deceleration acceleration at that point must be
30% or greater. In the above example, therefore, the curve shown in
Fig.7.2.6(h) must be 1/3 of the curve shown in Fig.7.2.6(f) or greater.
Also, the limited acceleration curve data for deceleration must be set so
that the time required for the deceleration from the rapid traverse rate to
a speed of 0 does not exceed 4000 msec. Furthermore, if the high-speed
processing function is used, the acceleration must be set to 2000 msec
or less. This does not include the acceleration change time of bell-
shaped acceleration/deceleration.
If the deceleration acceleration ratio or the time required for the
deceleration to a speed of 0 exceeds the above range, OT alarm
(OT9710) will be issued at the time rapid traverse is executed.
A slight error will occur between the specified acceleration and the
actual acceleration.
- Relationship with a customer's board

Optimum torque acceleration/deceleration cannot be used from a
customer's board.
- Tool center point control

Optimum torque acceleration/deceleration is disabled in tool center
point control mode (except startup and cancellation) even if the
required parameters are set and the conditions for before-interpolation
acceleration/deceleration are satisfied. If this occurs, the acceleration/
deceleration for positioning follows the reference acceleration
specified with parameter No. 1671. This means that acceleration/
deceleration is performed with the reference acceleration specified
with parameter No. 1671 regardless of the limited acceleration curve.
- 733 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
6700 FAP

[Data type] Bit
#0 FAP Optimum torque acceleration/deceleration is:
0: Disabled.
1: Enabled.
By setting both linear type positioning parameter bit LRP, bit 4 of parameter No.
1400, and FAP, bit 0 of parameter No. 6700, to 1 and setting the reference
acceleration prameter (No. 1671) for any one axis to a non-zero value, the
acceleration/deceleration for rapid traverse in look-ahead acceleration/deceleration
mode (or in fine HPCC mode) will be optimum torque acceleration/deceleration.
Optimum torque acceleration/deceleration controls acceleration/deceleration
following the limited acceleration curve data set with the appropriate parameters.
Setting limited acceleration curve data
Permissible
acceleration
P0 P1 Limited
acceleration curve
P2
P3
P4 P5
Speed
For each movement direction, for each of acceleration and deceleration, and for each
axis, set the speed and the permissible acceleration at each of the acceleration setting
points P0 to P5. Set the speeds in speed parameters Nos. 6710 to 6713. Set the
permissible accelerations in permissible acceleration parameters Nos. 6714 to 6737.
- 734 -
6710 Optimum torque acceleration/deceleration (speed at P1)

Set the speeds at acceleration setting points P0 to P5 as ratios to the rapid traverse
rate (parameter No. 1420).
The speed at P0 must be 0, and the speed at P5 must be equal to the setting of the
rapid traverse rate parameter (No. 1420).
Any acceleration setting point for which 0 is set is skipped.
6714 Optimum torque acceleration/deceleration (acceleration at P0 during

movement in + direction and acceleration)






movement in - direction and acceleration)


- 735 -

6724 Optimum torque acceleration/deceleration (acceleration at P04during



movement in + direction and deceleration)






movement in - direction and deceleration)




- 736 -


For each movement direction and for each of acceleration and deceleration, set the
permissible accelerations at acceleration setting points P0 to P5. The permissible
accelerations must be the ratios to the setting of the reference acceleration
parameter (No. 1671). If 0 is set, 100% is assumed.
1671 Per-axis maximum permissible acceleration of before-interpolation

acceleration/deceleration for linear type rapid traverse
or reference permissible acceleration of optimum torque

[Unit of data] Real axis
[Minimum unit of data]Follows the increment system of the axis.
(For IS-B and millimeter machines, 0.0 to +99999.999; for inch machines,
0.0 to +9999.9999)
(1) Set the maximum permissible acceleration of before-interpolation
acceleration/deceleration for linear type rapid traverse.
If 0 is set, the following values are assumed:
1000.0 mm/sec/sec
100.0 inch/sec/sec
If 0 is set for all axes, before-interpolation acceleration/deceleration will not be
performed.
(2) Set the reference permissible acceleration of optimum torque
If 0 is set, the following values are assumed:
1000.0 mm/sec/sec
100.0 inch/sec/sec
If 0 is set for all axes, optimum torque acceleration/deceleration will not be
performed.
- 737 -
1672 Acceleration change time of before-interpolation bell-shaped

acceleration/deceleration for linear type rapid traverse
or acceleration change time of bell-shaped acceleration/deceleration in
optimum torque acceleration/deceleration

[Data type] Integer
[Unit of data] msec
(1) Set the acceleration change time of before-interpolation bell-shaped
acceleration/deceleration for linear type rapid traverse (time required for the
change from the constant speed state (A) to the constant
acceleration/deceleration state (C) with the acceleration calculated on the basis
of the acceleration set in parameter No. 1671, i.e., time shown as (B) in the
figure below).
(2) Set the acceleration change time of bell-shaped acceleration/deceleration in
optimum torque acceleration/deceleration (time required for the change from
the constant speed state (A) to the acceleration/deceleration state (C) with the
acceleration calculated with optimum torque acceleration/deceleration, i.e.,
time shown as (B) in the figure below).
Tangent speed
The maximum acceleration that

does not exceed the maximum
permissible acceleration for each
axis, i.e., the setting of parameter
No. 1671, is automatically
calculated.
(A) (B) (C) (B) (A) (B) (C) (B) (A)
Set the time in parameter

No. 1672.
- 738 -
Alarm and Message

OT0710 ILLEGAL ACC. PARAMETER The permissible acceleration parameter for optimum
(OPTIMUM TORQUE ACC/DEC) torque acceleration/deceleration contains an error.
The cause is either of the following:
<1> The ratio of the deceleration acceleration to the
acceleration is below the limit.
<2> If the time required for the deceleration to a speed of 0
exceeds the maximum.
Reference
FANUC Series CONNECTION 7.2.2 Look-ahead
15i/150i-MODEL B MANUAL Acceleration/
(FUNCTION) Deceleration Before
(This manual) Interpolation
- 739 -
8.MISCELLANEOUS FUNCTION B-63783EN-1/01
8 MISCELLANEOUS FUNCTION
- 740 -
B-63783EN-1/01 8.MISCELLANEOUS FUNCTION
8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION
General
- Miscellaneous Function (M code)

When a numeral of up to 10 digits is specified following address M,
code signal and a strobe signal are sent to the machine. The machine
uses these signals to turn on or off its functions.
Usually, only one M code can be specified in one block. In some cases,
however, up to five M codes can be specified for some types of
machine tools (see 8.3 "Multiple M code per Block")
Also, parameter No. 2030 can specify the maximum digits and if a
specified value exceeds the maximum digits, an alarm PS003 may be
issued.
- 2nd Auxiliary Function (B code)

When ten digits are specified after address B, a code signal and strobe
signal are sent. These signals are used to index the rotation axis of the
machine.
In each block, a single B code can be specified. The maximum number
of digits that can be specified after address B is specified in parameter
No. 2033.
If more digits than the specified value are specified, an alarm PS003
occurs.
For the M series, the address for specifying the 2nd auxiliary function
can be changed from B to another address (A, C, U, V, or W) by
parameter setting (parameter No. 1030).
- Basic procedure
The following signals are used with these functions. (For details of the
spindle-speed function and tool function, see Chapters 9 and 10.)
Input
Output signal
Program signal
Function
address Code Strobe Distribution Completi
signal signal end signal on signal
Miscellaneous
M M00-M31 MF
function
Spindle-speed
S S00-S31 SF DEN
function FIN
IPEN
Tool function T T00-T31 TF
Secondary
B B00-B31 BF
auxiliary function
Each function uses different program addresses and different signals,

but they all input and output signals in the same way, as described
below. (A sample procedure for the miscellaneous function is
described below. The procedures for the spindle-speed function, tool
function, and secondary auxiliary function, are obtained simply by
substituting S, T, or B in place of M.)
- 741 -
(1) Suppose that Mxxx is specified in a program.

The maximum allowable number of digits can be specified for
each function by using parameter No. 2030 to 2033. A command
longer than the maximum allowable number of digits causes an
alarm (PS0003).
(2) Code signal M00 to M31 is sent. After period TMF, specified in
parameter No. 2010, strobe signal MF is set to 1. The code signal
is the binary representation of the programmed value xxx. If the
move, dwell, spindle-speed, or another function is specified at the
same time as the miscellaneous function, the execution of the
other function is started when the code signal of the miscellaneous
function is sent.
(3) When the strobe signal is set to 1, the PMC reads the code signal
and performs the corresponding operation.
(4) To execute an operation after the completion of the move, dwell
or other function specified in the block, wait until distribution end
signal DEN or IPEN is set to 1.
(5) Upon completion of the operation, the PMC sets completion
signal FIN to 1. The completion signal is used by the
miscellaneous function, spindle-speed function, tool function,
secondary auxiliary function, external operation function
described later, and other functions. If any of these functions are
executed simultaneously, the completion signal must be set to 1
upon completion of all the functions.
(6) If the completion signal remains set to 1 for longer than period
TFIN, specified in parameter No. 2011 , the CNC sets the strobe
signal to 0 and reports that the completion signal has been
received.
(7) When the strobe signal is set to 0, set the completion signal to 0 in
the PMC.
(8) When the completion signal is set to 0, the sequence of an
auxiliary function is completed.
The timing diagram is shown below:
Example 1) Single miscellaneous function specified in a block
(1) (2) (3) (5) (6) (7) (8)
M command (independent)Mxxx
Code signals M00-M31
Strobe signals MF
PMC side action
End signal FIN
Distribution end signals DEN
TMF TFIN
- 742 -
Example2) Move command and miscellaneous function in the same block
a. Execution of a miscellaneous function without waiting for move command

completion
(1) (2) (3) (5) (6) (7) (8)
M command (independent) Mxxx

Move command
Strobe signal MF
PMC side action
End signal FIN
TMF TFIN
b. Execution of a miscellaneous function after move command completion

(1) (2) (3) (4) (5) (6) (7) (8)
M command (independent) Mxxx

Move command
Strobe signal MF
PMC side action
End signal FIN
TMF TFIN
- 743 -
Signal
Miscellaneous function code signals M00-M31 <F016-F019>
Miscellaneous function strobe signal MF <F008#0>
[Function] These signals report the specification of miscellaneous functions.
[Output condition] For the output conditions and procedure, see the description of "Basic
procedure" above.
NOTE
1 The following miscellaneous functions are only
processed internally by the control unit; they are not
subject to output even when specified:
- M98, M99, M198
- M code that calls a sub program (parameter No.
6071 to 6079)
- M code that calls a custom macro (parameter No.
6080 to 6089)
- M codes for turning on and off an interrupt macro
(M96, M97, or parameter Nos. 7033 to 7034)
2 Decode signals as well as the code signals and
strobe signal are output for the miscellaneous
functions listed below.
M00, M01, M02, M30
Decode M signals DM00 <F009#4>/DM01 <F009#5>/DM02 <F009#6>/DM30 <F009#7>

[Function] These signals report particular miscellaneous functions
are specified. The miscellaneous functions in a command program
correspond
to output signals as indicated below.
Command program Output signal

M00 DM00
M01 DM01
M02 DM02
M30 DM30
[Output condition] A decode M signal goes "1" when:

- The corresponding miscellaneous function is specified, and any
move commands and dwell commands specified in the same block
are completed. These signals are not output when the end signal
of the miscellaneous function is returned before completion of
such move commands and dwell commands.
A decode M signal goes "0" when:
- The FIN signal goes "1"
- Reset occurs
- 744 -
Spindle-speed code signals S00 to S31<F020 to F023>

Spindle-speed strobe signal SF<F008#1>
[Function] These signals report that spindle speed functions have been specified.
procedure" above.
Tool function code signals T00 to T31<F024 to F027>

Tool function strobe signal TF<F008#2>
[Function] These signals report that tool functions have been specified.
procedure" above.
Second auxiliary function code signals B00 to B31<F028 to F031>

Second auxiliary function strobe signal BF<F008#3>
[Function] These signals report that second auxiliary functions have been
specified.
procedure" above.
End signal FIN<G005#1>

[Function] This signal reports the completion of a miscellaneous function,
spindle-speed function, tool function, second auxiliary function, or
external operation function.
[Operation] For the control unit operation and procedure when this signal goes "1",
see the description of "Basic procedure" above.
The FIN signal must remain "1" for a certain time (TFIN, which is set
by a parameter No. 2011) or longer. The FIN signal driven "1" is
ignored if the FIN signal goes "0" before TFIN elapses.
CAUTION
1 Only one end signal is used for all functions above.
The end signal must go "1" after all functions are
completed.
2 In addition to the functions described above, this
completion signal can be used for the spindle-speed
function for canned cycles by parameter setting. For
details, see "Spindle-Speed Function for Canned
Cycles" in Section 9.5.
- 745 -
Distribution end signal DEN<F001#0>

IPEN<F001#1>
[Function] These signals report that all commands (such as move commands and
dwell) are completed except those miscellaneous functions, spindle-
speed functions, 2nd auxiliary functions tool functions, and so forth
that are contained in the same block and have been sent to the PMC.
They also report that the end signal from the PMC is being awaited.
One of the two signals is used according to the completion status of a
move command.
IPEN: This signal is output upon completion of the move
command, but there may still be a delay in the
acceleration/deceleration circuit as well as a servo delay.
DEN: This signal is output upon completion of the move
command, provided there is no delay in the
acceleration/deceleration circuit, and the servo delay has been
reduced to within an allowable range (effective area).
Generally, IPEN is set to 1 first and, after a while, DEN is set to 1.When
the command is not a move command, IPEN and DEN are usually set to
1 almost simultaneously.
[Output condition] The signal turns to "1" when:
IPEN Signal
- The completion of miscellaneous functions, spindle-speed
functions, tool functions, 2nd auxiliary functions and so forth is
being awaited, all other commands in the same block are
completed, and the current position is in the in-position.
DEN Signal
- While the completion of a function such as an auxiliary function,
spindle-speed function, tool function, or second auxiliary function
is being awaited, the other commands in the same block are all
completed, and the in-position state is set.
The signal turns to "0" when
- The execution of one block is completed
NOTE
1 A parameter CIP (No.1000#0) can specify, whether
to only check if an acceleration/deceleration delay is
eliminated, or to also check if a servo delay (error)
has been reduced to within a certain range.
2 These signals are also output when the completion of
the spindle-speed function for a canned cycle is
being awaited.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
#7 #6 #5 #4 #3 #2 #1 #0
F001 IPEN DEN
F008 BF TF SF MF
- 746 -
F009 DM30 DM02 DM01 DM00

F016 M07 M06 M05 M04 M03 M02 M01 M00
F017 M15 M14 M13 M12 M11 M10 M09 M08
F018 M23 M22 M21 M20 M19 M18 M17 M16
F019 M31 M30 M29 M28 M27 M26 M25 M24
F020 S07 S06 S05 S04 S03 S02 S01 S00
F021 S15 S14 S13 S12 S11 S10 S09 S08
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
F024 T07 T06 T05 T04 T03 T02 T01 T00
F025 T15 T14 T13 T12 T11 T10 T09 T08
F026 T23 T22 T21 T20 T19 T18 T17 T16
F027 T31 T30 T29 T28 T27 T26 T25 T24
F028 B07 B06 B05 B04 B03 B02 B01 B00
F029 B15 B14 B13 B12 B11 B10 B09 B08
F030 B23 B22 B21 B20 B19 B18 B17 B16
F031 B31 B30 B29 B28 B27 B26 B25 B24
Parameter
1030 Command address of the second miscellaneous function

[Data type] Integer
Specify the command address of the second miscellaneous function as A, B, C, U,
V, or W. However, any address already used as an axis name cannot also be used
as the command address of the second miscellaneous function.
Name A B C U V W
Setting 65 66 67 85 86 87
#7 #6 #5 #4 #3 #2 #1 #0
2003 BSN TSN SSN MSN

[Data type] Bit
#0 MSN Specifies whether a minus (-) can be used in an M code.
0: Cannot be used
1: Can be used
#1 SSN Specifies whether a minus (-) can be used in an S code.
0: Cannot be used
1: Can be used
- 747 -
#2 TSN Specifies whether a minus (-) can be used in a T code.

0: Cannot be used
1: Can be used
#3 BSN Specifies whether a minus (-) can be used in the specification of the 2nd
auxiliary function.
0: Cannot be used
1: Can be used
2010 Delay time of the MF, SF, TF, or BF strobe signal

[Data type] Integer
[Unit of data] msec
Specify the time waited before the MF, SF, TF, or BF signal is sent after the M, S,
T, or B code is sent.
M, S, T, B code
MF, SF, TF, BF signal
Delay time
2011 Minimum width of the M, S, T, or B function completion (FIN) signal

[Data type] Integer
[Unit of data] msec
Specify the minimum signal width at which the M, S, T, or B function completion
signal (FIN) is assumed to be valid.
M, S, T, B code
MF, SF, TF, BF signal
FIN signal
Shorter than Longer than

minimum signal minimum signal
width, so ignored. width, so recognized.
- 748 -
2030 Allowable number of digits in an M code

[Data type] Integer
Specify the allowable number of digits in an M code.
2031 Allowable number of digits in an S code

[Data type] Integer
Specify the allowable number of digits in an S code.
2032 Allowable number of digits in a T code

[Data type] Integer
Specify the allowable number of digits in a T code.
2033 Allowable number of digits in a B code (2nd auxiliary function)

[Data type] Integer
Specify the allowable number of digits in a 2nd auxiliary function.
When 0 is set, the allowable number of digits is assumed 3.
To enable the input of the decimal point, the number of decimal places must be set
for parameter No. 2428. In this case, the allowable number of digits to be set for
this parameter must include the number of decimal places.
#7 #6 #5 #4 #3 #2 #1 #0
2400 M30

[Data type] Bit
#4 M30 If M30 is entered in memory operation:

0: Only M30 is sent to the machine, and the program head is searched for by the
reset and rewind signal (RRW).
1: If M30 is sent to the machine, the program head is automatically searched for at
the same time. Therefore, when completion signal FIN for M30 is returned
before reset or reset and rewind, the program is reexecuted from the beginning.
- 749 -
#7 #6 #5 #4 #3 #2 #1 #0
2403 M02

[Data type] Bit
#0 M02 When M02 is transmitted during memory operation
0: M02 is only sent to the machine, and reset and rewind signal (RRW) is used for
program heading.
1: M02 is sent out to the machine, and a program heading is automatically
executed. Consequently, when completion signal FIN for M02 is returned
without reset or reset and rewind, the program is restarted from the beginning.
M code 1 which does not put the following block in the buffer register
2411
2412
2413
2414
2415
2416
2417
2418
2419
2420

[Data type] Integer
Specify M codes that do not put the following block in the buffer register. If there is an
M code whose next block should not be put in the buffer register until the M function
processing terminates in the machine specify these M codes.
M00, M01, M02, and M30 are treated as M codes that do not put the following block in
the buffer register even though these parameters are not specified for them. M98, M99,
M codes set for parameters Nos. 7071 to 7089, and those defined by parameters Nos.
7096, 7098, 7099, and 7010 are treated as M codes that put the following block in the
buffer register even though these parameters are specified for them.
2428 Number of decimal places of the 2nd auxiliary function (B)

[Data type] Integer
Set the number of decimal places of the 2nd auxiliary function.
If 0 is set, the decimal point cannot be input.
- 750 -

[Data type] Integer
[Valid data range] 3 – 99999999
Specify the upper and lower limits of M codes without buffering. If the specified upper
and lower limits are found to be incompatible, the entered parameters are invalidated.
Example)
To specify M10 to M19 and M90000000 to M99999999 as M codes without buffering,
specify the following:
No. 2451 = 10
No. 2452 = 19
No. 2453 = 90000000
No. 2454 = 99999999
NOTE
M00, M01, M02, and M30 are treated as M codes
without buffering even if they are not contained in the
parameter limits. M98, M99, the M codes set for
parameters Nos. 7071 to 7089, and those defined by
parameters Nos. 7096, 7098, 7099, and 7101 are not
treated as M codes without buffering even if they are
contained in the parameter limits.
2454 Range of 2nd auxiliary function codes without buffering (1) (lower limit)
2455 Range of 2nd auxiliary function codes without buffering (1) (upper limit)

[Data type] Integer
Specify the upper and lower limits of 2nd auxiliary function codes without buffering. If
the specified upper and lower limits are found to be incompatible, the entered
parameters are invalidated.
- 751 -
Note
NOTE
1 When a move command and miscellaneous
function are specified in the same block, the
commands are executed in one of the following two
ways:
i) Simultaneous execution of the move command
and miscellaneous function commands.
ii) Executing miscellaneous function commands
upon completion of move command execution.
The selection of either sequence depends on the
sequence of PMC.
2 When the 2nd auxiliary function is provided, the
address used for specifying the 2nd auxiliary
function (B or the address specified with parameter
No. 1030) cannot be used as an axis address.
3 The block following M00, M01, M02 and M30, is not
read into the input buffer register, if present.
Similarly, ten M codes which do not buffer can be set
by parameters (No. 2411 to 2418).
4 For M00 and M01 only, miscellaneous function code
signal, auxiliary function strobe signal, and M
decode signals are sent; the control of program stop
and optional stop shall be designed on the PMC
side.
5 When the automatic operation is stopped by M02 or
M30, it is necessary to send the external reset signal
from the machine side to the CNC, instead of the
FIN signal, When the external reset signal is
returned against the M02 or M30, the control returns
to the top of the program recently executed and
enters the reset state.
Reference item
Series15i/150i-MB Operator’s Manual II-11.1 Miscellaneous function
(Programming) (M function)
(B-63784EN) II-11.3 Second auxiliary
function
- 752 -
8.2 AUXILIARY FUNCTION LOCK
General
Inhibits execution of a specified M, S, T and B function.
That is, code signals and strobe signals are not issued.
This function is used to check a program.
Signal
Auxiliary function lock signal AFL<G004#0>
[Function] This signal selects auxiliary function lock. That is, this signal disables
the execution of specified M, S, T, and B functions.
[Operation] When this signal turns to "1", the control unit functions as described
below.
(1) The control unit does not execute M, S, T, and B functions
specified for memory operation, DNC operation, or MDI
operation. That is, the control unit stops the output of code signals
and strobe signals (MF, SF, TF, BF).
(2) If this signal turns to "1" after code signal output, the output
operation is executed in the ordinary manner until its completion
(that is, until the FIN signal is received, and the strobe signal turns
to "0").
(3) Among the miscellaneous functions, M00, M01, M02, and M30
are executed even when this signal is "1". All code signals, strobe
signals, decode signals are output in the ordinary manner.
(4) Among the miscellaneous functions, even when this signal is "1",
those functions (M98 and M99) that are executed in the control
unit without outputting their execution results are executed in the
ordinary manner.
NOTE
Even if this signal is "1", spindle control (in such
cases as the output to PMC of the command spindle
speed, the output to the DA converter of the spindle
motor voltage command) is executed.
Auxiliary function lock check signal MAFL<F004#0>

[Function] This signal reports the state of the auxiliary function lock signal AFL.
[Output condition] This signal turns to "1" when:
- The auxiliary function lock signal AFL is "1"
This signal turns to "0" when:
- The auxiliary function lock signal AFL is "0"
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 AFL
#7 #6 #5 #4 #3 #2 #1 #0
F004 MAFL
- 753 -
Reference item
Series15i/150i-MB Operator’s Manual II-5.1 Machine lock and
(Operation) miscellaneous function
(B-63784EN-1)
- 754 -
8.3 MULTIPLE M COMMANDS IN A SIGLE BLOCK
General
So far, one block has been able to contain only one M code. However,
this function allows up to three M codes to be contained in one block.
Up to five M codes specified in a block are simultaneously output to the
machine.
This means that compared with the conventional method of a single M
command in a single block, a shorter cycle time can be realized in
machining.
For the first of the five M codes, the maximum allowable number of
digits can be specified in parameter No. 2030. A command longer than
the maximum allowable number of digits causes an alarm (PS0003).
The second to fifth M codes may each consist of up to four digits.
(Example)
One M command in a single block Multiple M commands in a single
block
M40; M40M50M60;
M50; G28G91X0Y0Z0;
M60; :
G28G91X0Y0Z0; :
: :
: :
: :
- Basic procedure
(1) Assume that "MaaMbbMcc;" was commanded by the program.
(2) For each M command, one of the code signals listed below is sent,
and after the time set by parameter No. 2010, TMF, elapses each
strobe signal is set to 1.
Table. 8.3 Code signals and strobe signals for multiple M

M command Code signal Strobe signal
First (Maa) M00 to M31 (32 bit) MF
Second (Mbb) M200 to M215 (16 bit) MF2
Third (Mcc) M300 to M315 (16 bit) MF3
Fourth (Mdd) M400 to M415 (16 bit) MF4
Fifth (Mee) M500 to M515 (16 bit) MF5
The code signals for the first to fifth M commands are sent at the
same time. Strobe signals MF, MF2, MF3, MF4, and MF5 are all
set to 1 at the same time.
The code signal is a binary notation of the program command aa,
bb and cc.
(3) On the PMC side, the code signals corresponding to the respective
strobe signals are read when the strobe signals become "1", and
the appropriate operations are performed.
(4) When the operation of all M commands ends on the PMC side, the
end signal (FIN) is set to "1".
- 755 -
(5) When the completion signal stays "1" for a time (TFIN) set by
parameter No. 2011, all strobe signals (MF, MF2, MF3, MF4, and
MF5) are set to "0" at the same time and the reception of
completion signal is reported.
(6) On the PMC side, when MF, MF2, MF3, MF4, and MF5 are set to
"0", the completion signal is set to "0".
A time chart for this procedure is shown below:
M command MaaMbbMccMddMee
Code signal M00 to M31
Strobe signal MF
PMC side operation
Strobe signal MF2
PMC side operation
Strobe signal MF3
PMC side operation
Strobe signal MF4
PMC side operation
Strobe signal MF5
PMC side operation
End signalFIN
TMF TFIN
Signal
M function code signal

M200 to M215<F144 to F145>/M300 to M315<F146 to F147>/M400 to M415<F148 to F149>/
M500 to M515<F150 to F151>
M Function strobe signal
MF2 <F045#1>/MF3 <F045#2>/MF4 <F045#3>/MF5 <F045#4>

[Function] Indicates that second and third auxiliary functions have been issued.
[Output condition] The output conditions and procedures are the same as that described in
"Basic procedure".
- 756 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F045 MF5 MF4 MF3 MF2
F144 M207 M206 M205 M204 M203 M202 M201 M200
F145 M215 M214 M213 M212 M211 M210 M209 M208
F146 M307 M306 M305 M304 M303 M302 M301 M300
F147 M315 M314 M313 M312 M311 M310 M309 M308
F148 M407 M406 M405 M404 M403 M402 M401 M400
F149 M415 M414 M413 M412 M411 M410 M409 M408
F150 M507 M506 M505 M504 M503 M502 M501 M500
F151 M515 M514 M513 M512 M511 M510 M509 M508
Caution
CAUTION
1 M00, M01, M02, M30, M98, M99, or M198 must not be specified
together with another M code.
2 Some M codes other than M00, M01, M02, M30, M98, M99, and
M198 cannot be specified together with other M codes; each of
those M codes must be specified in a single block. Such M codes
include these which direct the CNC to perform internal operations in
addition to sending the M codes themselves to the PMC.
To be specified, such M codes are M codes for calling program
numbers 9001 to 9009 and M codes for disabling advance reading
(buffering) of subsequent blocks.
The M codes which can be specified in a single block must be those
which the CNC send only the M code signals to the PMC side.
Note
NOTE
1 CNC allows up to three M codes to be specified in one block.
However, some M codes cannot be specified at the same time due
to mechanical operation restrictions.
2 The 1st M code can be up to ten digits.
(The allowable number of digits is specified using parameter No.
2030.) The 2nd to 5th M codes can be of up to four digits.
Reference item
Series15i/150i-MB Operator’s Manual II-11.2 1-block multiple M code
(Programming) command
(B-63784EN)
- 757 -
8.4 HIGH-SPEED M/S/T/B INTERFACE
General
To accelerate M/S/T/B function execution, the high-speed M/S/T/B
interface has simplified the transfer of the strobe and completion
signals of the M/S/T/B functions.
Whether to use the usual system or high-speed system for strobe signal
and completion signal handling can be specified by parameter MHI (No.
2004#0).
The description below uses the miscellaneous functions (M code
commands) as an example. The same description applies to the
spindle-speed function (S code), tool function (T code) and 2nd
auxiliary function (B code).
- Basic procedure
(1) Assume that the following program is given:
Mxx;
Myy;
(2) In response to an M command, the NC system sends out the code
signals M00 to M31.
The NC system inverts the logical level of the strobe signal MF,
that is, from "0"to "1", or from "1" to "0".
(3) The CNC system inverts the strobe signal, then when the logical
level of the auxiliary function completion signal MFIN becomes
the same as the strobe signal, the CNC assumes the completion of
PMC sequence.
With the usual method, the operation is assumed to be completed
when a falling edge ("1" to "0") of the M/S/T/B completion signal
FIN is received after a rising edge ("0" to "1") of the FIN signal is
detected. This new system, on the other hand, assumes the
operation has been completed upon detection of only one
transition of the completion signal.
In addition , the usual system uses only one completion signal
(FIN) common to the M/S/T/B functions. This new system uses a
different completion signal for each of the M, S, T, and B
functions; the completion signals for the M, S, T, and B functions
are MFIN, SFIN, TFIN, and BFIN, respectively. The Fig. 8.4 (a)
below shows the timing chart of these signals with the new system.
For comparison, Fig. 8.4 (b) shows the timing chart of the
conventional system.
- 758 -
Next block
Code signal
Mxx Myy
Strobe signal MF
PMC side operation

Miscellaneous function
completion signal MFIN
Fig. 8.4 (a) Timing chart of the high-speed system
Next block
Code signal
Mxx Myy
Strobe signal MF
PMC side operation
Fig. 8.4 (b) Timing chart of the usual system
A high-speed interface can also be used for multiple M commands

issued for one block. This interface provides separate completion
signals for each M code. They are called MFIN (the same name as for
the single M command per block function), MFIN2, MFIN3, MFIN4,
and MFIN5, respectively. The signal transfer sequence for multiple M
codes per block is the same as that for a single M code per block.
Signal
Miscellaneous function completion signal

MFIN<G046#0>
[Function] Reports that the execution of a miscellaneous function using the high-
speed M/S/T/B interface is completed.
[Operation] For the operation and a procedure of the control unit when this signal
turns to "1" and "0", see the description of "Basic procedure" above.
- 759 -
Spindle function completion signal

SFIN<G046#1>
[Function] Reports that the execution of a spindle speed function using the high-
speed M/S/T/B interface is completed.
[Operation] For the operation and procedure of the control unit when this signal
Tool function completion signal

TFIN<G046#2>
[Function] Reports that the execution of a tool function using the high-speed
M/S/T/B interface is completed.
2nd auxiliary function completion signal

BFIN<G046#3>
[Function] Reports that the execution of a second auxiliary function using the
high-speed M/S/T/B interface is completed.
M function completion signals

MFIN2<G047#1>/MFIN3<G047#2>/MFIN4<G047#3>/MFIN5<G047#4>
[Function] Indicate that when the high-speed interface is used for multiple M
commands per block, the second to fifth M functions have been
completed.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G046 BFIN TFIN SFIN MFIN
#7 #6 #5 #4 #3 #2 #1 #0
G047 MFIN5 MFIN4 MFIN3 MFIN2
- 760 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2004 MHI

[Data type] Bit
#0 MHI The strobe and completion signals for the M, S, T, or B codes are
transmitted in the:
0: Normal system.
1: High-speed system.
Note
NOTE
1 The strobe signals MF, SF, TF, and BF are "0" when
the power is turned on.
2 When the control unit is reset, MF, SF, TF, and BF
are set to "0".
3 This function is not used for the FFIN and FIN
signals which are the completion signals for spindle
stop command signal SSP and reserve spindle
rotation command signal SSV for canned cycles.
These signals are transferred using the normal
method.
4 This function is not used for the FIN signal which is
the completion signal for the external operation
signal EF sent by G81 to specify an external
operation command. These signals are transferred
using the normal method.
Reference item
Series15i/150i- Connection Manual 8.1 Miscellaneous
MODEL B (This manual) function/second
auxiliary function
8.3 1-block multiple M code
command
11.7 External motion function
- 761 -
9.SPINDLE FUNCTION B-63783EN-1/01
9 SPINDLE FUNCTION
CAUTION
The signal notations used in this section are
explained below:
The names of DI/DO signals for each spindle are

followed by one of the following alphabetic characters
to indicate a spindle number:
First spindle : A
Second spindle : B
Third spindle : C
Fourth spindle : D
Example : Actual spindle speed signals

First spindle : AR0A to AR15A
Second spindle : AR0B to AR15B
Third spindle : AR0C to AR15C
Fourth spindle : AR0D to AR15D
In the explanations of signal functions, "s" that
appears as shown below indicates an alphabetic
character that denotes the spindle number
15
{ }
Speed＝å 2 i × ARi s ÷ 10 N min -1
i =0
For the first spindle, the speed is expressed as
follows:
15
{ }
Speed＝å 2 i × ARi A ÷ 10 N min -1
i =0
- 762 -
B-63783EN-1/01 9.SPINDLE FUNCTION
9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT)
General
When up to ten digits are specified after address S, code and strobe
signals are sent out and used to control the spindle speed. The code
signals areretained until another S code is issued.
One S code is used for each block. Parameter No. 2031 can be used to
specify the maximum number of digits. If a number greater than the
maximum number is specified, an alarm can be raised.
Signal
Spindle function code signal S0-S31<F020-F023>

Spindle function strobe signal SF<F008#1>
Finish signal FIN<G005#1>
See Sec. 8.1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
F008 SF
F020 S7 S6 S5 S4 S3 S2 S1 S0
F021 S15 S14 S13 S12 S11 S10 S9 S8
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2003 SSN

[Data type] Bit
#1 SSN Specifies whether a minus (-) can be used in an S code.

0: Cannot be used
1: Can be used
NOTE
To enable the use of a minus (-) in an S code, the allowable
number of digits in an S code must be nine or less.
- 763 -
2031 Allowable number of digits in an S code

[Data type] Integer
Specify the allowable number of digits in an S code.
NOTE
To set the allowable number of digits in an S code to 10, the use
of a minus "-" in an S code must be disabled.
Note
NOTE
1 When a move command and miscellaneous
function are specified in the same block, the
commands are executed in one of the following two
ways:
(1) Simultaneous execution of the move command
and miscellaneous function commands.
(2) Executing miscellaneous function commands
upon completion of move command execution.
The selection of either sequence depends on the
PMC processing sequence.
2 For S code output when the spindle serial
output/spindle analog output is used, refer to section
9.3.
Reference item
Series15i/150i- Connection Manual 8.1 Miscelaneous
auxiliary function
- 764 -
9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT
General
There are two types of spindle motor control interfaces, spindle serial
output and spindle analog output.
The spindle serial output interface can control four serial spindles. The
spindle analog output interface can control one analog spindle.
- Spindle control interface and spindle configuration

Spindle serial Spindle First spindle Second spindle Third spindle Fourth spindle
output analog output motor motor motor motor
Can be used Can be used First serial spindle Second serial Analog spindle __
The PC can be spindle The PC cannot be
used. The PC can be used.
used.
Can be used Can not be First serial spindle Second serial Third serial spindle Fourth serial spindle
used The PC can be spindle The PC can be The PC can be
used. The PC can be used. used.
used.
Can not be Can be used Analog spindle __ __ __
used The PC can be
used.
Can not be Can not be No spindle (Control is performed by the PMC through an external interface.)
used used
* PC = Position coder
- Spindles and available functions

Spindle Serial spindle Analog spindle
First, second, third, When used as the first When used as the third
Function and fourth serial spindle (with no serial SP) spindle (with a serial SP)
spindles
Thread cutting/feed per revolution
Can be used Can be used Can not be used
(synchronous feed) (NOTE1)
Constant surface speed control
Can be used Can be used Can be used
(NOTE1)
Spindle speed fluctuation
Can be used Can be used Can not be used
detection (NOTE1)
Actual spindle speed output Can be used Can be used Can not be used
Spindle positioning Can be used Can be used Can not be used
Cs contour control Can be used Can not be used Can not be used
Rigid tapping (NOTE1) Can be used Can be used Can not be used
Spindle control unit functions
(NOTE 2), such as spindle
orientation, spindle Can be used Can be used Can be used
output switching, spindle
switching, and etc.
- 765 -
NOTE
1 Using parameter No. 5850, select the spindle to be
controlled. Each function controls a selected
spindle.
2 These functions are provided by the spindle control
unit. Whether these functions are actually available
depends on whether the spindle control unit supports
these functions.
- Associating spindles with spindle motors

Spindles are associated with spindle motors as explained below.
1. Spindle numbers and motor numbers

Spindle numbers indicate the spindle sequence. Parameters and
DI/DO signals for spindles are arranged in the order of spindle
sequence number. Spindle numbers are assigned sequentially
from 1 to the maximum number of spindles. Motor numbers
indicate the motor sequence. The motor numbers are determined
as shown below, depending on how the CNC and motors are
connected.
2. Setting
When only serial spindles are connected
Motor number 1 First

serial
path
Motor number 2
CNC
Motor number 3 Second

serial
path
Motor number 4
When only an analog spindle is connected
Motor number 1
CNC
- 766 -
When both serial and analog spindles are connected
Motor number 1 (serial) First

serial
path
CNC Motor number 2 (serial)
Motor number 3 (analog)
For each spindle, set the type of motor in bit 0 (A/S) of parameter
No. 5606, and the motor number in parameter No. 5841. Make the
settings in the order of the spindle numbers without inserting a
space. For any spindles that are not used, set their motor numbers
to 0.
Example1 : Using one serial spindle

1st 2nd 3rd 4th
Parameter
spindle spindle spindle spindle
5606#A/S 1 0 0 0
5841 1 0 0 0
Example 2 : Using four serial spindles

1st 2nd 3rd 4th
Parameter
5606#A/S 1 1 1 1
5841 1 2 3 4
Example 3 : Using one analog spindle

1st 2nd 3rd 4th
Parameter
5606#A/S 0 0 0 0
5841 1 0 0 0
Example 4 : Using two serial spindles and one analog spindle

1st 2nd 3rd 4th
Parameter
5606#A/S 1 1 0 0
5841 1 2 3 0
Example 5 : Using one serial spindle and one analog spindle

1st 2nd 3rd 4th
Parameter
5606#A/S 1 0 0 0
5841 1 3 0 0
- 767 -
- Selecting a spindle to be controlled

When there are two or more spindles, you must select a spindle that is
currently controlled by the CNC.
The spindle to be controlled is:
(1) Spindle for which the spindle speed is displayed on a screen such
as the position display screen or program check screen.
(2) Target spindle for an S command, threading, feed per revolution,
constant surface speed control, rigid tapping, canned cycle,
spindle speed fluctuation detection, and so forth.
Set the spindle number of a spindle to be controlled in parameter No.

5850.
CAUTION
Before rewriting this parameter during automatic
operation, always use the M code set in parameter
Nos. 2411 to 2420 which is used as a non-buffering
M code. Always rewrite the parameter in the non-
buffering state.
- Differences in controlling spindle control units

When controlling the spindle control units directly, there are
differences between spindle serial output and spindle analog output, as
follows:
Spindle control unit for spindle serial Spindle control unit for spindle analog output
output interface interface
Parameters for the Specified as CNC parameters (3000 to Directly specified for the spindle control unit
spindle control unit 3393)
Used after being transferred to the spindle
control unit
Control signal for the Connected to the PMC via the CNC Connected to the PMC via an external contact
spindle control unit Addresses for the first spindle Connected to the PMC via an external contact
Control signal for the G200 to 201
spindle control unit G226 to 229
F228 to 231
Addresses for the second spindle
G202 to 203
G234 to 237
F244 to 247
Addresses for the third spindle
G204 to 205
G210 to 213
F196 to 199
Addresses for the third spindle
G204 to 205
G210 to 213
F196 to 199
Spindle speed Digital data in a range from 0 to ± maximum Analog voltage from 0 to ±10 V (excluding portion for
command interface spindle motor speed offset voltage adjustment)
Position coder Connected to the CNC via the spindle Connected directly to the CNC
interface control unit
- 768 -
Signal
Spindle control unit signals for the serial spindle

<G200 to G201><G226 to G229><F228 to F231>:for the first serial spindle
<G202 to G203><G234 to G237><F244 to F247>:for the second serial spindle
<G204 to G205><G210 to G213><F196 to F199>:for the third serial spindle
<G206 to G207><G218 to G221><F212 to F215>:for the fourth serial spindle
These addresses are on the CNC. Actually, however, they are
input/output signals for the spindle control unit for the serial spindle.
For details of the signals belonging to these addresses, refer to the
manuals for the serial spindle:
FANUC SERVO AMPLIFIER αi series Descriptions (B-65282EN)
FANUC AC SPINDLE MOTOR αi series Descriptions (B-65272EN)
FANUC SERVO MOTOR αi series Maintenance Manual (B-65285EN)
Spindle control confirmation signal SPN0,SPN1,SPN2<F155#4,#5,F154#6>

[Function] Posts the currently selected spindle number. This signal consists of
three binary code output signals. A spindle number and the signal have
the following relationship:
Spindle number =
2
{i
å 2 × SPN i
i =0
}
[Output condition] This signal is always output.
Example: When changing the spindle selection during automatic
operation
M61: M code selecting the first spindle
M62: M code selecting the second spindle
Before using these M codes, set them in parameter Nos. 2411 to 2420
as M codes for non-buffering.
When M61 or M62 is output, the PMC switches from one spindle to
another. An example of switching between spindles is explained
below:
1 Change those portions that require mechanical switching.
2 Change the data used for, for example, spindle speed calculation
(such as the number of gear stages, and the minimum/maximum
speed for each gear).
3 Change the signals input/output to and from the CNC (such as the
spindle speed command signal and spindle motor command
voltage signal).
4 Change the setting of parameter No. 5850 for spindle selection by
using functions such as the NC window function.
5 After completing all the processing required for spindle switching,
return completion signal FIN for M61 or M62.
- 769 -
M61 ; .........................................................Select 1st spindle
1st spindle controlled

M03 ;
G01 G95 F1. S1000 ; ................................Feed per revolution
G91 X100. ;
G94 S0 ;
M05 ;
G84.2 X10. Z-30. R-10. F100. S100 ;.......Rigid tapping
G80 ;
M62 ; .........................................................Select 2nd spindle

M04 ;
2nd spindle controlled

G01 G95 F2. S2000 ; ................................Feed per revolution
G91 X200. ;
G94 S0 ;
M05 ;
G84.3 X10. Z-30. R-10. F200. S200 ;.......Rigid tapping
G80 ;
Timing chart
M61 M62
M command
M61/M62
Strobe signal
MF
Spindle switch
processing
Auxiliary function completion
signal FIN
Spindle control confirmation
signal SPN0,SPN1,SPN2 1 2
Spindle selection
Parameter (No. 5850) 1 2
- 770 -
Signal address
- Common to analog and serial spindles

#7 #6 #5 #4 #3 #2 #1 #0
F154 SPN2
F155 SPN1 SPN0
- For 1st SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G200
G201
G226 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
G227 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G228 MPOFA SLVA
G229 INCMDA OVRIDA NRROA ROTAA INDXA
F228 SLVSA RCFNA RCHPA CFINA CHIPA
F229 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
F230
F231 INCSTA PC1DEA
- For 2nd SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G202
G203
G234 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
G235 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB
G236 MPOFB SLVB
G237 INCMDB OVRIDB NRROB ROTAB INDXB
F244 SLVSB RCFNB RCHPB CFINB CHIPB
F245 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB
F246
F247 INCSTB PC1DEB
- 771 -
- For 3rd SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G204
G205
G210 RCHC RSLC INTGC SOCNC MCFNC SPSLC *ESPC ARSTC
G211 MRDYC ORCMC SFRC SRVC CTH1C CTH2C TLMHC TLMLC
G212 MPOFC SLVC
G213 INCMDC OVRIDC NRROC ROTAC INDXC
F196 SLVSC RCFNC RCHPC CFINC CHIPC
F197 ORARC TLMC LDT2C LDT1C SARC SDTC SSTC ALMC
F198
F199 INCSTC PC1DEC
- For 4th SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G206
G207
G218 RCHD RSLD INTGD SOCND MCFND SPSLD *ESPD ARSTD
G219 MRDYD ORCMD SFRD SRVD CTH1D CTH2D TLMHD TLMLD
G220 MPOFD SLVD
G221 INCMDD OVRIDD NRROD ROTAD INDXD
F212 SLVSD RCFND RCHPD CFIND CHIPD
F213 ORARD TLMD LDT2D LDT1D SARD SDTD SSTD ALMD
F214
F215 INCSTD PC1DED
- 772 -
Parameter
- Setting spindle motor and spindle number
#7 #6 #5 #4 #3 #2 #1 #0
5606 A/S

#0 A/S Specifies whether the spindle is an analog spindle or serial spindle.

0: Analog spindle
1: Serial spindle
5841 Motor number of each spindle

Set a motor number to be assigned to each spindle.
0: Uses no subsequent spindle numbers.
1: Uses the motor of motor number 1.
5845 Suffix for serial spindle (main spindle) or analog spindle display

Set a suffix for spindle speed display on a screen such as the position display
screen.
Setting Character used as suffix
0, 32 Blank
1 to 9, 48 to 57 Numeric 0 to 9
65 to 90 Uppercase letter A to Z
97 to 122 Lowercase letter a to z
- 773 -
5846 Suffix for serial spindle (sub-spindle) display

Set a suffix for spindle speed display on a screen such as the position display
screen.
Setting Character used as suffix
0, 32 Blank
1 to 9, 48 to 57 Numeric 0 to 9
65 to 90 Uppercase letter A to Z
97 to 122 Lowercase letter a to z
5850 Spindle number to be selected upon power-up/reset

[Data type] Integer
Set a spindle number to be selected upon power-up/reset.
A selected spindle is used as:
- Spindle displayed on a screen such as the position display screen and program
check screen
- Spindle used for an S command, feed per revolution, constant surface speed
control, threading, canned cycles, rigid tapping, and spindle speed detection
NOTE
To rewrite this parameter during automatic operation, always use
a non-buffered M code set in parameter Nos. 2411 to 2420 so
that rewriting is performed in the non-buffering state.
- 774 -
- Connecting an analog spindle control unit
5613 Compensation value for the offset voltage of the spindle speed analog
output

[Unit of data] Velo
Set the compensation value for the offset voltage of the spindle speed analog
output.
[Adjustment] To make adjustment, follow the procedure explained below:

(1) Set the standard setting 0.
(2) Specify the spindle speed at which the spindle speed analog output becomes 0.
(3) Measure the output voltage.
(4) Set the value obtained from the following equation in the parameter.
− 8191× measured voltage(V)

Setting =
12.5
(5) After setting the parameter, specify the spindle speed again at which the
spindle speed analog output becomes 0, then check that the output voltage is 0
V.
- 775 -
5614 Data for adjusting the gain of the spindle speed analog output

Set data for adjusting the gain of the spindle speed analog output.
[Adjustment] Make adjustment by following the procedure explained below:

(1) Set the standard setting to 800.
(2) Specify the spindle speed at which the spindle speed analog output voltage is
maximized (10 V).
10(V)
Setting = × 800
Measured voltage (V)
spindle speed analog output voltage is maximized, then check that the output
voltage is 10 V.
- Connecting a serial spindle control unit

#7 #6 #5 #4 #3 #2 #1 #0
5603 APW

#3 APW Specifies whether to transfer parameter No. 3020 through No. 3031 or
parameter No. 3000 through 3393 from the CNC to the spindle amplifier
when a serial spindle is used.
0: Transfer parameter No. 3020 through No. 3031.
1: Transfer parameter No. 3000 through No. 3393.
Set 1 only for serial spindle adjustment.
- 776 -
#7 #6 #5 #4 #3 #2 #1 #0
5607 PLD

#0 PLD Specifies whether the spindle parameters for the serial spindle are
automatically set when power is turned on.
0: Automatically set.
1: Not automatically set.
If this parameter is set to 0 after a motor model code is set, the standard
values matching the motor model are set in the parameters at the next
power-on time, and this parameter is set to 1.
3133 Motor model code (main spindle)

Specify a motor model code when setting initial parameters for the serial spindle.
3309 Motor model code (sub-spindle)

Specify a motor model code when setting initial parameters for the serial spindle.
- Parameters for a serial spindle control unit
Parameters Nos. 3000 to 3393: For serial spindles

The above parameters are stored on the CNC and actually used by the
spindle control units for serial spindles.
For details of the parameters with these numbers, refer to the following
serial spindle manuals:
- "FANUC AC SPINDLE MOTOR αi series Parameter Manual
(B-65280EN)"
- "FANUC SERVO MOTOR αi series Maintenance Manual
(B-65285E)"
The numbers of the parameters stored on the CNC correspond to the
numbers of the parameters on each spindle control unit for serial
spindles, as listed in the following tables.
- 777 -
- When the spindle switch function is not used

- Main spindle at spindle switching
CNC side Spindle side Description

3000 Bit parameter (NOTE1)
000
001
002
003
004
005
006
007
008
009
3020 010 Maximum motor speed
3021 011 Maximum speed in Cs contour control mode
3022 012 Speed arrival detection level
3023 013 Speed detection level
3024 014 Zero speed detection level
3025 015 Limited torque setting
3026 016 Load detection level 1
3028 018 Limited output pattern setting
3029 019 Output limit
3030 020 Soft start/stop setting time
3031 021 Stop position in orientation by a position coder
3032 022 Acceleration/deceleration time constant in spindle synchronization mode
3033 023 Spindle speed to be detected in synchronization
3034 024 Shift for synchronous control of the spindle phase
3035 025 Compensation data for spindle phase synchronization
3036 026 Feed-forward factor
3037 027 Feed-forward factor for the velocity loop
3038 028 Orientation speed
3039 029 Compensation gain for slip
3040 030 Proportional gain of the velocity loop in normal operation mode (high-speed gear)
3041 031 Proportional gain of the velocity loop in normal operation mode (low-speed gear)
3042 032 Proportional gain of the velocity loop in orientation (high-speed gear)
3043 033 Proportional gain of the velocity loop in orientation (low-speed gear)
3044 034 Proportional gain of the velocity loop in servo mode/synchronization control mode
(high-speed gear)
3045 035 Proportional gain of the velocity loop in servo mode/synchronization control mode
(low-speed gear)
- 778 -

3046 036 Proportional gain of the velocity loop in Cs contour control mode (high-speed gear)
3047 037 Proportional gain of the velocity loop in Cs contour control mode (low-speed gear)
3048 038 Integral gain of the velocity loop in normal operation mode (high-speed gear)
3049 039 Integral gain of the velocity loop in normal operation mode (low-speed gear)
3050 040 Integral gain of the velocity loop in orientation (high-speed gear)
3051 041 Integral gain of the velocity loop in orientation (low-speed gear)
3052 042 Integral gain of the velocity loop in servo mode/synchronization control mode
(high-speed gear)
3053 043 Integral gain of the velocity loop in servo mode/synchronization control mode (low-
speed gear)
3054 044 Integral gain of the velocity loop in Cs contour control mode (high-speed gear)
3055 045 Integral gain of the velocity loop in Cs contour control mode (low-speed gear)
3056 046 Gear ratio (high-speed gear)
3057 047 Gear ratio (medium high-speed gear)
3058 048 Gear ratio (medium low-speed gear)
3059 049 Gear ratio (low-speed gear)
3060 050 Position gain in orientation (high-speed gear)
3061 051 Position gain in orientation (medium high-speed gear)
3062 052 Position gain in orientation (medium low-speed gear)
3063 053 Position gain in orientation (low-speed gear)
3064 054 Rate of change in position gain upon completion of orientation
3065 055 Position gain in servo mode/synchronization control mode (high-speed gear)
3066 056 Position gain in servo mode/synchronization control mode (medium-speed high
gear)
3067 057 Position gain in servo mode/synchronization control mode (medium low-speed
gear)
3068 058 Position gain in servo mode/synchronization control mode (low-speed gear)
3069 059 Position gain in Cs contour control mode (high-speed gear)
3070 060 Position gain in Cs contour control mode (medium high-speed gear)
3071 061 Position gain in Cs contour control mode (medium low-speed gear)
3072 062 Position gain in Cs contour control mode (low-speed gear)
3073 063 Grid shift in servo mode
3074 064 Feedrate for reference position return in Cs contour control mode/servo mode
3075 065 Detection level for the orientation completion signal
3076 066 Motor speed limit in orientation
3077 067 Stop position shift in orientation by a position coder
3078 068 MS signal constant
3079 069 MS signal gain adjustment
3080 070 Regenerative power limit
3081 071 Motor power stop delay
3082 072 Acceleration/deceleration time setting
3083 073 Motor voltage setting in normal rotation mode
3084 074 Motor voltage setting in orientation
3085 075 Motor voltage setting in servo mode/synchronization control mode
3086 076 Motor voltage setting in Cs contour control mode
3087 077 Acceleration level
3088 078 Level for detecting excess velocity deviation when the motor is restrained
3089 079 Level for detecting excess velocity deviation when the motor can rotate
3090 080 Overload detection level
3091 081 Rate of change in position gain at reference position return in servo mode
- 779 -

3092 082 Rate of change in position gain at reference position return in Cs contour control
mode
3093 083 Estimated-acceleration constant
3094 084 Disturbance torque compensation constant
3095 085 Adjusted output voltage of the speedometer
3096 086 Adjusted output voltage of the load meter
3097 087 Feedback gain of the spindle speed
3098 088 Maximum one-rotation signal detectable speed
3099 089 Motor activation delay
3100 090 Base speed for motor output specification
3101 091 Output limit for motor output specification
3102 092 Base speed
3103 093 Speed at which decrease in magnetic flux begins
3104 094 Proportional gain data of current loop
3105 095 Proportional gain data of current loop in Cs contour control mode
3106 096 Integral gain data of current loop
3107 097 Integral gain data of current loop in Cs contour control mode
3108 098 Velocity at which current loop integral gain is zero
3109 099 Velocity factor for integral gain of current loop
3110 100 Current conversion constant
3111 101 Secondary current factor for activating current
3112 102 Expected-current constant
3113 103 Slip constant
3114 104 Compensation constant for high-speed-rotation slip
3115 105 Compensation constant for voltage applied to motor in the dead zone
3116 106 Compensation factor for electromotive force
3117 107 Compensation factor for the phase of electromotive force
3118 108 Velocity factor to correct electromotive force
3119 109 Time constant for the voltage filter to correct electromotive force
3120 110 Dead zone compensation data
3121 111 Time constant for changing the torque
3122 112 Time constant for the velocity detecting filter
3123 113 Short overload detection time
3124 114 Voltage compensation factor at deceleration
3125 115 Timer setting for automatic operation
3126 116 Velocity command in automatic operation mode
3127 117 Load meter indication at maximum output
3128 118 Velocity at which the maximum output limit is zero
3129 119 Secondary current factor for rigid tapping
3130 120 Compensation constant for the phase of electromotive force at deceleration
3131 121 Time constant for the velocity detecting filter in Cs contour control mode
3132 122 Current conversion constant for the V phase
3133 123 Motor model code (main spindle)
124
3134 (NOTE 2)
125
126
3135 Grid shift in Cs contour control mode (NOTE 2)
127
- 780 -
- When the spindle switch function is not used

- For low-speed characteristics of the output switch function for the main spindle at
spindle switching
3137 129 Motor voltage setting in servo mode/synchronization control mode
3140 132 Base speed
3141 133 Speed at which a decrease in magnetic flux begins
3142 134 Proportional gain data of the current loop
3143 135 Integral gain data of the current loop
3144 136 Velocity at which the current loop integral gain is zero
3145 137 Velocity factor for the integral gain of the current loop
3155 147 Voltage compensation factor at deceleration
3156 148 Compensation gain for slip
3158 150 Velocity at which the maximum output limit is zero
3160 152 Hysteresis for the speed detection level
3162 154 Integral gain of the velocity loop in Cs contour control cutting feed mode (high-speed
gear)
3163 155 Integral gain of the velocity loop in Cs contour control cutting feed mode
(low-speed gear)
3164 156 Current conversion constant for the V phase
3165 157 Time constant for the voltage filter to correct electromotive force
3167 159
3168 160 Overload current alarm detection level (for low-speed characteristics)
3169 161 Time constant for overload current alarm detection
3170 162 Overload current alarm detection level (for high-speed characteristics)
3171 163 Number of teeth on the spindle gear in optional gear data (high-speed gear)
3172 164 Number of teeth on the position detector gear in optional gear data (high-speed
gear)
3173 165 Number of teeth on the spindle gear in optional gear data (low-speed gear)
3174 166 Number of teeth on the position detector gear in optional gear data (low-speed gear)
3175 167 Zero level of spindle analog input voltage override
- 781 -
- Sub-spindle at spindle switching

168
169
170
171
172
173
174
175
176
177
3196 178 Maximum motor speed
3197 179 Speed arrival detection level
3198 180 Speed detection level
3199 181 Zero speed detection level
3200 182 Limited torque setting
3202 184 Limited output pattern setting
3203 185 Output limit
3204 186 Stop position in orientation by a position coder
3205 187 Orientation speed
3206 188 Proportional gain of velocity loop in normal operation mode (high-speed gear)
3207 189 Proportional gain of velocity loop in normal operation mode (low-speed gear)
3208 190 Proportional gain of velocity loop in orientation (high-speed gear)
3209 191 Proportional gain of velocity loop in orientation (low-speed gear)
3210 192 Proportional gain of velocity loop in servo mode (high-speed gear)
3211 193 Proportional gain of velocity loop in servo mode (low-speed gear)
3212 194 Integral gain of velocity loop in normal operation mode
3213 195 Integral gain of velocity loop in orientation
3214 196 Integral gain of velocity loop in servo mode
3215 197
3216 198 Gear ratio (high-speed gear)
3217 199 Gear ratio (low-speed gear)
3218 200 Position gain in orientation (high-speed gear)
3219 201 Position gain in orientation (low-speed gear)
3220 202 Rate of change in position gain upon completion of orientation
3221 203 Position gain in servo mode (high-speed gear)
3222 204 Position gain in servo mode (low-speed gear)
3223 205 Grid shift in servo mode
3224 206
3225 207
3226 208 Detection level for the orientation completion signal
3227 209 Motor speed limit in orientation
- 782 -

3228 210 Stop position shift in orientation by a position coder
3229 211 MS signal constant
3230 212 MS signal gain adjustment
3232 214 Motor power stop delay
3233 215 Acceleration/deceleration time setting
3234 216 Observer gain for the spindle load monitor 1
3235 217 Observer gain for the spindle load monitor 2
3237 219 Motor voltage setting in orientation
3238 220 Motor voltage setting in servo mode
3239 221 Rate of change in position gain at reference position return in servo mode
3240 222 Feed-forward factor
3241 223 Feed-forward factor for the velocity loop
3242 224
3243 225 Number of teeth on the spindle gear in optional gear data (high-speed gear)
3244 226 Number of teeth on the position detector gear in optional gear data (high-speed
gear)
3245 227 Number of teeth on the spindle gear in optional gear data (low-speed gear)
3246 228 Number of teeth on the position detector gear in optional gear data (low-speed gear)
3247 229 Time constant for magnetic flux compensation for the spindle load monitor (for main
spindle high-speed characteristics)
3248 230 Torque constant for spindle load monitor (for main spindle high-
speed characteristics)
3249 231 Observer gain for the spindle load monitor 1 (for the main spindle)
3250 232 Observer gain for the spindle load monitor 2 (for the main spindle)
3251 233 Time constant for magnetic flux compensation for the spindle load monitor (for main
spindle low-speed characteristics)
3252 234 Time constant for magnetic flux compensation for spindle load monitor (for high-
3253 235 Time constant for magnetic flux compensation for spindle load monitor (for low-
3254 236 Compensation gain for slip (for high-speed characteristics)
3255 237 Compensation gain for slip (for low-speed characteristics)
3258 240 Base speed
3263 245 Velocity factor for the integral gain of current loop
3274 256 Load meter indication at maximum output
- 783 -

3275 257 Velocity at which maximum output limit is zero
3278 260 Time constant for velocity detection filter
3279 261
3280 262 Time constant for voltage filter to correct electromotive force
3281 263 Torque constant for spindle load monitor (for main spindle low-speed
characteristics)
3282 264 Torque constant for spindle load monitor (for high-speed characteristics)
3283 265 Torque constant for spindle load monitor (for low-speed characteristics)
- 784 -
- For low-speed characteristics of the output switch function for the sub-spindle at
spindle switching
3285 267 Motor voltage setting in servo mode
3288 270 Base speed
3293 275 Velocity factor for integral gain of the current loop
3297 279 Number of slip constant
3301 283 Compensation factor for phase of electromotive force
3304 286 Velocity at which maximum output limit is zero
3306 288 Compensation constant for phase of electromotive force at deceleration
3308 290 Voltage filter time constant for electromotive force correction
3309 291 Motor model code (sub-spindle)
292
3310 (NOTE 2)
293
294
3311 (NOTE 2)
295
3312 296 Width of the completion signal for orientation by position coder 2 (main spindle)
3313 297 Width of the completion signal for orientation by magnetic sensor 1 (main spindle)
3314 298 Width of the completion signal for orientation by magnetic sensor 2 (main spindle)
3315 299 Stop position shift in orientation by a magnetic sensor (main spindle)
3316 300 Width of the completion signal for orientation by position coder 2 (sub-spindle)
3317 301 Width of the completion signal for orientation by magnetic signal 1 (sub-spindle)
3318 302 Width of the completion signal for orientation by magnetic signal 2 (sub-spindle)
3319 303 Stop position shift in orientation by a magnetic sensor (sub-spindle)
3320 304 Spindle orientation deceleration constant (main spindle/high-speed gear)
3321 305 Spindle orientation deceleration constant (main spindle/medium high-speed gear)
3322 306 Spindle orientation deceleration constant (main spindle/medium low-speed
gear)
3323 307 Spindle orientation deceleration constant (main spindle/low-speed gear)
3324 308 Spindle orientation deceleration constant (sub-spindle/high-speed gear)
3325 309 Spindle orientation deceleration constant (sub-spindle/low-speed gear)
3326 310 Width of the deceleration switch pulse for spindle orientation (main spindle)
3327 311 Width of deceleration switch pulse for spindle orientation (sub-spindle)
3328 312 Command multiplication for orientation by a position coder (main spindle)
3329 313 Command multiplication for orientation by a position coder (sub-spindle)
3330 314 Motor activation delay in spindle orientation (main spindle)
3331 315 Motor activation delay in spindle orientation (sub-spindle)
- 785 -

3332 316
3333 317
3334 318 Speed detector optional pulse (main spindle)
3335 319 Speed detector optional pulse (sub-spindle)
320 Magnetic flux switching point for calculating the time constant for spindle
3336
acceleration/deceleration in synchronization
3337 321 Velocity compensation factor for velocity loop gain (main spindle)
3338 322 Velocity compensation factor for velocity loop gain (sub-spindle)
3339 323 Torque clamp level
3340 324 Time constant for bell-shaped acceleration/deceleration in the spindle
synchronization mode
3341 325 Abnormal load detection level
3342 326
3343 327
3344 328 Advanced feed-forward factor
3345 329 Detection level for the spindle motor velocity command
3346 330 Incomplete integral factor
3347 331 Level for detecting the speed difference between spindles 1 and 2 in master-slave
operation mode
3348 332 Overload current alarm detection level (for low-speed characteristics)
3349 333 Time constant for overload current alarm detection
3350 334 Overload current alarm detection level (for high-speed characteristics)
3351 335 Current detection offset compensation
- 786 -
- For expansion
3352 Bit parameter (NOTE 1)
336
3353 Bit parameter (NOTE 1)
3354 337
3355 338
3356 339
3357 340
3358 341
3359 342
3360 343
3361 344
3362 345
3363 346
3364 347
3365 348
3366 349
3367 350
3368 351
3369 352
3370 353
3371 354
3372 355
356
3375 357
3376 358
3377 359
3378 360
3379 361
3380 362
3381 363
3382 364
3383 365
3384 366
3385 367
3386 368
3387 369
3388 370
3389 371
3390 372
3391 373
3392 374
3393 375
- 787 -
Note 1)
The data list at the CNC side corresponds to that at the spindle side, as
follows:
CNC parameter numbers : Cn, Cn+1
Spindle parameter number : Sm
Sm Cn Cn+1
Note 2)
The data list at the CNS side corresponds to that at the spindle side, as
follows:
CNC parameter number : Cm
Spindle parameter numbers : Sn, Sn+1
Cm Sn Sn+1
Alarm and message
- PS alarm
PS0223 ILLEGAL SPINDLE SELECT An attempt was made to execute an instruction that uses
the spindle although the spindle to be controlled has not
been set correctly.
- SP alarm
SP0001 SSPA:01 MOTOR OVERHEAT An alarm (AL-01) occurred on the spindle amplifier unit
For details, refer to the Serial Spindle User's Manual.
SP0002 SSPA:02 EX DEVIATION SPEED An alarm (AL-02) occurred on the spindle amplifier unit
SP0003 SSPA:03 DC-LINK FUSE IS BROKEN An alarm (AL-03) occurred on the spindle amplifier unit
SP0004 SSPA:04 POWER SUPPLY ERROR An alarm (AL-04) occurred on the spindle amplifier unit
SP0005 SSPA:XX DECODED ALARM An alarm (AL-05) occurred on the spindle amplifier unit
SP0007 SSPA:07 OVER SPEED An alarm (AL-07) occurred on the spindle amplifier unit
SP0009 SSPA:09 OVERHEAT MAIN CIRCUIT An alarm (AL-09) occurred on the spindle amplifier unit
SP0010 SSPA:10 LOW VOLT INPUT POWER An alarm (AL-10) occurred on the spindle amplifier unit
SP0011 SSPA:11 OVERVOLT POWER An alarm (AL-11) occurred on the spindle amplifier unit
CIRCUIT For details, refer to the Serial Spindle User's Manual.
SP0012 SSPA:12 OVERCURRENT POWER An alarm (AL-12) occurred on the spindle amplifier unit
SP0013 SSPA:13 CPU DATA MEMORY An alarm (AL-13) occurred on the spindle amplifier unit
FAULT For details, refer to the Serial Spindle User's Manual.
SP0014 SSPA:XX DECODED ALARM SP0014
An alarm (AL-14) occurred on the spindle amplifier unit
- 788 -

SP0015 SSPA:15 SPINDLE SWITCHING An alarm (AL-15) occurred on the spindle amplifier unit
FAULT For details, refer to the Serial Spindle User's Manual.
SP0016 SSPA:16 RAM ERROR An alarm (AL-16) occurred on the spindle amplifier unit
SP0018 SSPA:18 SUMCHECK ERROR SP0018
PROGRAM ROM An alarm (AL-18) occurred on the spindle amplifier unit
SP0019 SSPA:19 EXCESS OFFSET An alarm (AL-19) occurred on the spindle amplifier unit
CURRENT U For details, refer to the Serial Spindle User's Manual.
SP0020 SSPA:20 EXCESS OFFSET An alarm (AL-20) occurred on the spindle amplifier unit
CURRENT V For details, refer to the Serial Spindle User's Manual.
SP0024 SSPA:24 SERIAL TRANSFER An alarm (AL-24) occurred on the spindle amplifier unit
ERROR For details, refer to the Serial Spindle User's Manual.
SP0025 SSPA:25 SERIAL TRANSFER STOP An alarm (AL-25) occurred on the spindle amplifier unit
SP0026 SSPA:26 DISCONNECT CS An alarm (AL-26) occurred on the spindle amplifier unit
VELOCITY DETECTOR For details, refer to the Serial Spindle User's Manual.
SP0027 SSPA:27 DISCONNECT POSITION An alarm (AL-27) occurred on the spindle amplifier unit
CODER For details, refer to the Serial Spindle User's Manual.
SP0028 SSPA:28 DISCONNECT CS An alarm (AL-28) occurred on the spindle amplifier unit
POSITION DETECTOR For details, refer to the Serial Spindle User's Manual.
SP0029 SSPA:29 OVERLOAD An alarm (AL-29) occurred on the spindle amplifier unit
SP0030 SSPA:30 OVERCURRENT INPUT An alarm (AL-32) occurred on the spindle amplifier unit
SP0031 SSPA:31 MOTOR LOCK OR An alarm (AL-31) occurred on the spindle amplifier unit
DISCONNECT DETECTOR For details, refer to the Serial Spindle User's Manual.
SP0032 SSPA:32 SIC-LSI RAM FAULT An alarm (AL-32) occurred on the spindle amplifier unit
SP0033 SSPA:33 SHORTAGE POWER An alarm (AL-33) occurred on the spindle amplifier unit
CHARGE For details, refer to the Serial Spindle User's Manual.
SP0034 SSPA:34 ILLEGAL PARAMETER An alarm (AL-34) occurred on the spindle amplifier unit
SP0035 SSPA:35 ILLEGAL GEAR RATIO An alarm (AL-35) occurred on the spindle amplifier unit
PARAMETER For details, refer to the Serial Spindle User's Manual.
SP0036 SSPA:36 OVERFLOW ERROR An alarm (AL-36) occurred on the spindle amplifier unit
COUNTER For details, refer to the Serial Spindle User's Manual.
SP0037 SSPA:37 ILLEGAL SETTING An alarm (AL-37) occurred on the spindle amplifier unit
VELOCITY DETECTOR For details, refer to the Serial Spindle User's Manual.
SP0039 SSPA:39 ILLEGAL 1REV SIGN OF CS An alarm (AL-39) occurred on the spindle amplifier unit
DETECTOR For details, refer to the Serial Spindle User's Manual.
SP0040 SSPA:40 NO 1REV SIGN OF CS An alarm (AL-40) occurred on the spindle amplifier unit
DETECTOR For details, refer to the Serial Spindle User's Manual.
SP0041 SSPA:41 ILLEGAL 1REV SIGN OF An alarm (AL-41) occurred on the spindle amplifier unit
POSITION CODER For details, refer to the Serial Spindle User's Manual.
SP0042 SSPA:42 NO 1REV SIGN OF An alarm (AL-42) occurred on the spindle amplifier unit
SP0043 SSPA:43 DISCONNECT POSITION An alarm (AL-43) occurred on the spindle amplifier unit
CODER DEF. SPEED For details, refer to the Serial Spindle User's Manual.
SP0044 SSPA:44 ILLEGAL A/D CONVERT An alarm (AL-44) occurred on the spindle amplifier unit
- 789 -

SP0046 SSPA:46 ILLEGAL 1REV SIGN OF An alarm (AL-46) occurred on the spindle amplifier unit
SCREW CUT For details, refer to the Serial Spindle User's Manual.
SP0047 SSPA:47 ILLEGAL SIGNAL OF An alarm (AL-47) occurred on the spindle amplifier unit
SP0049 SSPA:49 DEF. SPEED IS OVER An alarm (AL-49) occurred on the spindle amplifier unit
VALUE For details, refer to the Serial Spindle User's Manual.
SP0050 SSPA:50 SYNCRONOUS VALUE IS An alarm (AL-50) occurred on the spindle amplifier unit
OVER SPEED For details, refer to the Serial Spindle User's Manual.
SP0051 SSPA:51 LOW VOLT POWER An alarm (AL-51) occurred on the spindle amplifier unit
SP0052 SSPA:52 ITP FAULT 1 An alarm (AL-52) occurred on the spindle amplifier unit
SP0053 SSPA:53 ITP FAULT 2 An alarm (AL-53) occurred on the spindle amplifier unit
SP0054 SSPA:54 OVERCURRENT An alarm (AL-54) occurred on the spindle amplifier unit
SP0055 SSPA:55 ILLEGAL POWER LINE An alarm (AL-55) occurred on the spindle amplifier unit
SP0056 SSPA:56 FAN FOR CONTROL An alarm (AL-56) occurred on the spindle amplifier unit
CIRCUIT IS STOP For details, refer to the Serial Spindle User's Manual.
SP0058 SSPA:58 MAIN CIRCUIT OVERLOAD An alarm (AL-58) occurred on the spindle amplifier unit
SP0059 SSPA:59 FAN STOP An alarm (AL-59) occurred on the spindle amplifier unit
Alarms SP001 to SP099 are detected by control units for serial spindles.
For details of alarms with these numbers, refer to the following serial
spindle manuals:
- "FANUC SERVO AMPLIFIER αi series Descriptions
(B-65282EN)"
- "FANUC SERVO MOTOR αi series Maintenance Manual
(B-65285EN)"

SP0201 MOTOR NUMBER DUPLICATE Two or more of the same motor Nos. other than "0" were
set in parameter No. 5841.
SP0202 SPINDLE SELECT ERROR A spindle No. exceeding the number of spindles were set in
parameter No. 5850.
SP0220 NO SPINDLE AMP. Either the cable connected to a serial spindle amplifier is
broken, or the serial spindle amplifier is not connected.
SP0221 ILLEGAL MOTOR NUMBER The spindle No. and the motor No. are incorrectly matched.
SP0222 CAN NOT USE ANALOG SPINDLE The machine tool does not support analog spindles.
SP0223 CAN NOT USE SERIAL SPINDLE The machine tool does not support digital spindles.
SP0224 ILLEGAL SPINDLE-POSITION The spindle-position coder gear ratio was incorrect.
CODER GEAR RATIO
SP0225 CRC ERROR (SERIAL SPINDLE) A CRC error (communications error) occurred in
communications between the CNC and the serial spindle
amplifier.
SP0226 FRAMING ERROR (SERIAL A framing error occurred in communications between the
SPINDLE) CNC and the serial spindle amplifier.
SP0227 RECEIVING ERROR (SERIAL A receive error occurred in communications between the
SPINDLE) CNC and the serial spindle amplifier.
- 790 -

SP0228 COMMUNICATION ERROR (SERIAL A communications error occurred between the CNC and
SPINDLE) the serial spindle amplifier.
SP0229 COMMUNICATION ERROR SERIAL A communications error occurred between serial spindle
SPINDLE AMP. amplifiers (motor Nos. 1 and 2, or motor Nos. 3-4).
SP0230 MOTOR NUMBER OUT OF RANGE The setting of parameter No. 5841 is out of range.
SP0231 SPINDLE EXCESS ERROR The position deviation during spindle rotation was greater
(MOVING) than the value set in parameters.
SP0232 SPINDLE EXCESS ERROR (STOP) The position deviation during spindle stop was greater than
the value set in parameters.
SP0233 POSITION CODER OVERFLOW The error counter/speed instruction value of the position
coder overflowed.
SP0234 GRID SHIFT OVERFLOW Grid shift overflowed.
SP0235 ORIENTATION COMMAND The orientation speed is too fast.
OVERFLOW
SP0236 DUPLICATE SPINDLE CONTROL An attempt was made to change the spindle mode during
MODE (CHANGING) spindle mode switching.
MODE (SPOS) the spindle positioning mode.
MODE (RIGID TAP) the rigid tapping mode.
MODE (CS) the Cs contour control mode.
SP0240 DISCONNECT POSITION CODER The analog spindle position coder is broken.
SP0241 D/A CONVERTER ERROR The D/A converter for controlling analog spindles is
erroneous.
SP0968 SSPA:XX DECODED ALARM An alarm occurred in the spindle amplifier unit for the serial
spindle. For details, refer to the Serial Spindle User's
Manual.
SP0969 SPINDLE CONTROL ERROR An error occurred in the spindle control software.
SP0970 SPINDLE CONTROL ERROR Initialization of spindle control ended in error.
SP0974 ANALOG SPINDLE CONTROL An error occurred in the spindle control software.
ERROR
SP0975 ANALOG SPINDLE CONTROL An position coder error was detected on the analog spindle.
ERROR
SP0976 SERIAL SPINDLE COMMUNICATION The amplifier No. could not be set to the serial spindle
ERROR amplifier.
SP0977 SERIAL SPINDLE COMMUNICATION An error occurred in the spindle control software.
ERROR
SP0978 SERIAL SPINDLE COMMUNICATION A time-out was detected during communications with the
ERROR serial spindle amplifier.
SP0979 SERIAL SPINDLE COMMUNICATION The communications sequence was no longer correct
ERROR during communications with the serial spindle amplifier.
SP0980 SERIAL SPINDLE AMP. ERROR Defective SIC-LSI on serial spindle amplifier
SP0981 SERIAL SPINDLE AMP. ERROR An error occurred during reading of the data from SIC-LSI
on the analog spindle amplifier side.
SP0982 SERIAL SPINDLE AMP. ERROR An error occurred during reading of the data from SIC-LSI
on the serial spindle amplifier side.
SP0983 SERIAL SPINDLE AMP. ERROR Could not clear on the spindle amplifier side.
SP0984 SERIAL SPINDLE AMP. ERROR An error occurred during re-initialization of the spindle
amplifier.
SP0985 SERIAL SPINDLE CONTROL ERROR Failed to automatically set parameters
SP0986 SERIAL SPINDLE CONTROL ERROR An error occurred in the spindle control software.
SP0987 SERIAL SPINDLE CONTROL ERROR Defective SIC-LSI on the CNC
SP0996 ILLEGAL SPINDLE PARAMETER Illegal spindle and spindle motor setting
SETTING
- 791 -
Reference item
Series15i/150i- Connection Manual 9.3 Spindle control
FANUC SERVO AMPLIFIER αi series Descriptions B-65282EN
FANUC AC SPINDLE MOTOR αi series Parameter Manual B-65280EN
FANUC AC SPINDLE MOTOR αi series Descriptions B-65272EN
FANUC SERVO MOTOR αi series Maintenance Manual B-65285EN
- 792 -
9.3 SPINDLE CONTROL
General
This section describes spindle speed control. It also explains the
position
coder.
- Command flow of spindle speed control

Outlines of spindle speed control for analog and serial spindles are
shown below.
- 793 -
Analog spindle
Gear change Spindle motor

Position coder mechanism
Spindle Spindle amp. Orientation, gear

switching, addition circuit
Gear selection, Speed arrival signal,

orientation alarm signal, etc.
command, etc.
Return pulse,
one-rotation
signal Operator's
Spindle panel
motor Spindle override, etc.
command
lt
D/A converter Contact point I/O
Spindle voltage
output Spindle
motor
command Command voltage
calculation
Spindle actual Actual spindle

speed watching speed
Feed per Spindle override

revolution, thread
cutting
Gear selection
M M03,M04,M05,M19 M code
command Orientation
S code
S Command spindle
command speed
Constant spindle Spindle speed

speed check
G92 S Maximum spindle

command speed
CNC PMC
- 794 -
Serial spindle
Position coder, Gear change Spindle motor

Cs detector mechanism
Spindle Spindle amp. Gear switching, addition

circuit
Return pulse, Gear selection, Addition circuit, etc.

one-rotation etc.
signal
Spindle motor command Operator's
Return pulse, one-rotation signal voltage data, spindle control panel
Spindle status signal (spindle signal (clutch/gear signal,
arrival signal, alarm signal, etc.) orientation signal, etc.) Spindle override, etc.
Communication Contact point I/O

control Spindle control
signal
Spindle status
Spindle voltage signal
Return pulse, calculation Spindle
one-rotation motor
signal command Command voltage
calculation
Spindle actual Actual spindle

speed watching speed
Feed per Spindle override

revolution, thread
cutting
Gear selection
M M03,M04,M05,M19 M code
command
S code
S Command spindle
command speed
Constant spindle Spindle speed

speed check
G92 S Maximum spindle

command speed
CNC PMC
- 795 -
- S command
The S command specifies the spindle speed entered from machining
programs, etc. for the CNC.
The CNC outputs the specified S command as an S code to the PMC as
is. If constant surface speed control is not performed, the CNC outputs
the specified value to the PMC as is. If constant surface speed control
is being performed, the CNC outputs the value obtained from constant
surface speed control to the PMC as the spindle speed command signal.
- M command
An M command, input from a machining program to the CNC,
specifies spindle control. The CNC outputs the specified M command
as an M code to the PMC as is.
- G92 S command
This command, input from a machining program and so forth to the
CNC, specifies a maximum spindle speed. The CNC outputs the
specified S command as the maximum spindle speed signal to the PMC
as is. Whether the S command specified together with G92 in the same
block is assumed to be a maximum spindle speed command is
determined by bit 6 (SMX) of parameter No. 2402.
- Spindle motor command voltage signal (including sign signal)

Usually, the PMC calculates the spindle motor speed based on the S
code or spindle speed command signal. The calculation is made
considering the gear selection state, spindle override state, orientation
command state, and other states. The PMC then inputs the calculated
voltage data as the spindle motor command voltage signal to the CNC.
The CNC controls output voltage based on the spindle motor command
voltage signal. Any voltage data that is not related to the voltage data,
calculated as mentioned above, may be input to the CNC (for example,
to turn the spindle at a constant speed regardless of the CNC
command).
- Actual spindle speed signal

Based on the feedback signal received from the position coder mounted
on a spindle, the spindle speed is calculated. The CNC outputs the
speed as the actual spindle speed signal to the PMC. When a serial
spindle is used, the spindle speed can be calculated based on the speed
monitor data of the spindle motor, depending on the setting made in bit
4 (ASD) of parameter No. 5820.
- Spindle override processing

Normally, a specified spindle speed is overridden by the PMC. An
override value is posted from a spindle override switch mounted on an
external operator's panel to the PMC via contact signal input/output.
- 796 -
- Gear change processing

In response to a specified spindle speed, gear selection and change
processing is normally performed by the PMC. According to the gear
selected by the PMC, gear change is performed by the gear change
function via contact signal input/output.
- Command output to a spindle

According to the speed command output and its polarity determined
through the above processing flow, the following is output to issue a
command to the spindle control unit:
- When a serial spindle is used -> Digital data from 0 to ±16383
- When an analog spindle is used -> Analog voltage from 0 to ±10 V
- Spindle control signals

When using a serial spindle, do not transfer control signals for the
spindle motor speed amplifier (such as the clutch/gear and orientation
signals) from the PMC to the speed amplifier directly; transfer these
signals via the CNC.
- Spindle status signals
When using a serial spindle, do not transfer status signals from the
spindle motor speed amplifier (such as the speed arrival and alarm
signals) to the PMC directly; transfer these signals via the CNC.
- Gain and offset

The analog spindle may require gain and offset voltage adjustment
depending on the spindle motor speed amplifier being used.
The following parameters are available for such adjustment.
-Offset voltage compensation : Parameter (No.5613)
-Gain adjustment data :Parameter (No.5614)
- 797 -
- Electrical specification of analog spindle interface

The signals related to analog spindle interface are described below.
The ENB1/2 signal is set to 1 if the command output to the spindle is a
non-zero value. If the command output to the spindle is 0, the ENB1/2
signal is set to 0.
For an analog spindle, this signal can be used as a control signal to
forcibly stop spindle motor rotation when an offset voltage exists in the
spindle motor speed amplifier, which turns the spindle motor at low
speed even if the command output (analog voltage in this case) to the
spindle is 0.
Control unit
Max. +10V SVC

SVC Analog voltage
2mA ES output of spindle Name Connector/pin
ES speed SVC JA8A/7
Output
impedance
100Ω ES JA8A/5
ENB1 ENB enable
signal output ENB1 JA8A/8
ENB2
ENB2 JA8A/9
CAUTION
Since the analog voltage is a very low-level signal, it
must not be connected via a contact.
- Position coder feed back signal

To perform feed per revolution and threading, a position coder must be
connected. The position coder is used to detect the actual spindle speed
and the one-rotation signal (used for detecting a fixed point on the
spindle during threading). FANUC recommends the connecting of
position coders to spindles on a one-to-one basis. When a gear ratio is
used, set a gear ratio in parameter Nos. 5847 and 5848 to cause position
coder deceleration.
The position coder must always issue a one-rotation signal at a fixed
position on the spindle.
For the connection of a position coder used for operations such as rigid
tapping and spindle positioning, see the descriptions of the relevant
functions.
- 798 -
Signal
Signals common to analog and serial spindles
Spindle speed command signal RO0A-RO15A<F010,F011>:For 1st spindle

RO0B-RO15B<F320,F321>:For 2nd spindle
RO0C-RO15C<F326,F327>:For 3rd spindle
RO0D-RO15D<F332,F333>:For 4th spindle
[Function] Posts a specified spindle speed. When constant surface speed control is
being performed, the spindle speed resulting from constant surface
speed control is posted. This signal consists of 16 binary code output
signals.
{
15 i
} N
Spindle speed = å 2 × ROi s ÷ 10 min
i =0
−1
The spindle speed and signal are related as follows:

here, N is the value set in parameter No. 5612.
[Output condition] This signal is always output. The signal value changes only when an
Sxxxx command is specified in a program, unless constant surface
speed control is applied.
Maximum spindle speed signals MR0A-MR15A<F014,F015>:For 1st spindle

MR0B to MR15B<F324,F325>:For 2nd spindle
MR0C to MR15C<F330,F331>:For 3rd spindle
MR0D to MR15D<F336,F337>:For 4th spindle
[Function] Posts a maximum spindle speed specified by G92 Sxxxx. Whether the
spindle speed is clamped to this value only during constant surface
speed control, or whether it is always clamped depends on the PMC
specifications. This signal consists of 16 binary code output signals.
The maximum spindle speed and signal are related as follows:
{
15 i
} N
Spindle speed = å 2 × MRi s ÷ 10 min
i =0
−1
Where, N is the value set in parameter No. 5612.

[Output condition] This signal is always output. The signal value changes when G92
Sxxxx is specified in a program.
- 799 -
Spindle motor command voltage signal

RISGNA,RI0A to RI15A<G024,G025>:For 1st spindle
RISGNB,RI0B to RI15B<G232,G233>:For 2nd spindle
RISGNC,RI0C to RI15C<G208,G209>:For 3rd spindle
RISGND,RI0D to RI15D<G216,G217>:For 4th spindle
[Function] Specifies a voltage output to the spindle motor. With this input signal
only, the CNC controls a command voltage output to the spindle motor,
regardless of the spindle speed output by the CNC. Using the spindle
speed specified by the CNC, the PMC may make calculations
according to the selected gear and input the calculation result to this
signal.
Alternatively, the PMC may input a different speed (for example, a
speed for spindle orientation).
This signal consists of polarity signal RISGNs that determines the
voltage polarity and 13 binary code signals RI0s to RI12s. According
to polarity signal RISGNs, the following is output:
When RISGNs is 0, a positive (+) voltage is output.
When RISGNs is 1, a negative (-) voltage is output.
The spindle command voltage and signal are related as follows:
15 i
{
Command voltage = å 2 × RI i s ÷
i =0
}E
8191
volt
Where, E is the maximum voltage (constant) determined by the

hardware.
Spindle ready signal SRRDYA<F341#0>:For 1st spindle

SRRDYB<F342#0>:For 2nd spindle
SRRDYC<F343#0>:For 3rd spindle
SRRDYD<F344#0>:For 4th spindle
[Function] Spindle ready signal
SRRDYs 1 : The spindle is ready for operation.
0 : The spindle is not ready for operation.
[Output condition] his signal is output when a spindle is set.
- 800 -
Signal related to analog spindles
Spindle gear select signal GS1A,GS2A,GS4A<G026#4,#5,#6>:For 1st spindle

GS1B,GS2B,GS4B<G272#4,#5,#6>:For 2nd spindle
GS1C,GS2C,GS4C<G273#4,#5,#6>:For 3rd spindle
GS1D,GS2D,GS4D<G274#4,#5,#6>:For 4th spindle
[Operation] When an analog spindle is used, these signals are used to post
information about a spindle gear used to the CNC. The signal states
and the selected gears are listed below.
GS4s GS2s GS1s Gear selection

0 0 0 Stage 1
0 0 1 Stage 2
0 1 0 Stage 3
0 1 1 Stage 4
1 0 0 Stage 5
1 0 1 Stage 6
1 1 0 Stage 7
1 1 1 Stage 8
Signals related to serial spindles
Serial spindle clutch/gear signal CTH1A,CTH2A<G227#3,#2>:For 1st spindle

CTH1B,CTH2B<G235#3,#2>:For 2nd spindle
CTH1C,CTH2C<G211#3,#2>:For 3rd spindle
CTH1D,CTH2D<G219#3,#2>:For 4th spindle
[Operation] When a serial spindle is used, these signals are used to post information
about a spindle gear to the CNC. The signal states and selected gears
are listed below.
CTH1s CTH2s Gear selection

0 0 Stage 1 (high)
0 1 Stage 2 (medium high)
1 0 Stage 3 (medium low)
1 1 Stage 4 (low)
All-serial spindle ready signal SRSRDY<F045#5>

[Function] Posts that all serial spindles are ready for operation.
SRRDY 1 :The serial spindles are ready for operation.
0 : The serial spindles are not ready for operation.
[Output condition] This signal is output when serial spindles are set.
- 801 -
Serial spindle motor torque signal SLDM0A to SLDM15A<F232,F233>:For 1st spindle

SLDM0B to SLDM15B<F248,F249>:For 2nd spindle
SLDM0C to SLDM15C<F200,F201>:For 3rd spindle
SLDM0D to SLDM15D<F216,F217>:For 4th spindle
[Function] Posts motor the torque data for a serial spindle. The signal consists of
16 binary code output signals.
15 i
{
Torque = å 2 × SLDM i s ÷
i =0
}N
16383
%
The torque data and signal are related as follows:

[Output condition] This signal is always output when a serial spindle is set.
Serial spindle motor speed signal SSPD0A to SSPD15A<F234,F235>:For 1st spindle

SSPD0B to SSPD15B<F250,F251>:For 2nd spindle
SSPD0C to SSPD15C<F202,F203>:For 3rd spindle
SSPD0D to SSPD15D<F218,F219>:For 4th spindle
[Function] Posts the motor speed of a serial spindle. The signal consists of 16
binary code output signals. The speed data and signal have the
following relationship:
15 i
{
Spindle speed = å 2 × SSPDi s ÷
i =0
N
}
32767
min
−1

Serial spindle alarm code signal SSPA0A to SSPA7A<F236>:For 1st spindle

SSPA0B to SSPA7B<F252>:For 2nd spindle
SSPA0C to SSPA7C<F204>:For 3rd spindle
SSPA0D to SSPA7D<F220>:For 4th spindle
[Function] Posts an alarm code generated in the serial spindle amplifier unit. This
signal consists of eight binary code output signals. The alarm code and
signal are related as follows:
7 i
{
Alarm code = å 2 × SSPAi s
i =0
}
For information about alarm codes, refer to the manuals for the serial
spindle.
- 802 -
Other signals
Miscelaneous function code signal M0 to M31<F016 to F019>

Miscelaneous function strobeignal MF<F008#0>
Fnish signal FIN<G005#1>
See Sec. 8.1.
Spindle speed function code signal S0 to S31<F020 to F023>

Spindle speed function strobe signal SF<F008#1>
See Sec. 8.1.
Signal address
-Common to all spindles

#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
F008 SF MF
F016 M7 M6 M5 M4 M3 M2 M1 M0
F017 M15 M14 M13 M12 M11 M10 M9 M8
F018 M23 M22 M21 M20 M19 M18 M17 M16
F019 M31 M30 M29 M28 M27 M26 M25 M24
F020 S7 S6 S5 S4 S3 S2 S1 S0
F021 S15 S14 S13 S12 S11 S10 S9 S8
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
F045 SRSRDY
- 803 -
-For first spindle

#7 #6 #5 #4 #3 #2 #1 #0
G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
G025 RISGNA RI12A RI11A RI10A RI9A RI8A
G026 GS4A GS2A GS1A
G227 CTH1A CTH2A
F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
F232 SLDM7A SLDM6A SLDM5A SLDM4A SLDM3A SLDM2A SLDM1A SLDM0A
F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
F236 SSPA7A SSPA6A SSPA5A SSPA4A SSPA3A SSPA2A SSPA1A SSPA0A
F341 SRRDYA
- 804 -
-For 2nd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
G233 RISGNB RI12B RI11B RI10B RI9B RI8B
G235 CTH1B CTH2B
G272 GS4B GS2B GS1B
F248 SLDM7B SLDM6B SLDM5B SLDM4B SLDM3B SLDM2B SLDM1B SLDM0B
F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
F252 SSPA7B SSPA6B SSPA5B SSPA4B SSPA3B SSPA2B SSPA1B SSPA0B
F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
F342 SRRDYB
- 805 -
-For 3rd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G208 RI7C RI6C RI5C RI4C RI3C RI2C RI1C RI0C
G209 RISGNC RI12C RI11C RI10C RI9C RI8C
G211 CTH1C CTH2C
G273 GS4C GS2C GS1C
F200 SLDM7C SLDM6C SLDM5C SLDM4C SLDM3C SLDM2C SLDM1C SLDM0C
F202 SSPD7C SSPD6C SSPD5C SSPD4C SSPD3C SSPD2C SSPD1C SSPD0C
F204 SSPA7C SSPA6C SSPA5C SSPA4C SSPA3C SSPA2C SSPA1C SSPA0C
F326 RO7C RO6C RO5C RO4C RO3C RO2C RO1C RO0C
F330 MR7C MR6C MR5C MR4C MR3C MR2C MR1C MR0C
F343 SRRDYC
- 806 -
- For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G216 RI7D RI6D RI5D RI4D RI3D RI2D RI1D RI0D
G217 RISGND RI12D RI11D RI10D RI9D RI8D
G219 CTH1D CTH2D
G274 GS4D GS2D GS1D
F216 SLDM7D SLDM6D SLDM5D SLDM4D SLDM3D SLDM2D SLDM1D SLDM0D
F218 SSPD7D SSPD6D SSPD5D SSPD4D SSPD3D SSPD2D SSPD1D SSPD0D
F220 SSPA7D SSPA6D SSPA5D SSPA4D SSPA3D SSPA2D SSPA1D SSPA0D
F332 RO7D RO6D RO5D RO4D RO3D RO2D RO1D RO0D
F336 MR7D MR6D MR5D MR4D MR3D MR2D MR1D MR0D
F344 SRRDYD
- 807 -
Parameter
- Analog/serial spindle common setting
#7 #6 #5 #4 #3 #2 #1 #0
2204 NOS

[Data type] Bit
#0 NOS Specifies whether the actual spindle speed is displayed.

0: Displayed
1: Not displayed
The actual spindle speed is displayed based on the feedback by the
position coder installed in the spindle. For serial spindles, the actual
spindle speed can be displayed based on the speed monitor data from the
spindle motor, depending on the setting of ASD (bit 4 of parameter No.
5820).
Specify 1 for the machine without the position coder because the
machine does not require threading and feed each rotation or if you do
not want to display the actual spindle speed.
#7 #6 #5 #4 #3 #2 #1 #0
2402 SMX

[Data type] Bit
#6 SMX S code instructed in the same block as G92 (G50 for G code system A for a
coordinate system setting and lathe system) is:
0: The maximum spindle speed command is assumed.
1: The maximum spindle speed command is not assumed. (Spindle
speed command is assumed.)
#7 #6 #5 #4 #3 #2 #1 #0
5602 NAL

#3 NAL Specifies whether to display an alarm detected by the spindle amplifier.

0: Display.
1: Do not display.
(Valid when bit 0 (ALM) of parameter No. 5807 is set to 0)
When this parameter is set to 1, alarms detected by the spindle amplifier
are ignored. So, set this parameter to 0 at all times except in
maintenance.
- 808 -

The mean value of sampling data is used for spindle speed indication, feed per
revolution, and threading so that the effect of fluctuation of the spindle speed is
reduced. Set how many samples of sampling data are required to obtain the mean.
0: 1 sample
1: 2 samples
2: 4 samples
3: 8 samples
4: 16 samples
NOTE
5612 Unit of spindle speed to be output by DO signals

[Unit of data] 1/10**N rpm
Set the unit of output by the specified spindle speed signal, actual spindle speed
signal, and maximum spindle speed signal.
Unit of output spindle speed Setting
-1
1 min 0
-1
0.1 min 1
-1
0.01 min 2
-1
0.001 min 3
#7 #6 #5 #4 #3 #2 #1 #0
5807 ALM

[Data type] Bit
#0 ALM Specifies whether the spindle alarms (SPxxxx) of all spindles are enabled
or ignored.
0: Enabled.
1: Ignored.
When this parameter is set to 1, the spindle-related alarms are ignored.
So, set this parameter to 0 at all times except in maintenance.
- 809 -
5842 Number of pulses of the position coder

Set the number of pulses of the position coder.
5847 Number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth)

Set the number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth).
5848 Number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth)

Set the number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth).

[Data type] Integer
check screen
NOTE
- 810 -
- Analog spindle
#7 #6 #5 #4 #3 #2 #1 #0
5603 NDP

#7 NDP Specifies whether to make a position coder disconnection check when an

analog spindle is used.
0: Make a check.
1: Do not make a check.
(Valid when bit 3 (NAL) of parameter No. 5602) is set to 0)
Set this parameter to 1 if no position coder is installed when an analog
spindle is used.
5613 Compensation value for the offset voltage of the spindle speed analog
output

[Unit of data] Velo
Set the compensation value for the offset voltage of the spindle speed analog
output.
[Adjustment] To make adjustment, follow the procedure explained below:

(1) Set the standard setting 0.
(2) Specify the spindle speed at which the spindle speed analog output becomes 0.
−8191 × measured voltage (V)

Setting =
12.5
spindle speed analog output becomes 0, then check that the output voltage is 0
V.
- 811 -
5614 Data for adjusting the gain of the spindle speed analog output

Set data for adjusting the gain of the spindle speed analog output.
[Adjustment] Make adjustment by following the procedure explained below:

(1) Set the standard setting to 800.
(2) Specify the spindle speed at which the spindle speed analog output voltage is
maximized (10 V).
10(V)
Setting = × 800
Measured voltage (V)
spindle speed analog output voltage is maximized, then check that the output
voltage is 10 V.
- Serial spindle
#7 #6 #5 #4 #3 #2 #1 #0
5820 ASD

#4 ASD Specifies whether the spindle speed of a serial spindle is calculated from
feedback pulses from the position coder or from speed monitor data.
0: Calculated from feedback pulses from the position coder.
1: Calculated from speed monitor data.
Caution
CAUTION
This section mentioned a spindle speed control that
should be prepared on the CNC side. But it is also
necessary to design the signals to the spindle control
unit.
Consult the manual of the spindle control unit used
and take necessary actions on the spindle control
unit.
- 812 -
Alarm and message
-PS alarm
PS0223 ILLEGAL SPINDLE SELECT An attempt was made to execute an instruction that uses
the spindle although the spindle to be controlled has not
been set correctly.
-SP alarm
CODER GEAR RATIO
coder overflowed.
erroneous.
ERROR
Reference item
Series15i/150i- Connection Manual 8.1
Miscellaneous
auxiliary function
9.2 Spindle serial
output/analog output
- 813 -
9.4 CONSTANT SURFACE SPEED CONTROL
General
When a surface speed (m/min or feet/min) is specified after an S code,
the spindle speed is controlled to keep the surface speed constant,
regardless of the position of the tool.
Spindle speed N
r
Surface speed S = 2πrN
Specify constant surface speed control, as follows:

G96 S_ (surface speed in m/min (metric input)
or in feet/min (inch input))
To cancel constant surface speed control, specify the following:
G97 S_ (spindle speed in min-1)
During constant surface speed control, the spindle speed is calculated
so that the surface speed is held constant, and the calculation result is
output to spindle speed command signal RO0s to RO15s.
When the following command is specified, the maximum spindle speed
is output to the maximum spindle speed signal MR0s to MR15s:
G92 S_ (maximum spindle speed in min-1)
During constant surface speed control using the maximum spindle
speed signal, the spindle speed must be clamped so as not to exceed the
maximum spindle speed.
- Position coderless feed per revolution and constant surface speed control
When a machine with no position coder is used, a feed per revolution is
enabled assuming the value indicated by the spindle speed command
signal RO0s to RO15s to be the spindle speed, even during constant
surface speed control.
- 814 -
Signal
Spindle speed command signal RO0A-RO15A<F010,F011>:For 1st spindle
RO0B-RO15B<F320,F321>:For 2nd spindle
RO0C-RO15C<F326,F327>:For 3rd spindle
RO0D-RO15D<F332,F333>:For 4th spindle
[Function] Posts a specified spindle speed. When constant surface speed control is
being performed, the spindle speed resulting from constant surface
speed control is posted. This signal consists of 16 binary code output
signals. The spindle speed and signal are related as follows:
15
{ }
Speed = å 2 i × RO i s ÷ 10 N min − 1
i =0
[Output condition] This signal is always output. Unless constant surface speed control is
being applied, the signal value changes only when Sxxxx is specified
by a program.
Maximum spindle speed signal MR0A-MR15A<F014,F015>:For 1st spindle

MR0B-MR15B<F324,F325>:For 2nd spindle
MR0C-MR15C<F330,F331>:For 3rd spindle
MR0D-MR15D<F336,F337>:For 4th spindle
[Function] Posts the maximum spindle speed specified by G92 Sxxxx. Whether
the spindle speed is clamped to this value only during constant surface
speed control or whether it is always clamped depends on the PMC
specifications. This signal consists of 16 binary code output signals.
The maximum spindle speed and signal are related as follows:
15
{ }
Speed = å 2 i × MRi s ÷ 10 N min − 1
i =0
[Output condition] This signal is always output. The signal value changes only when G92
Sxxxx is specified by a program.
Constant surface speed signal CSS<F001#7> :Logical AND of the values for all spindles
CSSA<F341#1> :for first spindle
CSSB<F342#1> :for second spindle
CSSC<F343#1> :for third spindle
CSSD<F344#1> :for fourth spindle
[Function] This signal indicates that constant surface speed control is in progress.
[Operation] "1" indicates that constant surface speed control mode (G96) is in
progress, while "0" indicates it is not.
[Remarks] Constant surface speed control can be exercised for one spindle at a
time. CSSA to CSSD are output for each spindle.
CSS is set to "1" when at least one spindle is in constant surface speed
control mode.
- 815 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 CSS
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
F341 CSSA
#7 #6 #5 #4 #3 #2 #1 #0
F342 CSSB
#7 #6 #5 #4 #3 #2 #1 #0
F343 CSSC
#7 #6 #5 #4 #3 #2 #1 #0
F344 CSSD
- 816 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2402 SMX

[Data type] Bit
#6 SMX S code instructed in the same block as G92 (coordinate system setting)
is:
0: The maximum spindle speed command is assumed.
1: The maximum spindle speed command is not assumed. (Spindle speed
command is assumed.)
#7 #6 #5 #4 #3 #2 #1 #0
2405 FPR

[Data type] Bit
#6 FPR Specifies whether the function for feed per rotation without a position
coder (the function for converting feed-per-rotation F into feed-per-
minute F) is used in the feed-per-rotation mode (G95).
0: Not used.
1: Used.
#7 #6 #5 #4 #3 #2 #1 #0
5602 RSC TLE TPE

#4 TPE Specifies whether tool offset values (G45 to G48) are included at the
current position of the axis under constant surface speed control.
0: Included.
1: Not included.
#5 TLE Specifies whether a tool length compensation value is included at the

current position of the axis under constant surface speed control.
0: Included.
1: Not included. Usually, set this parameter to 1.
- 817 -
#6 RSC Specifies whether to use the current position for a positioning command
(such as G00) under constant surface speed control.
0: Use.
1: Do not use. Instead, the coordinates of an end point are used for constant
surface speed control.

[Data type] Integer
check screen
NOTE

[Unit of data] 1/10N min-1

-1
1. min 0
-1
0.1 min 1
-1
0.01 min 2
-1
0.001 min 3
- 818 -
5844 Axis number subject to constant surface speed control

Specify the ordinal number of an axis that is subject to constant surface speed
control. If an axis is specified in the program (G96P_), constant surface speed
control is applied to the axis.
If no axis is specified in the program (G96P_), or P0 is specified, constant surface
speed control is applied to the axis set in this parameter.
NOTE
If 0 is set, the P value programmed with G96P_ is ignored, and
constant surface speed control is always performed on the X-axis.
Alarm and message

PS0195 ILLEGAL AXIS SELECTED (G96) An illegal value was specified in P in a G96 block or
parameter No. 5844.
Note
NOTE
1 The S value specified in G96 mode is stored even when G97 mode is set. The S
value is restored when G96 mode is set again.
G96 S50: 50 m/min or 50 feet/min
G97 S1000: 1000 min-1
G96 X3000: 50 m/min or 50 feet/min
2 If S (min-1) is not specified in a G97 block upon switching from G96 mode to G97
mode, the last speed set in G96 mode is used as the S value for G97 mode.
N10 G97 S800: 800 min-1
N20 G96 S100: 100 m/min or 100 feet/min
-1
N30 G97: X min
X is the speed in the block immediately before N30. This means that, upon
switching from G96 mode to G97 mode, the spindle speed remains as is. When
the mode is first changed from G97 mode to G96 mode, S = 0 m/min is set if no S
value (min-1) is specified in the G96 block.
3 In the machine lock state, a constant surface speed is calculated according to the
change in program coordinates even when the machine does not move.
4 Constant surface speed control is enabled even for threading. If threading is
performed in G96 mode, however, the spindle speed changes, and the tool
feedrate also changes accordingly, resulting in a change in the servo delay. This
can result in an incorrect thread pitch being created.
Reference item
Series15i/150i-MB Operator’s Manual II-9.2 Constant surface speed
(Programming) control
(B-63784EN)
- 819 -
9.5 ACTUAL SPINDLE SPEED OUTPUT
General
Based on a feedback signal from a position coder mounted on a spindle,
the CNC calculates the spindle speed and outputs it to the PMC.
When a serial spindle is used, the spindle speed can also be calculated
based on the speed monitor data of the spindle motor by setting bit 4
(ASD) of parameter No. 5820.
Signal
Actual spindle speed signal AR0A-AR15A<F012,F013>:for first spindle
AR0B-AR15B<F322,F323>:for second spindle
AR0C-AR15C<F328,F329>:for third spindle
AR0D-AR15D<F334,F335>:for fourth spindle
[Function] These 16-bit binary code signals output from the CNC to the PMC the
actual spindle speed obtained by feedback pulses from the position
coder mounted on the spindle. When a serial spindle is used, the
spindle speed can also be calculated based on the speed monitor data of
the spindle motor by setting bit 4 (ASD) of parameter No. 5820.
This signal consists of 16 binary code output signals. The actual
spindle speed and signal are related as follows:
15
Speed = å { 2 × AR s}÷10
i =0
i
i
N
min -1

[Output condition] This signal is always output.
Signal address
- For first spindle
#7 #6 #5 #4 #3 #2 #1 #0
F012 AR7A AR6A AR5A AR4A AR3A AR2A AR1A AR0A
- For second spindle

#7 #6 #5 #4 #3 #2 #1 #0
F322 AR7B AR6B AR5B AR4B AR3B AR2B AR1B AR0B
- For third spindle

#7 #6 #5 #4 #3 #2 #1 #0
F328 AR7C AR6C AR5C AR4C AR3C AR2C AR1C AR0C
- 820 -
- For fourth spindle

#7 #6 #5 #4 #3 #2 #1 #0
F334 AR7D AR6D AR5D AR4D AR3D AR2D AR1D AR0D
Parameter

[Unit of data] 1/10N min-1

-1
1. min 0
-1
0.1 min 1
-1
0.01 min 2
-1
0.001 min 3
#7 #6 #5 #4 #3 #2 #1 #0
5820 ASD

#4 ASD Specifies whether the spindle speed of a serial spindle is calculated from
feedback pulses from the position coder or from speed monitor data.
0: Calculated from feedback pulses from the position coder.
1: Calculated from speed monitor data.
Note
NOTE
An absolute error of about 0.5 min-1 exists as a
measuring error.
Reference item
Series15i/150i- Connection Manual 9.2 Spindle serial
MODEL B (This manual) output/analog output
9.3 Spindle control
- 821 -
9.6 SPINDLE POSITIONING
General
This function positions the spindle using the spindle motor and position
coder.
The function has a coarser least command increment compared with

the Cs contour control function and has no interpolation capability with
other axes. However, it can be installed with ease because the position
detector is a position coder.
Generally, the spindle positioning axes are clamped mechanically
except when positioning is under way.
In the turning process, the workpiece is rotated by the spindle to which
it is attached (spindle rotation mode), at the speed specified for the
spindle motor. The value for the spindle speed is input from the spindle
controller to the spindle amplifier.
When the optional spindle positioning function is activated, the spindle
is moved to a defined angle, and the workpiece is repositioned at that
angle.
The specified move distance is input to the error counter, and the
velocity command is issued for the spindle motor through the spindle
amplifier. The position of the spindle is detected by the installed
position coder (Spindle positioning mode).
The spindle positioning function can perform the following operations:
- Release the spindle rotation mode and enter the spindle
positioning mode Specifying a particular M code sets a
reference position in the spindle positioning mode. (This is called
spindle orientation.)
- Position the spindle in the spindle positioning mode
Position an optional angle using address C (H), and position a
semi-fixed angle using a specific M code parameter.
- Release the spindle positioning mode and enter the spindle
rotation mode
Specifying a particular M code parameter changes the spindle to
the spindle rotation mode.
The least command increment, least input increment, and maximum

value for the spindle positioning axis are set as follows:
- Least command increment
360
0.088deg
4096
- Minimum input increment
0.001 deg (IS-B)
- Maximum command value
±999999.999 deg
- 822 -
- Control block diagram
Spindle control
Spindle
Error Spindle motor
amplifier
counter
Gear ratio n:m
Position Gear ratio N:M Spindle

coder
The spindle positioning function is enabled only when the number of

pulses from the position coder is 4096, and the gear ratio between the
spindle side and position coder side
1:2n (n: Integer of 0 or greater)
(N:M) is as follows:
The least command increment (detection unit) for each gear ratio is set
as listed below.
Gear ratio between spindle and position coder Least command increment
(detection unit) deg
1:1 0.088 (1×360/4096)
1:2 0.176 (2×360/4096)
1:4 0.352 (4×360/4096)
1:8 0.703 (8×360/4096)
: :
1:N (N×360/4096)
- Selecting a spindle positioning axis

An arbitrary axis address can be set for an axis on which the spindle is
positioned.
Spindle positioning axes are arranged from the end of controlled axes.
Parameter No. 1020.
Set the servo axis numbers of the spindle positioning axes to 0.
Parameter No. 1023.
Set the spindle motor numbers of the spindles for which spindle
positioning is performed in parameter No. 1027.
- 823 -
Setting example 1:
Servo axis: X, Y, Z

axis No. 1020 1023 1027
1 88(X) 1 0
2 89(Y) 2 0
3 90(Z) 3 0
4 67(C) 0 1
Setting example 2:
Servo axis: X, Z
Spindle positioning axis: C (S1), B (S2)

axis No. 1020 1023 1027
1 88(X) 1 0
2 90(Z) 2 0
3 67(C) 0 1
4 66(B) 0 2
Switching to spindle positioning mode (Spindle orientation)

Orientation is required in advance if spindle positioning is first
performed after the spindle motor is used as a normal spindle, or when
spindle positioning is interrupted. The orientation stops the spindle in a
constant position.
The orientation position can be sifted in the range of ±180deg by
setting the parameter (No.5980) for analog spindle and in the range
from 0 to 360 deg by setting the parameter (No.3073) for serial spindle.
To specify orientation, use the M code whose parameter No. 5680.
The orientation direction is specified by using parameters OMI
No.5808 #0 for analog or SVO No. 3000#4 for serial spindles.
- 824 -
- Orientation speed
When an analog spindle is used, the tool moves at the rapid traverse
rate set in parameter No. 5977 until a speed that allows orientation is
reached. After a one-rotation signal is detected, spindle orientation is
performed at the FL feedrate set in parameter No. 5979.
* Speed allowing orientation
Set the speed so that the following condition is satisfied:
æ F ×P ö
1024 ≥ ç ÷ ≥ 128 pulses
è 60 × G × 0.088 ø
F : Feedrate (deg/min)
G : Position gain (1/sec)
P : Gear ratio between the spindle and position coder
If the above condition is not satisfied, a one-rotation signal cannot be
detected, so movement continues at the rapid traverse rate.
* FL feedrate
Set the FL feedrate so that the following condition is satisfied:
æ FL × P ö
1024 ≥ ç ÷ ≥ Spindle effective area ( pulses )
è 60 × G × 0.088 ø
FL : Feedrate (deg/min)
G : Position gain (1/sec)
P : Gear ratio between the spindle and position coder
If the above condition is not satisfied, an accurate stop position cannot
be detected, so orientation is performed again stating from the rapid
traverse operation.
The serial spindle stops at the orientation position as soon as the

command is issued. The lower limit to the rapid traverse speed value
does not need to be specified for the serial spindle to reach the
orientation enable speed.
The analog spindle stops after the spindle speed is changed from rapid
traverse to the FL speed. The rapid traverse speed lower limit must be
specified for the analog spindle, or obtaining the orientation enable
speed need not be specified for the serial spindle. However, it must be
specified for the analog spindle.
- Omitting an orientation operation

When reference position return is not required when performing
orientation (for example, when no start position is specified, and only
incremental positioning starting from the current position is needed),
the reference position return operation performed upon orientation can
be omitted by setting bit 0 (ZRN) of parameter No. 1005. In this case,
when an M code for orientation is specified, only change of the spindle
control mode is performed. Then, operation is completed without
- 825 -
- Program origin
The orientation position is regarded as a program origin. It is possible
to modify the program origin using the coordinates system(G92).
Command system
The command system comes in two types: The first positions a semi-
fixed angle; the second positions an optional angle.
- Semi-fixed angle positioning by M code

Specify a 2-digit numeric value following address M. A value from Mα
to Mβ can be specified. α and β must be set in parameter Nos. 5896 and
5897 in advance. Mα to Mβ and the corresponding positioning angles
are listed below. γ must be set in parameter No. 5898 in advance.
M code Indexing angle (Example)

Example: When β = α+5 γ=30°°
Mα γ 30°
M (α+1) 2γ 60°
M (α+2) 3γ 90°
M (α+3) 4γ 120°
M (α+4) 5γ 150°
M (α+5) = Mβ 6γ 180°
The direction of rotation is determined by the sign of γ.
- Positioning to an arbitrary angle by an axis address

A position is specified using an axis address followed by a signed
numeric value. Specify an axis address in the G00 mode. (In the
subsequent explanation, the axis address is assumed to be the C-axis.)
Example: C-1000
C123.456
A numeric value with a decimal point can be entered. The position of a
decimal point represents the position of "degrees."
Example: C35.0 = C35 degrees
- Absolute and incremental commands

For positioning to a semi-fixed angle based on an M code, incremental
commands must always be used.
For positioning to an arbitrary angle, both absolute and incremental
commands can be used.
Program origin
90°
180°
- 826 -
Address used Command of A-B

Command method
and G-code on the above figure
Absolute command Direct the end point position by
the distance from the program G90,C G90C180.0 ;
origin.
Incremental Command by the distance
G91,C G91C90.0 ;
command between the start and end points.
- Spindle positioning feedrate

As the feedrate used for positioning, the rapid traverse rate specified in
parameter No. 1420 is used.
Spindle positioning reset

A specific M code (parameter no. 5681) must be set when the mode is
changed from spindle positioning to normal spindle rotation.
Spindle positioning mode is also canceled in any of the following

cases:
1. A servo alarm is issued.

2. A spindle alarm is issued.
3. The spindle is stopped during orientation due to a reset, alarm, or
similar.
4. The spindle is stopped upon the cancellation of positioning due to
a reset, alarm, and so forth.
5. When a reset is caused: Depends on bit 4 (IOR) of parameter No.
5605.
6. When an emergency stop is caused: Depends on bit 1 (IOE) of
parameter No. 5809.
- 827 -
Signal
Signals for the spindle positioning function
Spindle unclamp signal SUCLPA<F042#0>:for 1st spindle

SUCLPB<F338#0>:for 2nd spindle
SUCLPC<F339#0>:for 3rd spindle
SUCLPD<F340#0>:for 4th spindle
[Function] This signal specifies that spindle mechanical clamping be released in a
spindle positioning sequence.
When this signal is set to 1, release the clamp of the spindle on the
machine side (for example, release the brake, or pull out the pin).
[Output condition] Refer to the sequence (time chart) in this section.
Spindle unclamp completion signal *SEUCLA<G026#2>:for 1st spindle

*SEUCLB<G272#2>:for 2nd spindle
*SEUCLC<G273#2>:for 3rd spindle
*SEUCLD<G274#2>:for 4th spindle
[Function] This signal indicates that unclamping the spindle is complete in
response to the spindle unclamp signal SUCLPs.
Spindle clamp signal SCLPA<F042#1>:for 1st spindle

SCLPB<F338#1>:for 2nd spindle
SCLPC<F339#1>:for 3rd spindle
SCLPD<F340#1>:for 4th spindle
[Function] This signal specifies that the spindle be clamped mechanically in a
spindle positioning sequence.
When this signal turns to 1, clamp the spindle on the machine (apply
the brakes or insert the pin).
[Output condition] Refer to the sequence (time chart) in this section.
Spindle clamp completion signal *SECLPA<G026#3>:for 1st spindle

*SECLPB<G272#3>:for 2nd spindle
*SECLPC<G273#3>:for 3rd spindle
*SECLPD<G274#3>:for 4th spindle
[Function] This signal indicates that clamping the spindle is complete in response
to the spindle clamp signal SCLPs.
- 828 -
Signals related to miscellaneous function code output
Miscellaneous code signal M0-M31<F016-F019>

Miscellaneous strobe signal MF<F008#0>
See Sec. 8.1.
Signals related to gear change
Spindle gear select signal GS1A,GS2A,GS4A<G026#4,#5,#6>:for 1st spindle

GS1B,GS2B,GS4B<G272#4,#5,#6>:for 2nd spindle
GS1C,GS2C,GS4C<G273#4,#5,#6>:for 3rd spindle
GS1D,GS2D,GS4D<G274#4,#5,#6>:for 4th spindle
[Operation] When an analog spindle is used, this signal posts information about the
spindle gear being used to the CNC.
The signal states and corresponding gear selection states are listed
below:

0 0 0 Stage 1
0 0 1 Stage 2
0 1 0 Stage 3
0 1 1 Stage 4
1 0 0 Stage 5
1 0 1 Stage 6
1 1 0 Stage 7
1 1 1 Stage 8
Serial spindle clutch/gear signal CTH1A,CTH2A<G227#3,#2>:for 1st spindle

CTH1B,CTH2B<G235#3,#2>:for 2nd spindle
CTH1C,CTH2C<G211#3,#2>:for 3rd spindle
CTH1D,CTH2D<G219#3,#2>:for 4th spindle
[Operation] When a serial spindle is used, this signal posts information about the
spindle gear being used to the CNC.
The signal states and the corresponding gear selection states are listed
below.

0 0 Stage 1 (high)
1 1 Stage 4 (low)
- 829 -
Other signals
Spindle stop confirmation signal SPSTPA<G026#0>:for 1st spindle

SPSTPB<G272#0>:for 2nd spindle
SPSTPC<G273#0>:for 3rd spindle
SPSTPD<G274#0>:for 4th spindle
[Function] After checking that this signal has been set to 1, the CNC performs
spindle orientation, spindle positioning, and cancellation of spindle
positioning.
Reference position return completion signal ZP1<F064#0>, ZP2<F068#0>, ...

[Function] Indicates that spindle orientation for a spindle positioning axis has been
completed.
ZPx
x : 1 ... Completion signal for spindle orientation on the first axis
2 ... Completion signal for spindle orientation on the second axis
3 ... Completion signal for spindle orientation on the third axis
: :
: :
[Output condition] When spindle orientation is completed, this signal is set to 1. The
signal is set to 0 when spindle positioning is performed or canceled.
Signal address
- All axes common

#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
F008 MF
F016 M7 M6 M5 M4 M3 M2 M1 M0
F017 M15 M14 M13 M12 M11 M10 M9 M8
F018 M23 M22 M21 M20 M19 M18 M17 M16
F019 M31 M30 M29 M28 M27 M26 M25 M24
F064 ZP1
the Appendix A.1.
- 830 -
- For 1st spindle

#7 #6 #5 #4 #3 #2 #1 #0
G026 GS4A GS2A GS1A *SECLPA*SEUCLA SPSTPA
G227 CTH1A CTH2A
F042 SCLPA SUCLPA
- For 2nd spindl

#7 #6 #5 #4 #3 #2 #1 #0
G272 GS4B GS2B GS1B *SECLPB *SEUCLB SPSTPB
G235 CTH1B CTH2B
F338 SCLPB SUCLPB
- For 3rd spindl

#7 #6 #5 #4 #3 #2 #1 #0
G211 CTH1C CTH2C
G273 GS4C GS2C GS1C *SECLPC *SEUCLC SPSTPC
F339 SCLPC SUCLPC
- For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G219 CTH1D CTH2D
G274 GS4D GS2D GS1D *SECLPD *SEUCLD SPSTPD
F340 SCLPD SUCLPD
- 831 -
Sequence (time chart)
Spindle orientation
To cancel spindle rotation mode then enter spindle positioning mode,
specify Mxx in a program.
xx must be set in parameter No. 5680 in advance. The sequence pattern
must be set in parameter No. 5895.
1. Assume that Mxx is programmed.

2. A miscellaneous function code signal M0 to M31 is sent, and at
the same time, miscellaneous function strobe signal MF is set to 1.
This sending procedure is the same as that for ordinary
miscellaneous functions.
3. When strobe signal FM is set to 1, the PMC reads the code signal.
After confirming that the code signal is xx, the PMC must respond
appropriately. For example, suppose that Mxx is specified while
the spindle is rotating. The PMC may respond in either of two
ways. Firstly, in response to the Mxx command, the PMC may
stop spindle rotation. Secondly, the PMC may issue an alarm by
using the external data input/output function, assuming that the
Mxx command is not permitted during spindle rotation.
Generally, the second response is recommended because the
spindle is stopped by specifying M05. Regardless of which
response is made, the PMC must set spindle stop confirmation
signal SPSTPs to 1 when the spindle is stopped.
4. As soon as strobe signal MF is set to 1, the CNC checks whether
spindle stop confirmation signal SPSTPs is 1. If the SPSTPs
signal is 1, the control mode for the spindle is changed from
spindle control to position control.
5. If sequence pattern 2, 3, or 4 is set, the CNC places spindle
position control in the servo-on state.
6. Spindle unclamp signal SUCLPs is set to 1.
7. When spindle unclamp signal SUCLPs is set to 1, the PMC
unclamps the spindle. Upon the completion of the unclamp
operation, the PMC must set spindle unclamp completion signal
*SEUCLs to 0.
8. When spindle unclamp completion signal *SEUCLs is set to 0, the
CNC sets spindle unclamp signal SUCLPs to 0 to indicate that the
CNC has received the *SEUCLs signal.
9. If sequence pattern 1 is set, the CNC places spindle position
control in the servo-on state.
10. When spindle unclamp signal SUCLPs is set to 0, the PMC must
set spindle unclamp completion signal *SEUCLs to 1.
11. The CNC rotates the spindle, and stops it at a certain position.
(This operation is generally called spindle orientation.) Then, the
CNC sets reference position return completion signal ZPj (j is the
controlled axis number of the spindle) to 1.
control in the servo-off state.
13. The CNC sets spindle clamp signal SCLPs to 1.
- 832 -
14. When spindle clamp signal SCLPs is set to 1, the PMC clamps the
spindle mechanically by using, for example, the clutch or a shot
pin. After clamping, the PMC sets spindle clamp completion
signal *SECLPs to 0.
15. When spindle clamp completion signal *SECLPs is set to 0, the
CNC sets spindle clamp signal SCLPs to 0 to indicate that the
CNC has received *SECLPs.
17. When spindle clamp signal SCLPs is set to 0, the PMC must set
spindle clamp completion signal *SECLPs to 1.
18. Finally, the PMC must set completion signal FIN for the
miscellaneous function strobe signal MF to 1. In response to this,
the CNC sets the MF signal to 0. Then, the PMC must set the FIN
signal to 0.
If sequence pattern 4 is set, spindle unclamp signal SUCLPs, spindle

unclamp completion signal *SEUCLs, spindle clamp signal SCLPs,
and spindle clamp completion signal *SECLPs, explained above, are
not transmitted between the CNC and PMC.
- 833 -
Timing chart for orientation (sequence pattern 1)
M COMMAND
Mxx
Strobe signal
MF
Spindle stop confirmation

signal
SPSTPs
Spindle position control
servo-on
Spindle unclamp signal
SUCLPs
Spindle unclamp
confirmation signal *SEUCLs
Spindle rotation
Reference position return completion signal
ZPj
Spindle clamp signal
SCLPs
Spindle clamp completion signal
*SECLPs
FIN
- 834 -
M command
Mxx
Strobe signal
MF

signal
SPSTPs
servo-on
SUCLPs
Spindle unclamp confirmation signal
*SEUCLs
Spindle rotation
ZPj
SCLPs
*SECLPs
FIN
- 835 -
M command
Mxx
Strobe signal
MF

signal
SPSTPs
servo-on
SUCLPs
*SEUCLs
Spindle rotation
ZPj
SCLPs
*SECLPs
FIN
- 836 -
M command
Mxx
Strobe signal
MF

signal
SPSTPs
servo-on
Spindle rotation
ZPj
FIN
- 837 -
Spindle positioning
In spindle positioning mode, positioning is performed using one of the
following two methods:
1) Semi-fixed angle positioning by specifying Myy
2) Arbitrary angle positioning by specifying an axis address
The above operations are the same except that, in arbitrary angle
positioning, there is no input/output signal transmission for
yy must be set in parameter Nos. 5896 and 5897 in advance. A
sequence pattern must be set in parameter No. 5895.
1. Suppose that Myy is specified in a program. When Myy is

specified in spindle rotation mode, the CNC sets the alarm state.
2. A miscellaneous function code signal M0 to M31 is sent, and at
the same time, miscellaneous function strobe signal MF is set to 1.
This transmission procedure is the same as that for ordinary
3. When strobe signal MF is set to 1, the PMC reads the code signal.
After confirming that the code signal is yy, the PMC must respond
with an appropriate operation. In this case, however, no particular
operation is required. The PMC must prevent completion signal
FIN for miscellaneous function strobe signal MF from being set to
1 until the operation procedure explained below is completed.
When the spindle is stopped, the PMC sets the spindle stop
confirmation signal SPSTPs to 1.
signal is 1, the CNC sets spindle unclamp signal SUCLPs to 1.
6. When spindle unclamp signal SUCLPs is set to 1, the PMC
unclamps the spindle and, upon completion of the unclamp
operation, the PMC sets spindle unclamp completion signal
*SEUCLs to 0.
7. When spindle unclamp completion signal *SEUCLs is set to 0, the
CNC sets spindle unclamp signal SUCLPs to 0 to indicate that the
CNC has received the *SEUCLs signal.
set spindle unclamp completion signal *SEUCLs to 1. After
setting the SUCLPs signal to 0, the CNC rotates the spindle, then
stops it at the specified position.
10. If sequence pattern 1 is specified, the CNC places spindle position
11. The CNC sets spindle clamp signal SCLPs to 1.
12. When spindle clamp signal SCLPs is set to 1, the PMC clamps the
spindle mechanically as required using, for example, the clutch or
a shot pin. Upon the completion of the clamp operation, the PMC
sets spindle clamp completion signal *SECLPs to 0.
- 838 -
13. When spindle clamp completion signal *SECLPs is set to 0, the

CNC sets spindle clamp signal SCLPs to 0 to indicate that the
CNC has received *SECLPs.
15. When spindle clamp signal SCLPs is set to 0, the PMC must set
spindle clamp completion signal *SECLPs to 1.
signal to 0.
If sequence pattern 4 is set, spindle unclamp signal SUCLPs, spindle

unclamp completion signal *SEUCLs, spindle clamp signal SCLPs,
and spindle clamp completion signal *SECLPs, explained above, are
not transmitted between the CNC and PMC.
- 839 -
Timing chart for positioning (sequence pattern 1)
M command
Myy
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
*SEUCLs
Spindle rotation
SCLPs
*SECLPs
FIN
- 840 -
M command
Myy
Strobe signal
MF
signal SPSTPs
Spindle position
control
servo-on
SUCLPs
Spindle unclamp confirmation
signal *SEUCLs
Spindle rotation
SCLPs
Spindle clamp completion
signal *SECLPs
FIN
- 841 -
M command
Myy
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
signal *SEUCLs
Spindle rotation
SCLPs
*SECLPs
FIN
- 842 -
M command
Myy
Strobe signal
MF

signal
SPSTPs
servo-on
Spindle rotation
FIN
- 843 -
Canceling spindle positioning

To cancel spindle positioning mode and enter spindle rotation mode,
specify Mzz in a program.
zz must be set in parameter No. 5681 in advance. A sequence pattern is
1. Suppose that Mzz is specified in a program.

2. One of miscellaneous function code signal M0 to M31 is sent, and
at the same time, miscellaneous function strobe signal MF is set to
1.
This transmission procedure is the same as that for ordinary
3. When strobe signal MF is set to 1, the PMC reads the code signal.
After confirming that the code signal is zz, the PMC must respond
with an appropriate operation. In this case, however, no particular
operation is required. The PMC must present completion signal
FIN for miscellaneous function strobe signal MF from being set to
1 until the operation procedure explained below is completed.
When the spindle is stopped, the PMC sets spindle stop
confirmation signal SPSTPs to 1.
signal is 1, the CNC sets the spindle unclamp signal SUCLPs to 1.
5. PMC must unclamp the spindle, and upon the completion of the
unclamp operation, the PMC must set spindle unclamp
completion signal *SEUCLs to 0.
6. When the spindle unclamp completion signal *SEUCLs is set to 0,
the CNC sets spindle unclamp signal SUCLPs to 0 to indicate that
the CNC has received the *SEUCLs signal.
set spindle unclamp completion signal *SEUCLs to 1. Also,
while setting the SUCLPs signal to 0, the CNC switches spindle
control from position control to spindle control.
8. If sequence pattern 3 or 4 is set, the CNC places spindle position
control in the servo-off state at the same time.
signal to 0.
If sequence pattern 4 is set, spindle unclamp signal SUCLPs and

spindle unclamp completion signal *SEUCLs, explained above, are not
transmitted between the CNC and PMC.
- 844 -
Timing chart for canceling positioning (sequence patterns 1 and 2)
M command
Mzz
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
signal *SEUCLs
FIN
- 845 -
Timing chart for canceling positioning (sequence patterns 3)
M command
Mzz
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
signal *SEUCLs
FIN
- 846 -
Timing chart for canceling positioning (sequence patterns 4)
M command
Mzz
Strobe signal
MF

signal SPSTPs
servo-on
Miscellaneous function
completion signal FIN
CAUTION
The CNC performs servo-on/off control in position
control for an analog spindle by using the ENB1 and
ENB2 signals. Therefore, to perform the servo-
on/off control in spindle position control as shown in
the timing chart, the spindle control unit must turn
motor excitation on and off according to the ENB1
and ENB2 signals.
Control unit
+10 V max SVC

SVC Spindle speed analog Name Connector/pin
2mA ES voltage output
SVC JA8A/7
Output ES
impedance ES JA8A/5
100Ω
ENB1 ENB enable
signal output ENB1 JA8A/8
ENB2 ENB2 JA8A/9
The ENB1/2 signal is set to 1 when spindle position control is in the

servo-on state, and it is set to 0 when spindle position control is in the
servo-off state.
- 847 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 PLZ ALZ ZMG ZRN

[Data type] Bitaxis
For the spindle positioning axis which does not need reference position return, set 1.
#1 ZMG Specifies a reference position return method for each axis.

0: Grid method
1: Magnetic switch method
For the spindle positioning axis, specify 0.
#2 ALZ Specifies the method to use for automatic reference position return
(G28).
0: Return to reference position using positioning control (rapid
traverse).
position return.
return.
For the spindle positioning axis, set 0.
1: Always preset.
For the spindle positioning axis, set 1.
- 848 -
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROP ROS ROT

[Data type] Bitaxis

For the spinlde positioning axis, set 1.

- 849 -
#7 #6 #5 #4 #3 #2 #1 #0

[Data type] Bitaxis
NOTE
#0 ISA
#1 ISC
#2 ISD
Increment #3 ISE #2 ISD #1 ISC #0 ISA

system
IS-A 0 0 0 1
IS-B 0 0 0 0
IS-C 0 0 1 0
IS-D 0 1 0 0
IS-E 1 0 0 0
For the spindle positioning axis, reset ISA to ISE to 0, because the increment system
for it is IS-B.
- 850 -

table:
Axis name Setting

X 88
Y 89
Z 90
A 65
B 66
C 67
U 85
V 86
W 87
NOTE
Axis name Setting
I 73
J 74
K 75
E 69
NOTE

Specify the number of the servo axis that corresponds to each control axis.
For the spindle positioning axis , set 0.
- 851 -
1027 Spindle number of a spindle positioning axis
NOTE

Set the axis attribute for each control axis, in combination with parameter No.
1023.
Specify the control axis on which to perform spindle positioning, by setting the
spindle number (not the motor number) for this parameter. The following
restrictions are imposed:
- Set 0 for those control axes on which spindle positioning is not to be performed.
- A single spindle cannot be allocated to multiple control axes.
- As many spindle positioning axes as the number of spindles can be set.
- A spindle positioning axis must be placed from the end of a control axis.
Example 1) Servo axis: X, Y, Z

1 88(X) 1 0
2 89(Y) 2 0
3 90(Z) 3 0
4 67(C) 0 1
Example 2) Servo axis: X, Z

Spindle positioning axis: C(S1), B(S2)
1 88(X) 1 0
2 90(Z) 2 0
3 67(C) 0 1
4 66(B) 0 2
NOTE
Note that this parameter is changed when automatic setting is
performed on the FSSB setting screen.
- 852 -

For the spindle positioning axis , set 360.0

override is 100%.

[Unit of data] msec
Specify the rapid traverse acceleration/deceleration time constant along each axis.
- 853 -


NOTE

[Unit of data] 0.5
For the spindle positioning axis , set 2
#7 #6 #5 #4 #3 #2 #1 #0
2203 MCN

[Data type] Bit
#1 MCN The machine positions are displayed on the CRT:

0: In millimeters for a millimeter machine or in inches for an inch
machine irrespective of the unit of data.
1: In millimeters for metric input or in inches for inch input.
For the spindle positioning axis , set 1
- 854 -
#7 #6 #5 #4 #3 #2 #1 #0
5605 IOR

#4 IOR Specifies whether to cancel the spindle positioning mode upon reset.
0: Do not cancel.
1: Cancel.
5680 M code for specifying spindle orientation

Set an M code for spindle orientation of spindle positioning axes
NOTE
- When this parameter is set to 0, all spindle positioning functions
for the spindle are disabled.
- M00 to M05, M30, M98, and M99 cannot be set.
- No other M codes for the spindle positioning function can be set
at the same time.
- M codes used for other functions cannot be set at the same time.
5681 M code for canceling the spindle positioning mode

Set an M code for canceling the spindle positioning mode of spindle positioning
axes.
NOTE
- M00 to M05, M30, M98, and M99 cannot be set.
at the same time.
- 855 -
#7 #6 #5 #4 #3 #2 #1 #0
5809 IOE AIT

#0 AIT Specifies whether to enable or disable axis-by-axis interlock for a spindle

positioning axis.
0: Disable.
1: Enable.
#1 IOE Specifies whether to cancel the spindle positioning mode upon emergency
stop.
0: Do not cancel.
1: Cancel.

5851 Number of teeth on the position coder gear in the servo mode (first stage)

Set the number of teeth on the position coder gear in the servo mode
(rigid tapping, spindle positioning, and so forth) (first stage).
5852 Number of teeth on the spindle gear in the servo mode (first stage)

Set the number of teeth on the spindle gear in the servo mode (rigid
tapping, spindle positioning, and so forth) (first stage).
- 856 -
5853 Backlash compensation in the servo mode (first stage)

Set a backlash compensation in the servo mode (rigid tapping, spindle
positioning, and so forth) (first stage).
5854 Number of teeth on the position coder gear in the servo mode (second stage)

(rigid tapping, spindle positioning, and so forth) (second stage).
5855 Number of teeth on the spindle gear in the servo mode (second stage)

tapping, spindle positioning, and so forth) (second stage).
5856 Backlash compensation in the servo mode (second stage)

positioning, and so forth) (second stage).
5857 Number of teeth on the position coder gear in the servo mode (third stage)

(rigid tapping, spindle positioning, and so forth) (third stage).
- 857 -
5858 Number of teeth on the spindle gear in the servo mode (third stage)

tapping, spindle positioning, and so forth) (third stage).
5859 Backlash compensation in the servo mode (third stage)

positioning, and so forth) (third stage).
5860 Number of teeth on the position coder gear in the servo mode (fourth stage)

(rigid tapping, spindle positioning, and so forth) (fourth stage).
5861 Number of teeth on the spindle gear in the servo mode (fourth stage)

tapping, spindle positioning, and so forth) (fourth stage).
5862 Backlash compensation in the servo mode (fourth stage)

positioning, and so forth) (fourth stage).
- 858 -
5863 Number of teeth on the position coder gear in the servo mode (fifth stage)

(rigid tapping, spindle positioning, and so forth) (fifth stage).
5864 Number of teeth on the spindle gear in the servo mode (fifth stage)

tapping, spindle positioning, and so forth) (fifth stage).
5865 Backlash compensation in the servo mode (fifth stage)

positioning, and so forth) (fifth stage).
5866 Number of teeth on the position coder gear in the servo mode (sixth stage)

(rigid tapping, spindle positioning, and so forth) (sixth stage).
5867 Number of teeth on the spindle gear in the servo mode (sixth stage)

tapping, spindle positioning, and so forth) (sixth stage).
- 859 -
5868 Backlash compensation in the servo mode (sixth stage)

positioning, and so forth) (sixth stage).
5869 Number of teeth on the position coder gear in the servo mode (seventh
stage)

(rigid tapping, spindle positioning, and so forth) (seventh stage).
5870 Number of teeth on the spindle gear in the servo mode (seventh stage)

tapping, spindle positioning, and so forth) (seventh stage).
5871 Backlash compensation in the servo mode (seventh stage)

positioning, and so forth) (seventh stage).
5872 Number of teeth on the position coder gear in the servo mode (eighth stage)

(rigid tapping, spindle positioning, and so forth) (eighth stage).
- 860 -
5873 Number of teeth on the spindle gear in the servo mode (eighth stage)

tapping, spindle positioning, and so forth) (eighth stage).
5874 Backlash compensation in the servo mode (eighth stage)

positioning, and so forth) (eighth stage).
5875 Effective area in the servo mode using a position coder

Set an effective area in the servo mode (rigid tapping, spindle positioning,
and so forth) using a position coder.
5876 Positional deviation limit during movement in the servo mode using a
position coder

Set a positional deviation limit during movement in the servo mode
(rigid tapping, spindle positioning, and so forth) using a position coder.
5877 Positional deviation limit during a stop in the servo mode using a position
coder
Set a positional deviation limit during a stop in the servo mode (rigid tapping,
spindle positioning) using a position coder.
- 861 -
5895 Operation sequence pattern for the spindle positioning axis

Set an operation sequence pattern for the spindle positioning axis.
1 Pattern 1: Used in a machine configuration where a mechanical clamp is used.

This pattern applies when clamping cannot be performed with the spindle
motor kept excited. With this pattern, clamping/unclamping is performed after
motor excitation is turned off.
2 Pattern 2: Used in a machine configuration where a mechanical clamp is used.
This pattern applies when unclamping performed after spindle motor excitation
is turned off causes the spindle to move excessively. With this pattern, an
operation sequence is initiated after the spindle motor is excited, and upon
completion of the sequence, spindle motor excitation is turned off.
3 Pattern 3: Used in a machine configuration where a mechanical clamp is not
used. An operation sequence is performed with the spindle motor excited. So,
clamping and unclamping operations are unnecessary, but I/O signals SUCLPs,
*SEUCLs, SCLPs, and *SECLPs are used to carry out an operation sequence.
4 Pattern 4: Used in a machine configuration where a mechanical clamp is not
used. An operation sequence is performed with the spindle motor excited. So,
clamping and unclamping operations are unnecessary, and I/O signals SUCLPs,
*SEUCLs, SCLPs, and *SECLPs are not used.
5896 M code for semi-fixed angular positioning (Min)

Set an M code (start) specifying the semi-fixed angular positioning of the spindle
positioning axis.
NOTE
- When specifying an M code for semi-fixed angular positioning, use
- M00 through M05, M30, M98, and M99 cannot be used.
- No other M codes for the spindle positioning function can be set at
the same time.
- 862 -
5897 M code for semi-fixed angular positioning (Max)

Set an M code (end) specifying the semi-fixed angular positioning of the spindle
positioning axis.
NOTE
- When specifying an M code for semi-fixed angular positioning,
use parameter No. 5896 and No. 5897.
- M00 through M05, M30, M98, and M99 cannot be used.
at the same time.
5898 Basic angle for semi-fixed angular positioning

[Data type] Realspindle
Set a basic angle for semi-fixed angular positioning. Let α be the
setting of parameter No. 5896, βbe the setting of parameter No. 5897,
and γ be the setting of parameter No. 5898. Then, the relationship
between the specified M code and the amount of movement is as
described below.
M code α α+1 α+2 α+3 ... β

Angular γ γ×2 γ×3 γ×4 ... γ× (β-α+1)
displacement
- For analog spindles

#7 #6 #5 #4 #3 #2 #1 #0
5808 OMI

#0 OMI Specifies whether the spindle positioning orientation direction is the plus
direction or minus direction when an analog spindle is used.
0: Plus direction
1: Minus direction
- 863 -
5960 Position gain in the servo mode

Set an analog spindle position gain in the servo mode (rigid tapping,
spindle positioning, and so forth). This position gain is used also as a
drilling axis position gain in rigid tapping.
- 864 -
5961 Position gain multiplier (first stage)

Set the position gain multiplier of the analog spindle for gear 1 in the servo mode
(rigid tapping, spindle positioning, and so forth).
Position gain multiplier GC is obtained from the following equation:
2048000 × 360 × PC × E
GC =
PLS × SP × L
PLS : Number of pulses output from the position coder (pulses/rev)
SP : Number of gear teeth on the spindle side
PC : Number of gear teeth on the position coder side
E : Specified voltage (V) for turning the spindle motor at 1000 min-1
L : Angular displacement of the spindle (degrees) per spindle motor rotation
Example:
For the spindle motor and gear ratio given below, GC is calculated as follows:
PLS = 4096 pulses/rev
SP =1
PC =1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
Note)On the assumption that the spindle motor used turns at 4500 min-1 at 10 V,
2.2 V is required to turn the spindle motor at 1000 min-1
5962 Drift compensation value (first stage)

[Unit of data] Velo
Set the drift compensation value of the analog spindle for gear 1 in the servo mode
Drift compensation DC (a voltage equivalent to positional deviation) is obtained
from the following equation:
DC = 0.000000192 × G × GC × ER
G : Position gain in servo mode (0.01/sec)
GC : Position gain multiplier
ER : Positional deviation (detection unit)
- 865 -
5963 Position gain multiplier (second stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2
GC = = 1100
4096 × 1 × 360
5964 Drift compensation value (second stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 866 -
5965 Position gain multiplier (third stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2
GC = = 1100
4096 × 1 × 360
Note)On the assumption that the spindle motor used turns at 4500 min-1 at 10 V, 2.2
V is required to turn the spindle motor at 1000 min-1.
5966 Drift compensation value (third stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 867 -
5967 Position gain multiplier (fourth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2
GC = = 1100
4096 × 1 × 360
Note) On the assumption that the spindle motor used turns at 4500 min-1 at 10 V,
5968 Drift compensation value (fourth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 868 -
5969 Position gain multiplier (fifth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2
GC = = 1100
4096 × 1 × 360
2.2 V is required to turn the spindle motor at 1000 min-1.
5970 Drift compensation value (fifth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 869 -
5971 Position gain multiplier (sixth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
Note) On the assumption that the spindle motor used turns at 4500 min-1 at 10 V, 2.2
V is required to turn the spindle motor at 1000 min-1
5972 Drift compensation value (sixth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 870 -
5973 Position gain multiplier (seventh stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5974 Drift compensation value (seventh stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 871 -
5975 Position gain multiplier (eighth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5976 Drift compensation value (eighth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 872 -
5977 Rapid traverse rate for orientation

Set a rapid traverse rate for analog spindle orientation in the servo mode
NOTE
Set a rapid traverse rate so that the quantity of errors is within a
range from 128 pulses to 1024 pulses.
5978 Time constant for orientation

[Unit of data] msec
Set a time constant for analog spindle orientation in the servo mode
5979 FL feedrate for orientation

Set an FL feedrate for analog spindle orientation in the servo mode (rigid
tapping, spindle positioning, and so forth).
NOTE
Set an FL feedrate rate so that the quantity of errors is within a
range from the effective area to 1024 pulses.
- 873 -
5980 Grid shift value for orientation

Set a grid shift value from the orientation stop position of the analog
spindle in the servo mode (rigid tapping, spindle positioning, and so
forth).
- For serial spindles

#7 #6 #5 #4 #3 #2 #1 #0
3000 SVO

#4 SVO Direction of reference position return in servo mode (rigid tapping, spindle
positioning, and so forth)
0: The spindle returns to the reference position counterclockwise (viewed
from the motor output axis).
1: The spindle returns to the reference position clockwise (viewed from
the motor output axis).
NOTE
The orientation (reference position return) direction of
spindle positioning using a serial spindle depends on
the specification of this parameter.
3044 Proportional gain of the velocity loop in the servo mode/synchronization

control mode (high-speed gear)

Set the proportional gain of the velocity loop for the high-speed gear in
servo mode (rigid tapping, spindle positioning, and so forth).
- 874 -
3045 Proportional gain of the velocity loop in servo mode/synchronization control

mode (low-speed gear)

Set the proportional gain of the velocity loop for the low-speed gear in
3052 Integral gain of the velocity loop in servo mode/synchronization control

mode (high-speed gear)

Set the integral gain of the velocity loop for the high-speed gear in servo
mode (rigid tapping, spindle positioning, and so forth).
3053 Integral gain of the velocity loop in servo mode/synchronization control

mode (low-speed gear)

Set the integral gain of the velocity loop for the low-speed gear in servo
3056 Gear ratio (high-speed gear)

[Unit of data] Motor speed per spindle rotation*100
Set a gear ratio between the spindle and spindle motor for the high-
speed gear.
Set the gear or clutch status corresponding to the clutch/gear signal.
- 875 -
3057 Gear ratio (medium high-speed gear)

Set a gear ratio between the spindle and spindle motor for the medium
high-speed gear.
3058 Gear ratio (medium low-speed gear)

Set a gear ratio between the spindle and spindle motor for the medium
low-speed gear.
3059 Gear ratio (low-speed gear)

Set a gear ratio between the spindle and spindle motor for the low-speed
gear.
3065 Position gain in servo mode/synchronization control mode

(high-speed gear)

Set the position gain for the high-speed gear in servo mode (rigid tapping,
spindle positioning, and so forth) and synchronization control mode.
- 876 -

(medium high-speed gear)

Set the position gain for the medium high-speed gear in servo mode
(rigid tapping, spindle positioning, and so forth) and synchronization
control mode.

(medium low-speed gear)

Set the position gain for the medium low-speed gear in servo mode (rigid
tapping, spindle positioning, and so forth) and synchronization control
mode.
3068 Position gain in the servo mode/synchronization control mode

(low-speed gear)

Set the position gain for the low-speed gear in servo mode (rigid tapping,
3073 Grid shift in servo mode

Set this data to shift the reference position in servo mode (rigid tapping,
spindle positioning, and so forth).
- 877 -
Alarm and message
- PS alarm
turned ON.
the G28 code.
PS0509 DUPLICATE M-CODE (SPOS AXIS A function to which the same code as this M code is set
ORIENTATION) exists.
(spindle positioning, orientation)
POSITIONING) exists.
(spindle positioning, positioning)
RELEASE) exists.
(spindle positioning, mode cancel)
PS0543 ILLEGAL GEAR SETTING The gear ratio between the spindle and position coder, or the
set position coder number of pulses is illegal in the spindle
position function and the rigid tapping function.
PS0548 ILLGAL AXIS MODE The spindle positioning axis/Cs contour control axis was
specified during switching of the controlled axis mode.
PS0551 DUPLICATE SPOS AXIS COMMAND Two or more axes were specified on a single spindle
positioning axis. (e.g. positioning by an M code or positioning
by an axis address)
PS0552 SPOS AXIS - OTHER AXIS SAME The spindle positioning axis and another axis are specified in
TIME the same block.
PS0553 SPOS AXIS ILLEGAL SEQUENCE Operation sequence pattern setting parameter No. 5895 for
NUMBER spindle positioning is out of range.
PS0555 SPOS AXIS DUPLICATE AXIS The spindle positioning instruction has been issued to a
COMMAND spindle that is currently moving or which the instructed
spindle positioning sequence has not completed.
- SP alarm
CODER GEAR RATIO
SP0231 SPINDLE EXCESS ERROR The position deviation during spindle rotation was greater
(MOVING) than the value set in parameters.
SP0232 SPINDLE EXCESS ERROR (STOP) The position deviation during spindle stop was greater than
the value set in parameters.
coder overflowed.
OVERFLOW
MODE (CHANGING) spindle mode switching.
SP0237 DUPLICATE SPINDLE CONTROL An attempt was made to change the spindle mode during the
MODE (SPOS) spindle positioning mode.
erroneous.
ERROR
- 878 -
Caution
CAUTION
1 During the operations required for spindle positioning (operations for canceling
spindle rotation mode and entering spindle positioning mode, operations for
positioning the spindle in spindle positioning mode, and operations for canceling the
spindle positioning mode then entering spindle rotation mode), automatic operation
stop signal *SP is ignored. Even when the *SP signal is set to 0, automatic operation
is not halted until all the sequence is completed.
2 Dry run and machine lock are disabled during spindle positioning.
3 For M codes for the spindle positioning function, auxiliary function lock is disabled.
4 The spindle positioning axis is handled as one of the controlled axes. Therefore,
signals related to controlled axes (such as the overtravel signal) must be set.
5 When using an analog spindle, set the drift compensation parameters (parameter
Nos. 5962 to 5976) accurately. If the drift compensation value is not appropriate, the
following phenomena may occur during spindle orientation and spindle positioning:
- The spindle is stopped in the in-position wait state.
- The spindle position is shifted (the spindle does not reach a specified position or
passes a specified position).
6 For the spindle positioning axis, CMR = 1 and DMR = 4 are always set.
7 For the spindle positioning axis, set the following parameters as axis attributes:
1) The increment system is IS-B (0.001 deg).
Bit 0 (ISA) of parameter No. 1012 = 0
Bit 1 (ISC) of parameter No. 1012 = 0
Bit 2 (ISD) of parameter No. 1012 = 0
Bit 3 (ISE) of parameter No. 1012 = 0
2) The grid method is used for reference position return.
Bit 1 (ZMG) of parameter No. 1005 = 0
3) In automatic reference position return (G28), return to the reference position is
performed in positioning (rapid traverse) mode.
Bit 2 (ALZ) of parameter No. 1005 = 04
4) When manual reference position return is performed, the workpiece coordinate
system is always preset.
Bit 3 (PLZ) of parameter No. 1005 = 1
5) Axis not requiring inch/metric switching (rotation axis)
Bit 0 (ROT) of parameter No. 1006 = 1
6) The machine coordinate system for stroke check and automatic reference
position return is of the rotation axis type.
Bit 1 (ROS) of parameter No. 1006 = 1
7) The machine coordinate system for stored pitch error compensation is of the
rotation axis type.
Bit 2 (ROP) of parameter No. 1006 = 1
8) Travel distance on each axis is specified in radius specification mode.
Bit 3 (DIA) of parameter No. 1006 = 0
9) Command multiply = 1, Parameter No. 1820 = 2
10)The machine position on the indicator is indicated in degrees.
Bit 1 (MCN) of parameter No. 2203 = 1
11)The travel distance per rotation about the rotation axis is 360°.
Parameter No. 1260 = 360000
- 879 -
Note
NOTE
1 An M code related to spindle positioning must be specified in
a block containing no other commands. In that block, no
other commands may be specified.
2 An axis address for spindle positioning must be specified in a
block containing no other commands. In the same block, no
commands other than the following may be specified:
G00, G90, G91, G92, G10
3 Spindle positioning cannot be performed manually.
4 Neither program restart nor block restart can be performed for
spindle positioning. Use MDI commands.
5 For a spindle positioning axis, the stored stroke limit check
function is disabled.
6 A spindle positioning axis does not allow axis removal.
7 The pitch error compensation function is disabled with a serial
spindle. For an analog spindle, the stored pitch error
compensation function only is enabled.
8 When settings are made so that orientation operation is
omitted, the pitch error compensation function is disabled.
The reference position return completion signal is not set to 1.
9 In orientation, a check for all-axes interlock/axis-by-axis
interlock is made only at the start of a block. The input of the
signal during block execution is ignored.
Axis-by-axis interlock is enabled or disabled by bit 0 (AIT) of
parameter No. 5809.
Note on using the rigid tapping function
Caution
CAUTION
When the rigid tapping function is used together with the
spindle positioning function, rigid tapping mode must not be
specified in spindle indexing mode, and spindle indexing
must not be specified in rigid tapping mode. (Positioning and
rigid tapping for the same spindle cannot be performed at the
same time.)
Reference item
auxiliary function
9.2 Spindle serial
9.3 Spindle control
- 880 -
9.7 Cs CONTOUR CONTROL
General
A spindle motor controlled by the spindle serial output function is
called a serial spindle.
For a serial spindle, positioning and interpolation with other servo axes
can be performed. In other words, linear interpolation, circular
interpolation, and so forth can be specified between the spindle and
servo axis.
Cs contour control can be applied simultaneously to up to four
spindles.
Limitation
- Increment system
Use the IS-B setting for the least input increment.
- Command multiplication
Set 2 (one time) for the command multiplication.
- Reference position return
Specify that the workpiece coordinate system is always preset at
manual reference position return.
Explanation
For a serial spindle, positioning and interpolation between another
servo axis and Cs contour control axis can be performed. In other
words, linear interpolation, circular interpolation, and so forth can be
specified between a Cs contour control axis and servo axis and between
Cs contour control axes.
Rotating a serial spindle with a velocity command is referred to as
spindle rotation control. Controlling the position of a spindle with a
move command is referred to as Cs contour control.
Switching between spindle rotation control and Cs contour control is
performed by the DI signal from the PMC.
Manual and automatic operation for Cs contour control axes are
performed in Cs contour control mode in the same way as for normal
servo axes.
(For an explanation of reference position return operation, see the
explanation of reference position return in this section.)
Setting a Cs contour control axis

Place a Cs contour control axis as one of CNC controlled axes. Any
controlled axis can be selected as a Cs contour control axis.
Set the following parameters for a Cs contour control axis:
1 Servo axis number (set parameter No. 1023 to "0.")
2 Spindle number (parameter No. 1028)
3 Rotation axis setting (set ROT, bit 0 of parameter No. 1006, to "1.")
4 Setting a Cs contour control axis (set CNT, bit 7 of parameter No.
1804, to "1.")
Parameters 1 and 2 can be set by FSSB automatic setting.
- 881 -
Command address
Any address can be selected for a Cs contour control move command.
The value set for parameter No. 1020 is used as the axis name.
Switching between spindle rotation control and Cs contour control

- Switching from the spindle rotation control mode to the Cs
contour control mode
Set DI signal SCNTR1, SCNTR2, SCNTR3, ... <G067#7, G071#7,
G075#7, ...> to "1" to switch the serial spindle to Cs contour
control mode.
When switching to Cs contour control is executed during spindle
rotation, the spindle immediately stops and switching is executed.
- Switching from Cs contour control mode to spindle rotation
control mode
Set DI signal SCNTR1, SCNTR2, SCNTR3, ... <G067#7, G071#7,
G075#7, ...> to "0" to switch the serial spindle to spindle rotation
control mode.
Confirm that the move commands for spindles during both
automatic and manual operation completely terminate, then
execute switching. If switching is executed while the spindle is
rotating, an alarm indicating the interlock state or excess
positional deviation occurs.
- Automatic position gain setting at switching between spindle
rotation control and Cs contour control
1. Switching from spindle rotation control to Cs contour
control
If different position gains are set for the Cs contour control
axis and other servo axes at control switching, linear or
circular interpolation with the Cs contour control axis is not
performed normally.
For this reason, the position gain (parameter No. 3069, 3070,
3071, or 3072) selected by the clutch/gear signal (CTH1A,
CTH2A) is automatically set for servo axes other than the Cs
contour control axis.
When there are two or more Cs contour control axes, the
minimum value among the selected position gains is
automatically set for other Cs contour control axes and servo
axes.
2. Switching from Cs contour control to spindle rotation
control
The original position gain (parameter No. 1825) is
automatically set for the servo axes.
When there are two or more Cs contour control axes and
these axes continue to be used as Cs contour control axes, the
minimum value among the position gains selected for
remaining Cs contour control axes is automatically set for
other Cs contour control axes and servo axes.
3. Switching between spindle rotation control and Cs contour
control during automatic operation
During automatic operation, switching cannot be performed
while the tool is moving along an axis.
- 882 -
Switching from spindle rotation control to Cs contour

control or vice versa may be performed in a block during
automatic operation. In this case, the position gain is not
switched immediately. The CNC automatically sets the
position gain after confirming that all controlled axes stop
completely.
4. The CNC automatically sets the position gain after
confirming that all the controlled axes stop completely when
switching between spindle rotation control and Cs contour
control is performed during other than automatic operation.
5. When the gain is not switched
Gain switching is not required when there is no interpolation
between the Cs contour control axis and another axis and
when the same position gain is set for the Cs contour control
axis and servo axes.
In this case, set no gain switching (set NGC, bit 0 of
parameter No. 5609, to 1).
Reference position return of the Cs contour control axis

Always perform reference position return because the current position
is missing immediately after switching the serial spindle from spindle
rotation control to Cs contour control. However, the tool can be moved
without reference position return when a setting (setting ZRN, bit 0 of
parameter No. 1005, to "1") is made to provide no reference position
return function and the coordinate system need not be established.
Reference position return is performed for the Cs contour control axis
as follows:
- Manual reference position return
When feed axis and direction selection signal (+J1<G65#0>,
+J2<G69#0>, ..., -J1<G65#1>, -J2<J69#1>, ...) is set to "1" in
reference position return mode after the serial spindle is switched
to Cs contour control mode, the spindle starts reference position
return operation. After the spindle is positioned at the reference
position, reference position return end signal ZPn<F06#0>... is set
to "1." When feed axis and direction selection signal +Jn or -Jn is
set to "1," the spindle moves in the reference position return
direction. Set the direction of reference position return using CSO
(bit 3 of parameter No. 3000).
- Reference position return in automatic operation mode (G28
command)
When G28 is issued after the serial spindle is switched to the Cs
contour control mode, the spindle motor stops, then the spindle
moves to the intermediate position. Then, reference position
return is performed. After the spindle is positioned to the
reference position, reference position return end signal ZPn
<F064#0>... is set to "1."
When reference position return is performed once after the serial
spindle is switched to Cs contour control mode, the spindle is
positioned to the reference position and ZPn is set to "1." The
feedrate set for parameter No. 3074 is used for reference position
return.
- 883 -
Set the direction of reference position return using CSO (bit 3 of

- Stopping reference position return
(i) For manual operation
When the reset, emergency stop, or feed axis and direction
selection signal is set to "0," reference position return is
stopped. Use STJ (bit 2 of parameter No. 5821) to specify
whether reference position return is to be stopped by setting
the feed axis and direction selection signal to "0." After
stopping reference position return, perform reference
position return again from the first step, if required.
(ii) For automatic operation
Reference position return can be stopped by a reset,
emergency stop, or feed hold. In any case, after stopping
reference position return, perform reference position return
again from the first step, if required.
Operating the Cs contour control axis (automatic/manual)

After reference position return after switching to Cs contour control
mode, the axis can be operated in the same way as normal servo axes.
In the spindle rotation control mode, no commands for Cs contour
control axes can be accepted. During automatic operation, alarm
PS0571 or PS0572 occurs.
Perform manual operation for a Cs contour control axis so that it is not
performed in spindle rotation mode by the PMC ladder.
Signal
Cs contour control mode switching signalsSCNTR1, SCNTR2, SCNTR3, ... <G067#7, G071#7,
G075#7, ...>
[Function] These signals are used to switch between spindle rotation control mode
and Cs contour control mode.
These signals are provided for axes on a one-to-one correspondence. A
number appended to a signal name represents a controlled axis number.
Use the signal with the controlled axis number of a Cs contour control
axis.
SCNTRx : x:1 ... Cs contour control mode switching signal for the first axis
2 ... Cs contour control mode switching signal for the second axis
3 ... Cs contour control mode switching signal for the third axis
[Operation] When this signal is set to "0," spindle rotation mode is set. When it is
set to "1," Cs contour control mode is set. Before switching from Cs
contour control mode to spindle rotation control mode, confirm that the
move command for the spindle has terminated completely. The spindle
can be switched from spindle rotation control mode to Cs contour
control mode while it is rotating.
- 884 -
Cs contour control mode switching confirmation signals

MSCNTR1, MSCNTR2, MSCNTR3, ... <F067#7, F071#7, F075#7, ...>
[Function] Indicates that switching between the spindle rotation control mode and
Cs contour control mode is complete. These signals are provided for
axes on a one-to-one correspondence. A number appended to a signal
name represents a controlled axis number.
Use the signal with the controlled axis number of a Cs contour control axis.
MSCNTRx
x: 1 ... Cs contour control mode switching confirmation signal
for the first axis
2 ... Cs contour control mode switching confirmation signal
for the second axis
3 ... Cs contour control mode switching confirmation signal
for the third axis
[Output condition] When Cs contour control mode is set, this signal is set to "1." When
spindle rotation control mode is set, the signal is set to "0."
Timing chart
Spindle rotation control Cs contour control Spindle rotation control
SCNTR
Gear switching and

spindle motor
operation command
must be complete.
MSCNTR
Internal control switching Internal control switching
NOTE
1 Before the SCNTR signal is switched to the Cs
contour control side, gear switching required for Cs
contour control must be complete (mechanical
switching and CTH1A, CTH2A, ... input).
2 If the spindle motor is not ready to operate, a servo
alarm such as an excess error may occur (perform
required serial spindle control signal operations such
as SFRA and SRVA<G227#5 and #4> in advance).
- 885 -
Serial spindle clutch/gear signals CTH1A, CTH2A<G227#3, #2>: for 1st spindle
CTH1B, CTH2B<G235#3, #2>: for 2nd spindle
CTH1C, CTH2C<G211#3, #2>: for 3rd spindle
CTH1D, CTH2D<G219#3, #2>: for 4th spindle
[Operation] When a serial spindle is used, this signal posts information about the
spindle gear being used to the CNC. The signal states and the
corresponding gear selection states are listed below.

0 0 Stage 1 (high)
1 1 Stage 4 (low)
These signals determine which parameter (such as the loop gain) for
each gear is to be used. Do not change these signals in Cs contour
control mode.
Reference position return end signals ZP1<F064#0>, ZP2<F068#0>, ...

[Function] Indicates that reference position return of a Cs contour control axis has
been completed.
ZPx
x: 1 ... Reference position return end signal for the first axis
2 ... Reference position return end signal for the second axis
3 ... Reference position return end signal for the third axis
: :
: :
[Output condition] These signals are set to "1" when manual reference position return or
automatic reference position return command by G28 is complete in Cs
contour control mode and the Cs contour control axis is at the reference
position.
Signals related to manual operation

Feed axis and direction selection signals +J1<G65#0>,
+J2<G69#0>, ..., -J1<G65#1>, -J2<G69#1>, ..., manual handle feed
axis selection signals HS1A to HS1D<G011#0 to #3>, and so forth (see
the related sections in this manual.)
In Cs contour control mode, manual operation other than manual
reference position return can be performed in the same way as for
normal servo axes.
In spindle rotation control mode, do not perform manual operation for
any Cs contour control axis using the PMC ladder.
- 886 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G067 SCNTR1
G227 CTH1A CTH2A
G235 CTH1B CTH2B
G211 CTH1C CTH2C
G219 CTH1D CTH2D
F064 ZP1
F067 MSCNTR1
Parameter
Main related parameters are shown below.
In addition, parameters related to feedrates for axes,
acceleration/deceleration, display, and so forth are available.
#7 #6 #5 #4 #3 #2 #1 #0
1005 PLZ ALZ ZMG ZRN

[Data type] Bitaxis
For the Cs contouring axis which does not need the reference position return, set 1.
0: Return to reference position using positioning control (rapid traverse).
performed using the same operation sequence for manual reference position
return.
1: Use the same operation sequence as for manual reference position return.
For the Cs contouring axis, set 0.
- 887 -
1: Always preset.
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROP ROS ROT

[Data type] Bitaxis


- 888 -
#7 #6 #5 #4 #3 #2 #1 #0

[Data type] Bitaxis
#0 ISA
#1 ISC
#2 ISD
Increment #3 ISE #2 ISD #1 ISC #0 ISA

system
IS-A 0 0 0 1
IS-B 0 0 0 0
IS-C 0 0 1 0
IS-D 0 1 0 0
IS-E 1 0 0 0
The Cs contouring axis is always ISB. So, set 0 ISA to ISE
- 889 -

table:
Axis name Setting

X 88
Y 89
Z 90
A 65
B 66
C 67
U 85
V 86
W 87
NOTE
Axis name Setting

I 73
J 74
K 75
E 69

Specify the number of the servo axis that corresponds to each control axis.
Normally, set each servo and control axis to the same numbers.
- 890 -
1028 Spindle number of a Cs contour control axis
NOTE

[Valid data range] 0–4
This parameter is used, in conjunction with parameter No. 1023, to
specify the attribute for each controlled axis. When controlled axes are
to be subjected to Cs contour control, set the spindle number (rather
than the motor number) in this parameter. The following restrictions
are placed on the setting of the parameter.
-For controlled axes not to be subjected to Cs contour control, the parameter must
be reset to 0.
-It is impossible to assign one spindle to more than one controlled axis.
-It is possible to set up as many Cs contour controlled axes as the number of
spindles.
-Axis assignment for Cs contour must begin at the largest axis number and proceed
sequentially to a lower axis number.
Example of setting 1) Servo axes: X, Y, Z
Cs contour controlled axis: C(S1)
Controlled Parameter Parameter Parameter
axis number 1020 1023 1028
1 88 ( X ) 1 0
2 89 ( Y ) 2 0
3 90 ( Z ) 3 0
4 67 ( C ) 0 1
Example of setting 2) Servo axes: X, Z
Cs contour controlled axes: C(S1), B(S2)
Controlled Parameter Parameter Parameter
axis number 1020 1023 1028
1 88 ( X ) 1 0
2 90 ( Z ) 2 0
3 67 ( C ) 0 1
4 66 ( B ) 0 2
NOTE
Automatic setting on the FSSB setting screen affects this
parameter.
- 891 -

For the Cs contouring axis, set 360.0.

override is 100%.

[Unit of data] msec
Specifies a rapid traverse acceleration/deceleration time constant for a Cs contour
controlled axis.
- 892 -


NOTE
When the feedrate is decelerated to the value set in this parameter at
any point regardless of whether during a linear or nonlinear feedrate
increase, the tool moves at that feedrate for the remaining distance
then stops.
#7 #6 #5 #4 #3 #2 #1 #0
1804 CNT

[Data type] Bitaxis
#7 CNT Specifies whether to specify spindle contour control for the serial
interface spindle.
0: Does not specify spindle contour control.
1: Specifies spindle contour control.

[Unit of data] 0.5
- 893 -
#7 #6 #5 #4 #3 #2 #1 #0
2203 MCN

[Data type] Bit

#7 #6 #5 #4 #3 #2 #1 #0
3000 CSO

[Data type] Bit spindle
#3 CSO Direction of reference position return in Cs contour control mode
0: The spindle returns to the reference position counterclockwise
(viewed from the motor output axis).
1: The spindle returns to the reference position clockwise (viewed from
3021 Maximum speed in Cs contour control mode

[Unit of data] min-1
3046 Proportional gain of the velocity loop in Cs contour control mode

(high-speed gear)
3047 Proportional gain of the velocity loop in Cs contour control mode

(low-speed gear)

Set the proportional gain of the velocity loop in Cs contour control mode.
- 894 -
3054 Integral gain of the velocity loop in Cs contour control mode

(high-speed gear)
3055 Integral gain of the velocity loop in Cs contour control mode

(low-speed gear)

Set the integral gain of the velocity loop in the Cs contour control mode.
3069 Position gain in Cs contour control mode (high-speed gear)
3070 Position gain in Cs contour control mode (medium high-speed gear)
3071 Position gain in Cs contour control mode (medium low-speed gear)
3072 Position gain in Cs contour control mode (low-speed gear)

Set the position gain in Cs contour control mode.
3074 Feedrate for reference position return in Cs contour

control mode/servo mode

3086 Motor voltage setting in Cs contour control mode
3092 Rate of change in the position gain at reference position

return in Cs contour control mode

[Unit of data] %
- 895 -
3105 Proportional gain data of the current loop in Cs contour control mode
3107 Integral gain data of the current loop in Cs contour control mode

3135 Grid shift in Cs contour control mode

[Valid data range] Within + one rotation (for example, -360000 to 360000 when the
detection unit is 0.001)Set the grid shift in Cs contour control mode
(distance from the one-rotation signal to the machine zero point).
3162 Integral gain of the velocity loop in Cs contour control cutting feed mode
(high-speed gear)
3163 Integral gain of the velocity loop in Cs contour control cutting feed mode
(low-speed gear)

#7 #6 #5 #4 #3 #2 #1 #0
5609 NGC

#0 NGC Specifies whether the position gain of the Cs contour control axis under
Cs contour control is automatically set for other servo axes.
0: Set automatically.
1: Not set automatically.
- 896 -
#7 #6 #5 #4 #3 #2 #1 #0
5821 STJ

#2 STJ Specifies when to stop returning the Cs contour control axis to the
reference position.
0: At a reset or emergency stop
1: At a reset, emergency stop, or when the feed axis direction selection
signal is set to "0."
5843 Number of pulses of the position detector for a Cs contour control axis
NOTE

Set the number of pulses of the position detector for a Cs contour control
axis.
5879 Effective area under Cs contour control

Set an effective area under Cs contour control.
5880 Positional deviation limit during movement under Cs contour control

Set a positional deviation limit during movement under Cs contour
control.
- 897 -
5881 Positional deviation limit during a stop under Cs contour control

Set a positional deviation limit during a stop under Cs contour control.
5882 Positional deviation limit during servo-off under Cs contour control

Set a positional deviation limit during servo-off under Cs contour
control.
Alarm and message

PS0571 CS AXIS DUPLICATE AXIS MODE The Cs contour control axis has been specified on an axis
that is not in the Cs contour control mode.
PS0572 CS AXIS DUPLICATE AXIS A currently moving axis has been specified as the Cs
COMMAND contour control axis.
Displaying the positional deviation and other data for a Cs contour control axis
The positional deviation and other data can be checked on the spindle
screen for monitoring the operation status.
For details, refer to "FANUC Series 15i/150i-MODEL B Maintenance
Manual" (B-63785EN).
- 898 -
Caution
CAUTION
1 In Cs contour control mode, do not switch the spindle
gear. Switch the spindle gear in spindle rotation control
mode when required.
2 Straightness compensation and gradient
compensation
These functions are invalid for Cs contour control axes.
3 The following functions are not supported for Cs
contour control axes:
- Index table indexing
- Synchronization control
- Axis switching
- Axis control using the PMC
- Polar coordinate command
4 Removal of controlled axis in Cs contour control mode
When a Cs contour control axis is removed, the spindle
enters spindle rotation control mode. For this reason,
do not remove any controlled axis.
5 A parameter related to axis control such as the
acceleration/deceleration time constant for a Cs
contour control axis in Cs contour control mode does
not become valid immediately after it is changed. Such
a parameter becomes valid after Cs contour control
mode is canceled once, then set again.
6 When automatic setting of the position gain upon
switching to Cs contour control is set (NGC, bit 0 of
parameter No. 5609, is set to 0), parameter No. 3069 to
3072 for the loop gains corresponding to the selected
spindle gear do not become valid immediately after
being changed.
To validate these parameters, cancel the Cs contour
control mode once, then set the mode again. However,
when there are two or more Cs contour control axes,
the new values are compared during selection of the
minimum value among the selected position gains.
Reference item
FANUC SERVO AMPLIFIER αi series Cs contour control
Descriptions (B-65282EN)
FANUC AC SPINDLE MOTOR αi series Cs contour control
FANUC SERVO MOTOR αi series Maintenance Manual (B-65285EN)
- 899 -
9.8 RIGID TAPPING
General
In tapping, the feed amount along the Z-axis per spindle rotation must
equal the thread pitch of the tapper. Therefore, the most desirable
tapping satisfies the following equation:
P = F/S
where, P: Thread pitch of the tapper (mm, inch)
F: Z-axis feedrate (mm/min, inch/min)
S: Spindle speed (min-1)
In the tapping cycle (G84) and reverse tapping cycle (G74), spindle
rotation and Z-axis feed are controlled independently. This means that
the above equation is not always satisfied. At the bottom of a hole, in
particular, spindle rotation and Z-axis feed both decelerate and stop,
then start moving and accelerate in the opposite direction. Since
spindle rotation and Z-axis feed accelerate/decelerate independently, it
is generally difficult to satisfy the above equation. For accurate tapping,
a spring is generally installed inside the holder of the tapper to provide
compensation.
With the rigid tapping cycle (G84.2) and reverse rigid tapping cycle
(G84.3), spindle rotation and Z-axis feed are controlled so that they are
always synchronized. In normal operation, the spindle rotation is
controlled to achieve the desired speed. In rigid tapping, on the other
hand, the spindle rotation is controlled considering the position also.
Spindle rotation and Z-axis feed are therefore controlled based on
two-axis linear interpolation. As a result, the equation P = F/S can also
be satisfied during deceleration and acceleration near the bottom of the
hole, thus enabling accurate tapping.
Use G84.2 for specifying the rigid tapping cycle, and G84.3 for the
reverse rigid tapping cycle.
The explanation given in this section assumes the tapping axis to be the
Z-axis. In actual operation, whether the tapping axis is always set to the
Z-axis or set to a programmed axis can be specified with bit 0 (FXY) of
parameter No. 6200.
- 900 -
Connection Among Spindle, Spindle Motor, and Position Coder

As shown in the figure below a gear can be inserted between the
spindle and spindle motor (n:m), and between the spindle and position
coder (N:M).
Spindle
control
Spindle Spindle motor

Error
amplifier
counter
Gear ratio n:m
Position Gear ratio N:M Spindle

coder
The number of pulses per position coder rotation is

- Gear between spindle and spindle motor

An arbitrary gear ratio can be used. The spindle travel distance per
spindle motor rotation, however, varies depending on the gear ratio, so
that feedrate instructed to the spindle motor must be adjusted
accordingly.
When a serial spindle is used, the gear ratio is set in parameter Nos.
3056 to 3059.
- Gear between spindle and position coder

The position coder is used to detect the position of the spindle.
The position coder is used to detect the position of the spindle. Gearing
of up to eight stages for an analog spindle or up to four stages for a
serial spindle can be installed between the spindle and spindle motor.
The gear ratio between the spindle and position coder is set in
- 901 -
Example) For position coder built-in type spindle motor
Built-in position coder
Spindle
motor
1st gear set
2nd gear set
3rd gear set 1st gear set 30 : 70

2nd gear set 50 : 50
3rd gear set 70 : 30
Spindle
Parameter Set value

Meaning
No.
5852 70 Number of teeth of the 1st gear for the spindle side
5855 50 Number of teeth of the 2nd gear for the spindle side
5858 30 Number of teeth of the 3rd gear for the spindle side
5851 30 Number of teeth of the 1st gear for the position coder
side
5854 50 Number of teeth of the 2nd gear for the position
coder side
5857 70 Number of teeth of the 3rd gear for the position coder
side
- Rigid tapping and machines with multiple gears
Note the following points when performing rigid tapping for a machine
having multiple gears.
Using the PMC, determine whether gears need changing, and make the
change if CNC of them.
To perform rigid tapping with the serial spindle, enter the clutch/gear
selection signals. Notify the serial spindle control unit of these signals
via the CNC.
Regardless of the option's selection, if the range in which the spindle
speed specified by the S function code does not correspond to the
currently selected gear, the gears are changed.
The following tables list the spindle speed ranges for each gear during
normal machining (assuming no machine restrictions) and rigid
tapping:
- 902 -
Spindle speed range (normal machining)

Gear
Lower limit Upper limit
Low- 1 revolution Maximum low-speed gear speed
speed Maximum spindle motor speed×L%
gear =
Low-speed gear ratio
Medium Maximum low-speed Maximum medium-speed gear speed
speed gear speed + 1 Maximum spindle motor speed×L%
gear revolution =
Medium speed gear ratio
High- Maximum medium- Maximum high-speed gear speed
speed speed gear speed +1 Maximum spindle motor speed×L%
gear revolution =
High-speed gear ratio
NOTE
This table shows an example of three gears. L%
indicates a spindle motor protection constant (up to
100).
Set the spindle speed range for each gear during rigid tapping as listed
in the table below.
Gear Spindle speed range (during rigid tapping)

Lower limit Upper limit
Low- 1 revolution Maximum low-speed gear speed
speed Basic spindle motor speed + α
gear =
Low-speed gear ratio
Medium Maximum low-speed Maximum medium-speed gear speed
speed gear speed + 1 Basic spindle motor speed + α
gear revolution =
Medium speed gear ratio
High- Maximum medium- Maximum high-speed gear speed
speed speed gear speed +1 Basic spindle motor speed + α
gear revolution =
High-speed gear ratio
NOTE
This table show an example of three gears. For the
basic spindle motor speed, refer to the spindle motor
description manual. "+α" means that the spindle
motor speed may slightly exceed the basic spindle
motor speed.
- 903 -
Rigid Tapping Specification
- Feed rate
In rigid tapping mode, the tapping axis is fed at a rate specified by F;
the spindle speed is S times 360(deg/min). Override is invalid for both
of them.
The speed of extraction can be overridden by 1% to 200% depending
on the override value set in parameter No. 5883.
CAUTION
The thread pitch of the tapper must equal the pitch (F,
S) specified in a program. If they do not match, the
tool or workpiece may be damaged.
- Acceleration and deceleration

Exponential acceleration/deceleration or linear acceleration/
deceleration can be applied to rigid tapping. This is selected by bit 1
(TEL) of parameter No. 5605.
The time constant can be changed in four steps, according to the
specified spindle speed, by setting bit 2 (TSC) of parameter No. 5605.
Parameters used when the time constant is not changed

Time constant (TC) FL feedrate (FL) Spindle speed (S)
5751 5752 5757
Acceleration/ Acceleration/
deceleration deceleration
time time
TC TC
S S command S S command
Linear acceleration/deceleration Exponential acceleration/deceleration
Parameters when the time constant is changed

Step (n) Time FL feedrate Spindle Applicable
constant (FLn) speed (Sn) speed
(TCn)
1 5884 5885 5886 S ≤ S1
2 5887 5888 5889 S1 < S ≤ S2
3 5890 5891 5892 S2 < S ≤ S3
4 5893 5894 - S3 < S
- 904 -
Acceleration/deceleration time Acceleration/deceleration time
TC4 TC4
TC3 TC3
TC2 TC2
TC1 TC1
S1 S2 S3 S command S1 S2 S3 S command
Linear acceleration/deceleration Exponential acceleration/deceleration
Example :
Linear acceleration/deceleration when the time constant is not changed
Time constant TC = 800 msec and speed S = 4000 min-1 are set in
parameters.
min-1
4000
800 800 msec
If S2000 is specified, the acceleration/deceleration time is 400 msec. If

S1000 is specified, the acceleration/deceleration time is 200 msec.
This means that, in linear acceleration/deceleration in rigid tapping, the
acceleration is constant.
- 905 -
- Override
Override is invalid for rigid tapping. Override (1 to 200%) can be
applied to withdrawal operations by setting parameter No. 5883.
- Dry run
Dry run is enabled. When dry run is applied to the feedrate of the
tapping axis, tapping is performed accordingly. Note that, as a higher
dry run feedrate is set, the spindle speed also becomes higher.
- Machine lock
Machine lock is enabled. When rigid tapping is executed in the
machine lock state, no movement is performed on the tapping axis.
Therefore, the spindle does not move.
- Interlock
Interlock is enabled.
- Feed hold and single block

When feed hold is enabled during operations 3 to 5, the feed hold lamp
lights immediately, but the spindle continues moving up to operation 6,
then stops.
In single block mode, the spindle stops at the ends of operations 1, 2,
and 6.
Spindle stop
Initial level
Operation1
Operation6
Operation2
Spindle CW Spindle
P stop
Point R Point R level
Operation3 Operation5 : Rapid traverse

: Z axis feed
Point Z
P P : Dwell
Operation4
Spindle stop Spindle CCW
- Reset
If a reset occurs during rigid tapping, rigid tapping mode is canceled,
and the spindle motor enters normal mode.
- Manual feed
Rigid tapping cannot be performed in the manual feed mode.
- 906 -
- Backlash compensation
In rigid tapping mode, backlash compensation is performed to
compensate for lost motion upon forward and reverse spindle rotation.
Set the amount of backlash compensation in parameter Nos. 5853 to
5874. For the tapping axis, backlash compensation is always
performed.
- Orientation
When the orientation function is used, the orientation stop position can
be shifted using the grid shift function. For analog spindles, the
position can be shifted within a range of 180 degrees depending on the
setting made in parameter No. 5980. For serial spindles, the position
can be shifted within the range 0 to 360 degrees depending on the
setting made in parameter No. 3073.
- Orientation speed
When an analog spindle is used, movement is made at a rapid traverse
rate set in parameter No. 5977 until a speed that allows orientation is
reached. After a one-rotation signal is detected, orientation is
performed at the FL feedrate set in parameter No. 5979.
* Speed that allows orientation
Set the speed so that the following condition is satisfied:
æ F ×P ö
1024 ≥ ç ÷ ≥ 128 pulses
è 60 × G × 0.088 ø
F: Feedrate (deg/min)
G: Position gain (1/sec)
P: Gear ratio between the spindle and position coder
If the above condition is not satisfied, the one-rotation signal cannot be
detected, so the spindle continues moving at the rapid traverse rate.
* FL feedrate
Set the FL feedrate so that the following condition is satisfied:
FL: Feedrate (deg/min)
æ FL × P ö
1024 ≥ ç ÷ ≥ Spindle effective area ( pulses)
è 60 × G × 0.088 ø
G: Position gain (1/sec)
P: Gear ratio between the spindle and position coder
If the above condition is not satisfied, an accurate stop position cannot
be detected, so orientation is performed again starting from the rapid
traverse operation.
When a serial spindle is used, the orientation speed is determined by
the spindle.
When orientation is specified, a serial spindle stops immediately at the
orientation position; while an analog spindle first moves at a rapid
traverse rate then at the FL feedrate, then stops at the orientation
position. With serial spindles, therefore, the restriction imposed on the
lower limit of the rapid traverse rate setting to achieve the speed for
orientation, imposed when an analog spindle is used, is eliminated.
- 907 -
- Positional deviation limits

In rigid tapping mode, the position gain for the tapping axis is changed.
The following illustrates when the position gain is changed, and the
limits of the positional deviation in each movement.
Positional deviation limits in rigid tapping mode are used as follows:
Point I
G84.2 Change of the position gain for the
G80
/G84.3 tapping axis (Normal -> rigid tapping)
Change of the position gain for the
tapping axis (Rigid tapping -> normal)
Excessive error check by parameter
Point R No. 1828 (other than the tapping axis)
No. 1828 (tapping axis)
No. 1837 (tapping axis)
Point Z Point Z
- 908 -
Command format
- G84 .2 (Rigid tapping cycle)
G84.2 X_ Y_ Z_ R_ P_ F_ L_ S_ ;
X_ Y_: Hole position data
Z_ : The distance from point R to the bottom of the hole and the position of
the bottom of the hole
R_ : The distance from the initial level to point R level
P_ :Dwell time at the bottom of the hole and at point R when a return is
made
F_ : Cutting feedrate
L_ : Number of repeats (Only for necessity of repeat)
S_ : Spindle speed
G84.2(G98) G84.2(G99)
Spindle stop Spindle stop

Initial level
Operation1
Operation6
Operation2 Spindle stop
Spindle CW
Spindle CW Spindle
P stop P
Point R Point R level Point R Point R level
Operation3 Operation5
Point Z Point Z
P P
Operation4
Spindle stop Spindle CCW Spindle stop Spindle CCW
: Rapid traverse
: Z axis feed
P : Dwell
The rigid tapping mode cancel command is G80:. Rigid tapping cycle
mode is also canceled by issuing another canned cycle G code or group
01G code which cancels a tapping cycle. In addition, rigid tapping
mode is canceled by the input of a reset (by pressing the reset button or
by making an external reset).
The only difference between the rigid tapping cycle and the reverse
rigid tapping cycle (G84.3) is the direction of spindle rotation.
CAUTION
During cutting feed along the Z-axis, the feedrate
override is assumed to be 100%. However, the
extraction speed (operation 5) can be overridden by
1% to 200% depending on the setting made for
parameter No. 5883.
- 909 -
- G84 .3 (Left-handed Rigid Tapping Cycle)
G84.3 X_ Y_ Z_ R_ P_ F_ L_ S_ ;
Z_ : The distance from point R to the bottom of the hole and the position of the bottom of the hole
P_ : Dwell time at the bottom of the hole and at point R when return is made.
S_ : Spindle speed
G84.3(G98) G84.3(G99)

Initial level
Operation1
Spindle Spindle Spindle
Spindle
stop CCW stop
CCW P P
Point Z Point Z
P P
Spindle stop Spindle CW Spindle stop Spindle CW
Operation4
: Rapid traverse
: Z axis feed
P : Dwell
The rigid tapping mode cancel command is G80:. Rigid tapping cycle
mode is also canceled by issuing another canned cycle G code or group
01G code which cancels a tapping cycle. In addition, rigid tapping
mode is canceled by the input of a reset (by pressing the reset button or
by making an external reset).
The only difference between the rigid tapping cycle and the reverse
rigid tapping cycle (G84.2) is the direction of spindle rotation.
CAUTION
During cutting feed along the Z-axis, the feedrate
override is assumed to be 100%. However, the
extraction speed (operation 5) can be overridden by
1% to 200% depending on the setting made for
parameter No. 5883.
- 910 -
- Orientation function
G84.2 (or G84.3) X_Y_Z_R_P_F_L_I_ ;

Z_ : Distance from point R to a hole bottom, and hole position
R_ : Distance from initial level to point R
P_ : Dwell duration at a hole bottom and upon return to point R
L_ : Number of repeats (only when repeats are required)
I_ : Orientation command
0 : Positive-direction orientation
- 0 : Negative-direction orientation
G84.2/G84.3 (G98) G84.2/G84.3 (G99)

Initial level
Operation 1 Operation 6
Spindle Spindle Spindle
Spindle orientation
orientation Operation 2 stop
Forward stop Forward
P spindle
spindle P
rotation Point R R point level rotation Point R R point level
Point Z Point Z
P Reverse P Reverse
Spindle spindle Spindle spindle
stop Operation 4 rotation stop rotation
: Rapid traverse
: Z axis feed
P : Dwell
Before rigid tapping, spindle orientation can be performed.
After positioning along the X- and Y-axes, rapid traverse is performed
to the point R level. At the point R level, spindle orientation is
performed. (The only difference between G84.2 and G84.3 is the
direction of spindle rotation in operations 3 and 5.)
CAUTION
1 The orientation function is enabled only when the
number of pulses from the position coder is 4096, and
the gear ratio between the spindle and position coder is
as follows:
1 : 2n (n: Integer not less than 0)
2 When a serial interface spindle is used, orientation is
performed in the direction set by bit 4 (SVO) of parameter
No. 3000, regardless of the sign specified in I.
3 The orientation command is valid only when specified in
the first block that enters rigid tapping mode. Orientation
commands specified in the second and subsequent
blocks in rigid tapping mode are all ignored.
- 911 -
- Peck Rigid Tapping Cycle
G84.2 (or G84.3) X_ Y_ Z_ R_ P_ Q_ F_ L_ S_ ;

X_ Y_ : Hole position data
Z_ : The distance from point R to the bottom of the hole and the position of the bottom of the hole
P_ : Dwell time at the bottom of the hole and at point R when a return is made
Q_ : Depth of cut for each cutting feed
F_ : The cutting feedrate
L_ : Number of repeats (if required)
S_ : Spindle speed
G84.2/G84.3 (G98) G84.2/G84.3 (G99)
d= retraction distance
Initial level
q (1) q (1)
(2) d (2) d
- Peck rigid tapping cycle

q q
(1) : Cutting feedrate of the F command d d
(2) : Override can be performed by the
parameter. q q
Point Z Point Z
: Rapid traverse
: Z axis feed
P : Dwell
Tapping a deep hole in rigid tapping mode may be difficult due to chips
sticking to the tool or increased cutting resistance. In such cases, the
peck rigid tapping cycle function can be specified. In this cycle, cutting
is performed several times from point R to point Z.
After positioning along the X-and Y-axes, rapid traverse is performed
to point R. From point R, cutting is performed with depth Q (depth of
cut for each cutting feed). Then, the tool is retracted by distance d set
in parameter No. 6221. The retraction can be overridden by the setting
made in parameter No. 5883. Once point Z has been reached, the
spindle is stopped, then rotated in the opposite direction for retraction.
(The only difference between G84.2 and G84.3 is the direction of
spindle rotation.)
CAUTION
The peck rigid tapping cycle command is valid within
a block containing G84.2 (G84.3), or it is made valid
by specifying the Q command in rigid tapping or
reverse rigid tapping cycle mode.
- 912 -
Rigid tapping command in feed-per-minute/feed-per-revolution mode

Rigid tapping may be specified in feed-per-minute mode (G94) or in
the feed-per-revolution mode (G95).
Example:
To tap a tread with a lead of 1 mm at a spindle speed 1000 min-1 in
feed-per-minute mode, specify the following (in feed-per-minute mode,
the thread lead is F/S):
G94 ; Feed-per-minute command
G00 X120.0 Y100.0 ; Positioning
G84.2 Z-100.0 R-20.0 F1000 S1000 ; Rigid tapping
To tap the same thread as mentioned above under the same condition in
feed-per-revolution mode, specify the following (in the feed-per-
revolution mode, the thread lead is F):
G95 ; Feed-per-revolution command
G00 X120.0 Y100.0 ; Positioning
G84.2 Z-100.0 R-20.0 F1 S1000 ; Rigid tapping
NOTE
In feed-per-revolution mode, distribution is performed
by conversion to a command for feed per minute. So,
strictly speaking, this mode is not feed per revolution
mode. If spindle rotation is stopped for some reason,
movement along the tapping axis (Z-axis) does not
stop.
- 913 -
Signal
Signals for the rigid tapping function
Rigid tapping in-progress signal RTAP<F040#4>

[Function] This signal notifies the PMC that rigid tapping mode is set.
RTAP 1 : Rigid tapping mode is currently set.
0 : Rigid tapping mode is not currently set.
Spindle rotation direction signals RSPP,RSPM<F155#0,#1>

[Function] During rigid tapping, these signals notify the PMC of whether the
spindle is rotating in the forward or reverse direction.
During rigid tapping, the spindle is:
RSPP 1 : Rotating in the forward direction (CW).
0 : Not rotating in the forward direction.
RSPM 1 : Rotating in the reverse direction (CCW).
0 : Not rotating in the reverse direction.
[Output condition] These signals are output when the spindle is rotating in rigid tapping
mode. This means that, even in rigid tapping mode, these signals are
not output, for example, when the spindle is being positioned to a hole
position, or a dwell operation is in progress at the bottom of a hole or at
an R point.
When the spindle is placed in the interlock stop state, feed hold state, or
single block stop state, these signals are output.
Constant spindle speed signal RSPC<F155#2>

[Function] Reports that the spindle speed during tapping has become constant in
rigid tapping mode.
RSPC 1 : The spindle speed has become constant.
0 : The spindle speed is not constant.
[Output condition] This signal is output once the spindle speed has become constant
during tapping. This signal continues to be output while the spindle
speed is constant.
- 914 -
Reverse spindle rotation signal RSPR<G148#3>

[Function] When the rigid tapping cycle (G84.2) or reverse rigid tapping cycle
(G84.3) command is executed in canned cycle cancel mode (G80), the
direction of the spindle rotation can be reversed during rigid tapping by
using this signal.
RSPR 0 : Does not reverse the direction of rotation.
1 : Reverses the direction of rotation.
Example: When RSPR = 1 during execution of the G84.2 command
G84.2(G98) G84.2(G99)

Initial level
Operation1
Operation6
Spindle CCW
Spindle CCW Spindle
P stop P
: Rapid traverse
Point Z Point Z
: Z axis feed P P
Operation4
P : Dwell Spindle stop Spindle CCW Spindle stop Spindle CCW
When RSPR = 1 during execution of the G84.3 command
G84.2(G98) G84.2(G99)

Initial level
Operation1
Operation6
Spindle CCW
Spindle CCW Spindle
P stop P
: Rapid traverse
Point Z Point Z
: Z axis feed P P
Operation4
P : Dwell Spindle stop Spindle CCW Spindle stop Spindle CCW
- 915 -
CAUTION
Even when the status of the reverse spindle rotation
signal is changed in rigid tapping mode, the change is
ignored. To change the direction of the spindle
rotation, specify a cancel command (G80), change
the status of the reverse spindle rotation signal, then
specify the G84.2 or G84.3 command.
Example:
N09 G80 ;
N10 G91 G84.3 X10. Z10. R50. F100. S100 ;
N11 X20. Z-50. R-10. ;
N12 X30. Z-50. R-10. ;
:
:
N20 G80 ;
N21 G84.2 X10. Z-50. R-10. F100. S100 ;
N22 Z-100. ;
During execution of the above program, the status of

the reverse spindle rotation signal is recognized
when N10 and N21 are executed. In the other
blocks, the reverse spindle rotation signal is not
recognized even if its status is changed.
- 916 -
Signals related to S code output
Spindle function code signal S0-S31<F020-F023>

Spindle function strobe signal SF<F008#1>
Completion signal FIN<G005#1>
See Sec. 8.1.
Signals related to gear change
Spindle gear select signal GS1A,GS2A,GS4A<G026#4,#5,#6>:For 1st spindle

GS1B,GS2B,GS4B<G272#4,#5,#6>:For 2nd spindle
GS1C,GS2C,GS4C<G273#4,#5,#6>:For 3rd spindle
GS1D,GS2D,GS4D<G274#4,#5,#6>:For 4th spindle
[Operation] When an analog spindle is used, these signals notify the CNC of
information about the spindle gear being used. The signal states and
the corresponding gear selection states are listed below.

0 0 0 Stage 1
0 0 1 Stage 2
0 1 0 Stage 3
0 1 1 Stage 4
1 0 0 Stage 5
1 0 1 Stage 6
1 1 0 Stage 7
1 1 1 Stage 8
Serial spindle clutch/gear signal CTH1A,CTH2A<G227#3,#2>:For 1st spindle

CTH1B,CTH2B<G235#3,#2>:For 2nd spindle
CTH1C,CTH2C<G211#3,#2>:For 3rd spindle
CTH1D,CTH2D<G219#3,#2>:For 4th spindle
[Operation] When a serial spindle is used, these signals notify the CNC of
information about the spindle gear being used. The signal states and
the corresponding gear selection states are listed below.

0 0 Stage 1 (high)
1 1 Stage 4 (low)
- 917 -
Other signals
Spindle stop confirmation signal SPSTPA<G026#0>:For 1st spindle

SPSTPB<G272#0>:For 2nd spindle
SPSTPC<G273#0>:For 3rd spindle
SPSTPD<G274#0>:For 4th spindle
[Function] When the CNC confirms that this signal has been set to 1, the CNC
changes spindle control from speed control mode to position control
mode.
When rigid tapping is canceled, tapping can be terminated after the 0
state of this signal is confirmed. This can be allowed by setting bit 2
(RES) of parameter No. 6201.
Signal address
- All axes common

#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
G148 RSPR
F008 SF
F020 S7 S6 S5 S4 S3 S2 S1 S0
F021 S15 S14 S13 S12 S11 S10 S9 S8
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
F040 RTAP
F155 RSPC RSPM RSPP
- For 1st spindle

#7 #6 #5 #4 #3 #2 #1 #0
G026 GS4A GS2A GS1A SPSTPA
G227 CTH1A CTH2A
- For 2nd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G235 CTH1B CTH2B
G272 GS4B GS2B GS1B SPSTPB
- 918 -
- For 3rd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G211 CTH1C CTH2C
G273 GS4C GS2C GS1C SPSTPC
- For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G219 CTH1D CTH2D
G274 GS4D GS2D GS1D SPSTPD
- 919 -
Sequence(Time chart)
The following is an example of the PMC processing procedure used

when rigid tapping is specified:
G84.2 X_ Y_ Z_ R_ P_ F_ L_ S_ ;
Z_ : The distance from point R to the bottom of the hole and the position of
the bottom of the hole
P_ : Dwell time at the bottom of the hole and at point R when a return is
made
S_ : Spindle speed
G84.2(G98) G84.2(G99)

Initial level
Operation1
Operation6
Spindle CW
Spindle CW Spindle
P stop P
Point Z Point Z
P P
Operation4
Spindle stop Spindle CCW Spindle stop Spindle CCW
: Rapid traverse
: Z axis feed
P : Dwell
1. Assume that the G84.2 command is specified. The spindle speed

must be specified with an S command in the block containing
G84.2 or in a block before that block.
2. The CNC starts movement along the X- and Y-axes to the tapped
hole position and simultaneously sets rigid tapping signal RTAP
to 1.
3. When the G84.2 command is specified, the spindle may have
already been stopped by M05 which may have been specified
before G84.2, or the spindle may be rotating at a speed specified
by the S command with M03 or M04 maintained. In either case,
when the RTAP signal is set to 1, the machine (PMC) must
perform the following:
(1) Set all the spindle motor command voltage signals to 0 so that
the spindle speed voltage from the CNC becomes 0 V on the
spindle amplifier side. Also reset, to 0, the spindle normal
rotation command SFR and the spindle reverse rotation
- 920 -
command SRV to be sent to the spindle amplifier at the same

time.
Resetting all the spindle motor command signals to 0 sets the
spindle speed voltage sent from the CNC to the spindle
amplifier to 0 V, causing the spindle motor to stop.
(2) When the stop state of the spindle is confirmed by checking
that speed zero signal SST of the spindle amplifier is set to 1,
set torque limit signal TLML to 1 first, which is an output
signal to the spindle amplifier. (Only the FANUC analog
spindle amplifier requires that a torque limit signal be input.
Do not input it for the serial spindle amplifier.) Then, set
forward spindle rotation command SFR to 1, and reverse
spindle rotation command SRV to 0 so that a positive spindle
speed voltage causes forward spindle rotation, and a negative
spindle speed voltage causes reverse spindle rotation. After
waiting at least 400 msec, set spindle stop confirmation
signal SPSTPs to 1. (Only the FANUC analog spindle
amplifier needs to wait at least 400 ms. This is unnecessary
for the serial spindle amplifier, because a parameter is used to
specify a necessary condition.)
4. After setting the RTAP signal to 1, the CNC makes a movement
along the X- and Y-axes to the tapped hole position, then makes a
movement along the Z-axis to point R. These operations are
performed regardless of the PMC processing described in 3.
5. After movement to point R along the Z-axis, the CNC checks
whether the SPSTPs signal is 1. If the signal is 0, the CNC waits
until the signal is set to 1. When the signal is set to 1, the CNC
changes the spindle control mode from speed control mode to
position control mode.
6. After the change of the position control mode is completed, the
CNC starts two-axis linear interpolation between the Z-axis and
the spindle. Before starting the linear interpolation, the CNC sets
the same time constant for each of the acceleration/deceleration
circuits of the Z-axis and spindle. For the position control circuits
of the Z-axis and spindle, the CNC sets the same position gain.
These values are set in parameters in advance.
7. Linear interpolation between the Z-axis and spindle is executed.
8. After dwell, if required, is performed at the bottom of the hole,
linear interpolation between the Z-axis and spindle is executed to
cause retraction from point Z to point R on the Z-axis while the
spindle is being rotated in the reverse direction. The Z-axis and
spindle movement directions are opposite to the directions of the
Z-axis and spindle movements made in 7.
9. After movement to point R along the Z-axis, the CNC restores the
original time constant for the Z-axis. The CNC also restores the
original position gain value for the Z-axis.
10. When initial point return (G98) is specified, movement to the
initial point on the Z-axis is made.
This completes all the operations. If G84.2 is also specified in the next
block, the above procedure is repeated. When the second and
- 921 -
subsequent G84.2 commands are executed, the control mode for the
spindle is already set to position control mode, so the control mode
change processing in 5 is not performed.
If one of the commands explained below is specified in G84.2 mode,

the spindle control mode is changed from position control mode to
speed control mode, then the RTAP signal is set to 0. Then, the next
operation is performed. When the RTAP signal is set to 0, the PMC
must set the torque limit signal TLML to 0. (Only the FANUC analog
spindle amplifier requires that a torque limit signal be manipulated.)
(1) A canned cycle other than G84.3 is specified. For example, G81
is specified.
(2) The hole machining canned cycle is canceled. That is, G80 is
specified, or a G code of group 01 such as G00, G01, or G02 is
specified.
NOTE
The reason why the spindle stop confirmation signal
SPSTP must be set to 1 after at least 400 msec in 3 is
to allow sufficient time for the spindle motor to be fully
excited. This is because there is no means of
confirming the completion of spindle motor excitation.
The time required for excitation varies depending on
the spindle motor and amplifier. As a guideline, 400
ms is assumed.
The timing chart for the procedure described above is shown below.
- 922 -
G84.2 command G80 S100 M04 command
Signal RTAP
Moving of the X
and Y axes, Moving
of the Z axis to R point
RI0s to RI12s
SFR
SRV
SST
(TLML)
(for analog amp.)
Signal SPSTPs
Moving from R point to Z

point and Spindle CW
400msec or more
(for analog amp.)
Moving from Z point to R
point and Spindle CCW
M code output (M04)
RSPP
RSPM
Rated speed Rated speed

RSPC
- 923 -
Parameter
1837 Positioning deviation limit while the tool is moving in the rigid tapping mode

Specify the positioning deviation limit for a drilling axis while the tool is
moving in the rigid tapping mode. In the rigid tapping mode, the
position gain of a drilling axis is the same as that of the spindle.
Generally, the position gain of the spindle must not be excessively large.
In the rigid tapping mode, therefore, the position gain of a drilling axis is
smaller than the position gain in other modes. The positioning
deviation limit for the drilling axis while the tool is moving in the rigid
tapping mode is provided separately because the positioning deviation
increases if the position gain decreases at the same speed.
#7 #6 #5 #4 #3 #2 #1 #0
5605 TSC TEL

#1 TEL Specifies whether to use exponential acceleration/deceleration or linear

acceleration/deceleration for the spindle and drilling axis in the rigid
tapping mode.
0: Use exponential acceleration/deceleration.
1: Use linear acceleration/deceleration (constant
acceleration/deceleration).

#2 TSC Specifies whether an acceleration/deceleration time constant/FL feedrate
is fixed or switched among four stages for the spindle and drilling axis in
the rigid tapping mode.
0: Fixed. Parameter No. 5751, No. 5752, and No. 5757
1: Switched among four stages according to the spindle speed S.
Parameter No. 5757, and No. 5884 through No. 5894
- 924 -
#7 #6 #5 #4 #3 #2 #1 #0
5608 RSR

#4 RSR Specifies whether the relationships of G84.2/G84.3, drilling axis move

direction, and spindle rotation direction in the rigid tapping mode are of
type A or type B.
0: Type A
1: Type B
Type A: Command
G84.2 G84.3
Point R → Positive direction Reverse rotation Normal rotation
point Z Negative direction Normal rotation Reverse rotation
Type B: Command
G84.2 G84.3
Point R → Positive direction Normal rotation Reverse rotation
point Z Negative direction Normal rotation Reverse rotation
5751 Time constant at acceleration/deceleration of the spindle and drilling axis in

rigid tapping (fixed)

[Unit of data] msec
Set an acceleration/deceleration time constant when a fixed
acceleration/deceleration time constant is used for the spindle and
drilling axis in rigid tapping (with bit 2 (TSC) of parameter No. 5605 set
to 0).
- 925 -
5752 FL feedrate at acceleration/deceleration of the spindle and drilling axis in


[Minimum unit of data] Depend on the increment system of the drilling axis
Set an FL feedrate when a fixed FL feedrate is used for the spindle and drilling axis in
rigid tapping (with bit 2 (TSC) of parameter No. 5605 set to 0).
5757 Spindle speed for determining acceleration/deceleration for cutting feed in


Set a spindle speed when a fixed acceleration/deceleration time constant/FL
feedrate is used for the spindle and drilling axis in rigid tapping (with bit 2 (TSC) of
parameter No. 5602 set to 0).
When the type of acceleration/deceleration used for rigid tapping is linear
acceleration/deceleration (with bit 1 (TEL) of parameter No. 5605 set to 1), the
speed set in this parameter is increased or decreased for the time set in parameter
No. 5751.
Acceleration/deceleration Acceleration/deceleration
time time
TC TC
S S S S
command command
Relationship between S Relationship between S
command and actual command and actual
time during linear time during exponential
- 926 -
5804 Allowable range for constant spindle speed signal output in exponential

The constant spindle speed signal is output when the difference in the number of
remaining pulses held in the acceleration/deceleration circuit between two adjacent
distribution periods (ITPs) is zero. In exponential acceleration/deceleration,
however, the difference in the number of remaining pulses between two adjacent
ITPs does not become zero even when a constant speed is kept. In this case, a
constant speed is assumed to be reached when the difference in the number of
remaining pulses is within the range specified in this parameter.
In the figure shown below, the number of pulses accummulated in the

acceleration/deceleration circuit at ITP6 is:
α1+α2+α3+α4+α5+α6
At ITP7, the number of accummulated pulses is:
α1+α2+α3+α4+α5+α6+α7
Therefore, the difference in pulses accummulated in the acceleration/deceleration
circuit at ITP6 and ITP7 is α7.
The difference will not become 0 indefinitely.
Actual feedrate
Feedrate
α6 α7
specified in F α5
α4
α3
α2 p7
p6
p5
α1 p4
p3
p2
p1
t
ITP1 ITP2 ITP3 ITP4 ITP5 ITP6 ITP7 Time
pn:
pn: Number of output pulses in one ITP
αn: Number of pulses accumulated in the acceleration/deceleration circuit in one ITP
- 927 -

5851 Number of teeth on the position coder gear in the servo mode (first stage)

(rigid tapping, spindle positioning, and so forth) (first stage).
5852 Number of teeth on the spindle gear in the servo mode (first stage)

tapping, spindle positioning, and so forth) (first stage).
5853 Backlash compensation in the servo mode (first stage)

positioning, and so forth) (first stage).
5854 Number of teeth on the position coder gear in the servo mode (second stage)

(rigid tapping, spindle positioning, and so forth) (second stage).
- 928 -
5855 Number of teeth on the spindle gear in the servo mode (second stage)

tapping, spindle positioning, and so forth) (second stage).
5856 Backlash compensation in the servo mode (second stage)

positioning, and so forth) (second stage).
5857 Number of teeth on the position coder gear in the servo mode (third stage)

(rigid tapping, spindle positioning, and so forth) (third stage).
5858 Number of teeth on the spindle gear in the servo mode (third stage)

tapping, spindle positioning, and so forth) (third stage).
5859 Backlash compensation in the servo mode (third stage)

positioning, and so forth) (third stage).
- 929 -
5860 Number of teeth on the position coder gear in the servo mode (fourth stage)

(rigid tapping, spindle positioning, and so forth) (fourth stage).
5861 Number of teeth on the spindle gear in the servo mode (fourth stage)

tapping, spindle positioning, and so forth) (fourth stage).
5862 Backlash compensation in the servo mode (fourth stage)

positioning, and so forth) (fourth stage).
5863 Number of teeth on the position coder gear in the servo mode (fifth stage)

(rigid tapping, spindle positioning, and so forth) (fifth stage).
5864 Number of teeth on the spindle gear in the servo mode (fifth stage)

tapping, spindle positioning, and so forth) (fifth stage).
- 930 -
5865 Backlash compensation in the servo mode (fifth stage)

positioning, and so forth) (fifth stage).
5866 Number of teeth on the position coder gear in the servo mode (sixth stage)

(rigid tapping, spindle positioning, and so forth) (sixth stage).
5867 Number of teeth on the spindle gear in the servo mode (sixth stage)

tapping, spindle positioning, and so forth) (sixth stage).
5868 Backlash compensation in the servo mode (sixth stage)

positioning, and so forth) (sixth stage).
5869 Number of teeth on the position coder gear in the servo mode (seventh
stage)

(rigid tapping, spindle positioning, and so forth) (seventh stage).
- 931 -
5870 Number of teeth on the spindle gear in the servo mode (seventh stage)

tapping, spindle positioning, and so forth) (seventh stage).
5871 Backlash compensation in the servo mode (seventh stage)

positioning, and so forth) (seventh stage).
5872 Number of teeth on the position coder gear in the servo mode (eighth stage)

(rigid tapping, spindle positioning, and so forth) (eighth stage).
5873 Number of teeth on the spindle gear in the servo mode (eighth stage)

tapping, spindle positioning, and so forth) (eighth stage).
5874 Backlash compensation in the servo mode (eighth stage)

positioning, and so forth) (eighth stage).
- 932 -
5875 Effective area in the servo mode using a position coder

Set an effective area in the servo mode (rigid tapping, spindle positioning,
and so forth) using a position coder.
5876 Positional deviation limit during movement in the servo mode using a
position coder

Set a positional deviation limit during movement in the servo mode
(rigid tapping, spindle positioning, and so forth) using a position coder.
Set a positional deviation limit as shown in the following figure:

S × 360 × 100 × 1.5
Equation =
60 × G × α
S : Maximum spindle speed for rigid tapping
G : Position gain for the rigid tapping axis
α : Detection unit
(Calculation example)
In the configuration shown on the left, the positional deviation limit is

obtained as follows:
SPINDLE
S= 3600
MOTOR
G= 3000
Position
Spindle coder L= 360°(The spindle rotates through one for each rotation
of the spindle motor.)
α = La / 4096
= 720°/4096
= 0.17578°
La= 720°
(The spindle must rotate through two turns to rotate the position
coder one turn = 360°×2)
1:1:2
3600×360×100×1.5
Setting =
60×3000×0.17578
=6144
- 933 -
5877 Positional deviation limit during a stop in the servo mode using a position
coder

Set a positional deviation limit during a stop in the servo mode (rigid
tapping, spindle positioning) using a position coder.
5883 Return feedrate override in rigid tapping

[Unit of data] %
Set a feedrate override to be applied to rigid tapping return operation
and return operation in a peck rigid tapping cycle. When 0 is specified,
the specification of 100% is assumed.
5884 Acceleration/deceleration time constant for drilling axis cutting feed in rigid
tapping (TC1)

[Unit of data] msec
Set an acceleration/deceleration time constant at the first stage when
the acceleration/deceleration time constant for the spindle and drilling
axis in rigid tapping is switched according to the S command (bit 1 (TSC)
of parameter No. 5605 is set to 1).
5885 Cutting feed FL feedrate for the drilling axis in rigid tapping (FL1)

Set an FL feedrate at the first stage when the acceleration/deceleration
time constant for the spindle and drilling axis in rigid tapping is
switched according to the S command (bit 1 (TSC) of parameter No. 5605
is set to 1).
- 934 -
5886 Spindle speed for determining cutting feed acceleration/deceleration in rigid

tapping (S1)

Set a spindle speed at the first stage when the acceleration/deceleration time
constant for the spindle and drilling axis in rigid tapping is switched according to
the S command (bit 1 (TSC) of parameter No. 5605 is set to 1).
5887 Cutting feed acceleration/deceleration time constant for the drilling axis in
rigid tapping (TC2)

[Unit of data] msec
Set an acceleration/deceleration time constant at the second stage when

Set an FL feedrate at the second stage when the
acceleration/deceleration time constant for the spindle and drilling axis
in rigid tapping is switched according to the S command (bit 1 (TSC) of
parameter No. 5605 is set to 1).
- 935 -

tapping (S2)

Set a spindle speed at the second stage when the acceleration/deceleration time
rigid tapping (TC3)

[Unit of data] msec
Set an acceleration/deceleration time constant at the third stage when

Set an FL feedrate at the third stage when the acceleration/deceleration
time constant for the spindle and drilling axis in rigid tapping is
switched according to the S command (bit 1 (TSC) of parameter No. 5605
is set to 1).
- 936 -

tapping (S3)

Set a spindle speed at the third stage when the acceleration/deceleration time
rigid tapping (TC4)

[Unit of data] msec
Set an acceleration/deceleration time constant at the fourth stage when
- 937 -

Set an FL feedrate at the fourth stage when the acceleration/deceleration time
Parameter Nos. 5884 to 5894 are used to change the cutting feed
acceleration/deceleration time constant/FL feedrate on the hole machining axis in
rigid tapping according to the S command. These parameters set the time constant
(TCx)/FL feedrate (FLx) at each level and the spindle speed (Sx) to set levels.
The following show the relationship between the S command and FL feedrate, the
relationship between the S command and actual acceleration/deceleration time in
linear acceleration/deceleration, and the relationship between the S command and
actual acceleration/deceleration time in exponential acceleration/deceleration:
Spindle speed command S FL feedrate

S≤S1 FL1
S1<S≤S2 FL2
S2<S≤S3 FL3
S3<S FL4
Relationship between S command and FL feedrate
- 938 -
Acceleration/deceleration time Acceleration/deceleration time
TC4 TC4
TC3 TC3
TC2 TC2
TC1 TC1
S1 S2 S3 S S1 S2 S3 S command
command Relationship between S command and
Relationship between S command and actual acceleration/deceleration time
actual acceleration/deceleration time in exponential acceleration/deceleration
in linear acceleration/deceleration
#7 #6 #5 #4 #3 #2 #1 #0
6200 FXY

[Data type] Bit
#0 FXY Specifies whether the drilling axis in a canned cycle is the Z-axis at all
times or an axis selected by the program.
0: Z-axis at all times
1: Axis selected by the program
#7 #6 #5 #4 #3 #2 #1 #0
6201 RFE RFA RES

[Data type] Bit
#2 RES Specifies how to cancel rigid tapping.

0: Cancel rigid tapping when the spindle enters the speed control mode.
1: Cancel rigid tapping when the spindle stop confirmation signal is set
to 0 after the spindle enters the speed control mode.
- 939 -
#3 RFA Specifies whether to issue an alarm for an F command that has

significant fractional digits specified in rigid tapping.
0: Do not issue an alarm.
1: Issue an alarm.
#7 RFE Specifies how to treat significant digits after the decimal point specified
in an F command for rigid tapping.
0: Digits after the decimal point are truncated.
1: Digits specified after the decimal point are valid.
Example of F F10. or F10.0 F10.5
command
RFA=1, F10.0 PS530 (incorrect use of
RFE=0 or RFE=1 decimal point) is issued.
RFA=0, RFE=0 F10.0 F10.0
RFA=0, RFE=1 F10.0 F10.5
6221 Return distance in a peck rigid tapping cycle

[Data type] Real
Set a return distance in a peck rigid tapping cycle.
- For analog spindles

5960 Position gain in the servo mode

Set an analog spindle position gain in the servo mode (rigid tapping,
spindle positioning, and so forth). This position gain is used also as a
drilling axis position gain in rigid tapping.
- 940 -
5961 Position gain multiplier (first stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP =1
PC =1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5962 Drift compensation value (first stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 941 -
5963 Position gain multiplier (second stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5964 Drift compensation value (second stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 942 -
5965 Position gain multiplier (third stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2
GC = = 1100
4096 × 1 × 360
5966 Drift compensation value (third stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 943 -
5967 Position gain multiplier (fourth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5968 Drift compensation value (fourth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 944 -
5969 Position gain multiplier (fifth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5970 Drift compensation value (fifth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 945 -
5971 Position gain multiplier (sixth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5972 Drift compensation value (sixth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 946 -
5973 Position gain multiplier (seventh stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5974 Drift compensation value (seventh stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 947 -
5975 Position gain multiplier (eighth stage)

2048000 × 360 × PC × E
GC =
PLS × SP × L
Example:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 × 360 × 1 × 2.2

GC = = 1100
4096 × 1 × 360
5976 Drift compensation value (eighth stage)

[Unit of data] Velo
DC = 0.000000192 × G × GC × ER
- 948 -
5977 Rapid traverse rate for orientation

Set a rapid traverse rate for analog spindle orientation in the servo mode
NOTE
Set a rapid traverse rate so that the quantity of errors is within a
range from 128 pulses to 1024 pulses.
5978 Time constant for orientation

[Unit of data] msec
Set a time constant for analog spindle orientation in the servo mode
5979 FL feedrate for orientation

Set an FL feedrate for analog spindle orientation in the servo mode (rigid
NOTE
Set an FL feedrate rate so that the quantity of errors is within a
range from the effective area to 1024 pulses.
- 949 -
5980 Grid shift value for orientation

Set a grid shift value from the orientation stop position of the analog
spindle in the servo mode (rigid tapping, spindle positioning, and so
forth).
- For serial spindles

#7 #6 #5 #4 #3 #2 #1 #0
3000 SVO

#4 SVO Direction of reference position return in servo mode (rigid tapping, spindle
positioning, and so forth)
0 : The spindle returns to the reference position counterclockwise (viewed
from the motor output axis).
1 : The spindle returns to the reference position clockwise (viewed from
NOTE
The orientation (reference position return) direction of
spindle positioning using a serial spindle depends on
the specification of this parameter.
3044 Proportional gain of the velocity loop in servo mode

/synchronization control mode (high-speed gear)

Set the proportional gain of the velocity loop for the high-speed gear in the servo
- 950 -

/synchronization control mode (low-speed gear)

Set the proportional gain of the velocity loop for the low-speed gear in servo mode
l gain of the velocity loop for the low-speed gear in
3052 Integral gain of the velocity loop in servo mode


Set the integral gain of the velocity loop for the high-speed gear in servo mode


Set the integral gain of the velocity loop for the low-speed gear in servo mode (rigid
3056 Gear ratio (high-speed gear)

[Unit of data] Motor speed per spindle rotation×100
Set a gear ratio between the spindle and spindle motor for the high-speed gear.
- 951 -
3057 Gear ratio (medium high-speed gear)

Set a gear ratio between the spindle and spindle motor for the medium high-speed
gear.
3058 Gear ratio (medium low-speed gear)

Set a gear ratio between the spindle and spindle motor for the medium low-speed
gear.
3059 Gear ratio (low-speed gear)

Set a gear ratio between the spindle and spindle motor for the low-speed gear.

(high-speed gear)

Set the position gain for the high-speed gear in servo mode (rigid tapping, spindle
positioning, and so forth) and synchronization control mode.
- 952 -


Set the position gain for the medium high-speed gear in servo mode (rigid tapping,

(medium low-speed gear)

Set the position gain for the medium low-speed gear in servo mode (rigid tapping,

(low-speed gear)

Set the position gain for the low-speed gear in servo mode (rigid tapping, spindle
positioning, and so forth) and synchronization control mode.
3073 Grid shift in the servo mode
[Input type Parameter input

Set this data to shift the reference position in servo mode (rigid tapping,
spindle positioning, and so forth).
- 953 -
Alarm and message

- PS alarm
PS0223 ILLEGAL SPINDLE SELECT An attempt was made to execute an instruction that uses the
spindle although the spindle to be controlled has not been set
correctly.
PS0531 ILLEGAL USE OF DECIMAL When the feedrate instruction contains valid data below the
POINT (F-CODE) decimal point, the alarm is set and the F code contains valid
data below the decimal point.
PS0532 ILLEGAL USE OF DECIMAL When the feedrate instruction contains valid data below the
POINT (E-CODE) decimal point, the alarm is set and the E code contains valid
data below the decimal point.
PS0533 ADDRESS F UNDERFLOW (G95) The feedrate for the hole drilling axis calculated from the F and
S codes is too slow in the feed per single rotation mode (G95).
PS0534 ADDRESS F OVERFLOW (G95) The feedrate for the hole drilling axis calculated from the F and
S codes is too fast in the feed per single rotation mode (G95).
PS0535 ADDRESS E UNDERFLOW The feedrate for the hole drilling axis calculated from the E and
(G95) S codes is too slow in the feed per single rotation mode (G95).
PS0536 ADDRESS E OVERFLOW (G95) The feedrate for the hole drilling axis calculated from the E and
S codes is too fast in the feed per single rotation mode (G95).
PS0537 ADDRESS F UNDERFLOW The speed obtained by applying override to the F instruction is
(OVERRIDE) too slow.
PS0538 ADDRESS F OVERFLOW The speed obtained by applying override to the F instruction is
(OVERRIDE) too fast.
PS0539 ADDRESS E UNDERFLOW The speed obtained by applying override to the E instruction is
(OVERRIDE) too slow.
PS0540 ADDRESS E OVERFLOW The speed obtained by applying override to the E instruction is
(OVERRIDE) too fast.
PS0541 S-CODE ZERO "0" has been instructed as the S code.
PS0542 FEED ZERO (E-CODE) "0" has been instructed as the feedrate (E code).
PS0543 ILLEGAL GEAR SETTING The gear ratio between the spindle and position coder, or the
set position coder number of pulses is illegal in the spindle
position function and the rigid tapping function.
- SP alarm
CODER GEAR RATIO
SP0231 SPINDLE EXCESS ERROR The position deviation during spindle rotation was greater than
(MOVING) the value set in parameters.
SP0232 SPINDLE EXCESS ERROR The position deviation during spindle stop was greater than the
(STOP) value set in parameters.
SP0233 POSITION CODER OVERFLOW The error counter/speed instruction value of the position coder
overflowed.
OVERFLOW
SP0238 DUPLICATE SPINDLE CONTROL An attempt was made to change the spindle mode during the
MODE (RIGID TAP) rigid tapping mode.
SP0241 D/A CONVERTER ERROR The D/A converter for controlling analog spindles is erroneous.
ERROR
- 954 -
Caution
NOTES ON SPINDLES
Caution
CAUTION
When an analog spindle is used, set drift
compensation parameters (parameter Nos. 5962 to
5976) accurately. If an inappropriate drift
compensation value is used, the following may
occur at point R and at the bottom of the hole:
- The spindle is stopped in the in-position wait
state.
- The spindle position is shifted (the spindle does
not reach the specified position or passes a
specified position).
Note
NOTE
1 In rigid tapping mode, pitch error compensation for
the spindle is not performed.
2 he maximum number of pulses that can be
distributed to the spindle is:
- 32,767 pulses per 8 msec for a serial spindle
- 4,096 pulses per 8 msec for an analog spindle
Notes on using functions such as the spindle positioning function at the same
time
Caution
CAUTION
1 When the spindle positioning function is to be used
at the same time When the spindle positioning
function is to be used together with rigid tapping,
rigid tapping mode must not be specified in spindle
indexing mode, and spindle indexing mode must not
be specified in rigid tapping mode. (Spindle
positioning and rigid tapping cannot be performed
simultaneously for a single spindle.)
2 When the Cs contour control function is also used
When the Cs contour control function with a serial
spindle is used together with rigid tapping, rigid
tapping mode must not be specified in Cs contour
control mode, and Cs contour control mode must not
be specified in rigid tapping mode. (Cs contour
control and rigid tapping cannot be performed with
the same spindle at the same time.)
- 955 -
Position control loop gain switching and serial spindle parameters

In rigid tapping, the position gain for the tapping axis is changed
according to the position gain for the spindle so that the position gains
for position control of the spindle and tapping axis match.
Set the position gains in parameter Nos. 5960 and 5961 to 5975 for an
analog spindle, or in parameter Nos. 3065 to 3068 for a serial spindle.
Analog spindle
GS4s GS2s GS1s Gear selected Parameter No. to be
used
0 0 0 Step 1 5961
0 0 1 Step 2 5963
0 1 0 Step 3 5965
0 1 1 Step 4 5967
5960
1 0 0 Step 5 5969
1 0 1 Step 6 5971
1 1 0 Step 7 5973
1 1 1 Step 8 5975
Serial spindle
CTH1s CTH2s Gear selected Parameter No. to be
used
0 0 Step 1 (High) 3065
3044 3052
0 1 Step 2 (Medium High) 3066
1 0 Step 3 (Medium Low) 3067
3045 3053
1 1 Step 4 (Low) 3068
There is a difference in the change processing between an analog

spindle and serial spindle, as explained below.
- When an analog spindle is used, the position gains for the spindle
and tapping axis are changed according to the parameter settings
and gear select signal.
- When a serial spindle is used, the position gain for the tapping
axis is changed according to the parameter settings and
clutch/gear select signal.
When rigid tapping is performed using a serial spindle, position gain
setting must be made for position control of the spindle in the
parameters of the serial spindle.
The following are the major serial spindle parameters that must be set
or adjusted when using a serial spindle:
For details of the serial spindle parameters, refer to the "FANUC AC
SPINDLE MOTOR αi series DESCRIPTIONS (B-65272EN) or
FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL
(B-65280EN).
- 956 -




3065 Position gain in servo mode



/synchronization control mode (medium low-speed gear)

Reference item
auxiliary function
9.2 Spindle serial
9.3 Spindle control
11.6 Canned cycle
FANCU SERVO AMPLIFIER αi series 11.4 Rigid tapping
FANCU AC SPINDLE MOTOR αi series 2.3 Rigid tapping
Parameter Manual (B-65280EN)
FANCU AC SPINDLE MOTOR αi series
FANCU SERVO MOTOR αi series
Maintenance Manual (B-65285EN)
- 957 -
9.8.1 Rigid Tapping Additional Function
- Overview
- A parameter can be used to specify whether to perform spindle
orientation when rigid tapping is started.
- A parameter can be used to specify to check whether the specified
S command exceeds the maximum spindle rotation speed for an
individual gear.
- A diagnosis screen can be used to check a synchronization error
between the tapping axis and spindle.
- Parameters
#7 #6 #5 #4 #3 #2 #1 #0
5606 ORD ORN

NOTE
become effective.
#6 ORN Specifies whether to perform spindle orientation at the beginning of

rigid tapping as follows:
0: Do not perform.
1: Perform.
#7 ORD Specifies the direction of spindle orientation at the beginning of

analog spindle rigid tapping as follows:
This parameter is valid when parameter ORN (bit 6 of parameter No.
5606) = 1.
For a serial spindle, bit 4 of parameter No. 3004 is used to specify

the direction of spindle orientation. Refer to the FANUC AC
SPINDLE MOTOR αi series Parameter Manual (B-65280EN) for
details.
NOTE
When this parameter is 0, the direction of
spindle orientation is negative if a G84.2/G84.3
block issues an I/O command (for specifying a
negative direction). When the parameter is 1,
the direction of spindle orientation is negative
also if a G84.2/G83.3 block issues an I/O
command (for specifying a positive direction).
- 958 -
5711 Maximum spindle speed during rigid tapping (first stage)
5712 Maximum spindle speed during rigid tapping (second stage)
5713 Maximum spindle speed during rigid tapping (third stage)
5714 Maximum spindle speed during rigid tapping (fourth stage)
5715 Maximum spindle speed during rigid tapping (fifth stage)
5716 Maximum spindle speed during rigid tapping (sixth stage)
5717 Maximum spindle speed during rigid tapping (seventh stage)
5718 Maximum spindle speed during rigid tapping (eighth stage)

These parameters specify the maximum spindle speed used for each
gear stage during rigid tapping. Issuing an S command having a
value larger than each specified value is results in an alarm.
NOTE
No check is made if all of values specified in
parameter Nos. 5711 to 5718 are 0.
If a nonzero value is specified in a parameter for

the "ath" gear stage, and all the parameters for
gears lower than the "ath" gear stage are reset
to 0, a check is made with a value specified for
the "ath" gear stage if the "ath" stage or a lower
stage is selected.
For example, when parameter Nos. 5711 to

5713 = 0, parameter No. 5714 = 800, and
parameter Nos. 5715 to 5718 = 0, a check is
made with an upper limit of S800 if the fourth
stage or a lower stage is selected.
Alarm and message

PS0544 S-CODE OVER MAX The S command has exceeded the maximum spindle
rotation speed.
- 959 -
- Diagnostic data
1600 Rigid tapping spindle positional deviation

[Unit of data] Spindle detection unit
This parameter specifies an instantaneous spindle positional deviation in
rigid tapping mode.
1601 Rigid tapping spindle positional deviation (peak value)

This parameter specifies a peak spindle positional deviation held in rigid
tapping mode.
1602 Rigid tapping tapping-axis positional deviation

This parameter specifies an instantaneous tapping axis positional
deviation (in spindle detection units) in rigid tapping mode.
1603 Rigid tapping tapping-axis positional deviation (peak value)

This parameter specifies a peak tapping axis positional deviation (in
spindle detection units) held in rigid tapping mode.
1604 Rigid tapping synchronization error

This parameter specifies an instantaneous spindle positional deviation
and an instantaneous tapping axis positional deviation represented in
spindle positional deviation units in rigid tapping mode.
1605 Rigid tapping synchronization error (peak value)

This parameter specifies a peak spindle positional deviation and a peak
tapping axis positional deviation represented in spindle detection units
held in rigid tapping mode.
- 960 -
9.9 SPINDLE ORIENTATION
General
This function stops the spindle at a specified position. The spindle can
be stopped in either of the following two ways.
- The spindle is mechanically stopped by using stoppers.
- The spindle is stopped by applying a function of the spindle
control unit.
Mechanical stop
To mechanically stop the spindle by using, for example, a stopper,
rotate the spindle at a constant low speed and drive a stopper or pin into
the spindle.
The spindle can be rotated at a constant speed by applying either of the
following methods.
Using the spindle control unit

Some spindle control units can position the spindle motor by using
sensors and position coders. The CNC itself does not control
positioning by using these units.
Serial spindle orientation by a position coder

In serial spindle orientation by a position coder, the stop position is
specified either by a parameter or by the PMC (spindle orientation
function with the stop position externally set).
Signal
Serial spindle orientation stop position command signal

SH0A-SH11A<G230,G231>:For 1st spindle
SH0B-SH11B<G238,G239>:For 2nd spindle
SH0C-SH11C<G214,G215>:For 3rd spindle
SH0D-SH11D<G222,G223>:For 4th spindle
[Function] This signal sets a stop position when the spindle orientation function
with an externally set stop position is used. This signal specifies an
absolute position in one rotation. This signal consists of 12 binary code
signals. The stop position and signal have the following relationship:
11
å { 2 × SH s}× 4096
i 360
Stop position (degree) = i
i=0
- 961 -
Signal address
- For 1st spindle

#7 #6 #5 #4 #3 #2 #1 #0
G230 SH7A SH6A SH5A SH4A SH3A SH2A SH1A SH0A
G231 SH12A SH11A SH10A SH9A SH8A
- For 2nd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G238 SH7B SH6B SH5B SH4B SH3B SH2B SH1B SH0B
G239 SH12B SH11B SH10B SH9B SH8B
- For 3rd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G214 SH7C SH6C SH5C SH4C SH3C SH2C SH1C SH0C
G215 SH12C SH11C SH10C SH9C SH8C
- For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G222 SH7D SH6D SH5D SH4D SH3D SH2D SH1D SH0D
G223 SH12D SH11D SH10D SH9D SH8D
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5609 MOM

#2 MOM Specifies whether the serial spindle uses the orientation function of
external stop position setting type based on the position coder.
0: Do not use the function.
1: Use the function.
- 962 -
Caution
CAUTION
1 To perform spindle orientation by using the spindle
control unit, the signals of the spindle control unit
must be used.
To perform serial spindle orientation by using a
position coder (to perform serial spindle orientation
with the stop position set externally), the serial
spindle control unit signals must be used.
2 When the spindle orientation function of stop
position external setting type is used, the stop
position parameters in spindle orientation with a
position coder (No. 3031 and 3204) are invalid.
Note
NOTE
Spindle orientation with the spindle positioning
function differs from that described in this section.
For details, see "Spindle Positioning."
Reference item
Series15i/150i- Connection Manual 9.2 Spindle serial
MODEL A (This manual) output/analog output
9.3 Spindle control
FANCU SERVO AMPLIFIER αi series Descriptions B-65282EN
FANCU AC SPINDLE MOTOR αi series Parameter Manual B-65280EN
- 963 -
9.10 SPINDLE OUTPUT SWITCHING
General
Spindle output switching switches between the two windings, one for
low speed and the other for high speed, incorporated into the special
spindle motors.
This ensures that the spindle motor demonstrates stable output
characteristics over a wide range.
Since spindle output switching is a function of the spindle control unit,
see also the manual for the spindle control unit being used.
This section describes the relationship between spindle output
switching and the spindle control function in the CNC.
Operation of output-switchable spindle motor

To switch the spindle output characteristics, the windings are usually
switched using a relay. Prior to the completion of winding switching,
the spindle rotates free from drive.
Output switching changes the relationship between a speed command,
issued from the CNC to the spindle, and the output characteristics of
the spindle motor.
However, the relationship between the speed command and spindle
motor speed is not changed.
Output switching timing

During actual machining, the spindle is usually controlled in the
following
way.
(1) Constant spindle speed during cutting, such as milling
(2) Continuously changing spindle speed during cutting, such as in
constant surface speed control
(3) Controlling the position loop including the spindle motor during
rigid tapping, spindle positioning, Cs contour control, etc.
For applications such as those in (1), we recommend switching the
output characteristics for low speed and high speed by using the
spindle motor speed detection signal of the spindle control unit.
For applications such as those described in (2) and (3), the spindle shall
not rotate with no drive applied during cutting or positioning. It is
necessary for the output characteristics to be switched appropriately
before machining or for output switching to be masked by using a PMC
ladder sequence.
Reference item
Connection Manual 9.2 Spindle serial output/analog output
(This manual) 9.3 Spindle control
FANCU SERVO AMPLIFIER αi series B-65282EN
Descriptions
FANCU AC SPINDLE MOTOR αi series B-65280EN
Parameter Manual
- 964 -
9.11 SPINDLE SPEED FLUCTUATION DETECTION
General
If the actual spindle speed becomes lower or higher than that specified
because of the condition of the machine, an overheat alarm (SP0242) is
issued, and spindle speed fluctuation detection alarm signal SPAL is
output. This signal can be used to prevent the guide bushing from
burning out.
Method for detecting spindle speed fluctuation

If a difference between the actual spindle speed and the specified
spindle speed becomes larger than the allowable fluctuation width
specified in the address R and I commands in a G26 command block or
parameter Nos. 5702 and 5721 (if the following two conditions are
satisfied), an alarm is issued to indicate that the fluctuation has become
higher than a permissible level.
(1) |Sc - Sa| ≥ Sr
(2) |Sc - Sa| ≥ Si
Sc: Specified spindle speed
Sa: Actual spindle speed
Sr: Spindle speed fluctuation range calculated from spindle speed
fluctuation ratio (address R command in a G26 block or
parameter No. 5702)
If parameter FLR (bit 1 of parameter No. 5808) is 0
Sr = Sc * r / 100
If parameter FLR (bit 1 of parameter No. 5808) is 1
Sr = Sc * r / 1000
Si: Permissible range of fluctuation that does not cause a spindle speed
fluctuation detection alarm to be output (address I command in a
G26 block or parameter (No. 5721) setting)
NOTE
Even when the conditions for issuing an alarm related to
spindle speed fluctuation detection have not been
satisfied in spindle speed detection enabled mode (G26),
a spindle speed fluctuation detection overheat alarm is
issued if:
- A spindle speed has been specified, and the actual
-1
spindle speed remains at 0 min for at least one second.
- 965 -
- Specified spindle speed

A spindle speed to be specified for spindle speed fluctuation detection
is determined as described below.
For the spindle motor and each spindle gear, the spindle speed
corresponding to the maximum output is set in parameter Nos. 5621 to
5628.
The spindle speed to be specified for an analog spindle is determined
from the maximum spindle speed parameters (parameter Nos. 5621 to
5628) selected using the spindle gear selection signals (GS1s to GS4s)
and the spindle motor command voltage signals (RI0s to RI12s).
The spindle speed to be specified for a serial spindle is determined
from the maximum spindle speed parameters (parameter Nos. 5621 to
5628) selected using the serial spindle clutch/gear signals (CTH1s and
CTH2s) and the spindle motor command voltage signals (RI0s to
RI12s).
Spindle motor command voltage signals (RI0s to RI12s)
8191
Spindle speed
0
Maximum spindle Maximum spindle Maximum spindle
speed (gear 1) speed (gear 2) speed (gear 3)
The following tables list the relationships among the spindle gear select
signals (GS1s to GS4s), serial spindle clutch/gear signals (CTH1s and
CTH2s), and maximum spindle speed parameters (Nos. 5621 to 5628).
1) Serial spindle
CTH1s CTH2s Maximum spindle speed parameter
0 0 No.5621
0 1 No.5622
1 0 No.5623
1 1 No.5624
2) Analog spindle
GS4s GS2s GS1s Maximum spindle speed parameter
0 0 0 No.5621
0 0 1 No.5622
0 1 0 No.5623
0 1 1 No.5624
1 0 0 No.5625
1 0 1 No.5626
1 1 0 No.5627
1 1 1 No.5628
- 966 -
- Actual spindle speed

The actual spindle speed is calculated from the feedback pulse received
from the position coder mounted on the spindle.
- Conditions for starting spindle speed fluctuation detection

If the specified spindle speed changes after G26 is issued or in spindle
speed fluctuation detection enabled mode, spindle speed fluctuation
detection begins when one of the following conditions is satisfied.
(1) The time specified in parameter No. 5722 elapses since a change
in the specified spindle speed after G26 is issued or in spindle
speed fluctuation detection enabled mode
(2) The actual spindle speed and specified spindle speed permission
ratio becomes lower than or equal to the value specified in
parameter No. 5701, so it is assumed that the specified speed has
been reached.
Actual spindle speed and specified spindle speed permission ratio

= (1 - Actual spindle speed / Specified spindle speed ) * 100
NOTE
Even if a condition for starting spindle speed fluctuation
detection is satisfied, spindle speed fluctuation detection
is not started under any of the following conditions.
1 The machine is in spindle speed fluctuation detection
disabled mode (G25).
2 The specified spindle speed is 0 min-1.
3 A search due to program restart is under way.
- 967 -
- Examples of alarms issued for spindle speed fluctuation detection

1) Example where an alarm is issued after the specified spindle speed
is reached
Actual spindle speed
r
i q
Specified spindle
speed
A check No check is A check is made.

is made. made.
Time
The specified spindle A check begins. Spindle speed fluctuation
speed is changed. detection alarm
i: Fluctuation range not triggering an alarm (parameter No. 5721)

q: (Permission ratio at which the attainment of the specified spindle speed is
assumed (parameter No. 5701)) x (specified spindle speed)
r: Fluctuation ratio not triggering an alarm
(parameter No. 5702)) x (specified spindle speed)
2) Example in which an alarm is issued before the specified spindle

speed is attained
Actual spindle speed
r
q
Specified spindle i
speed
Time p
A check No check is
is made. made. A check is made.
Time
The specified spindle A check begins. Spindle speed fluctuation
speed is changed. detection alarm
i: Fluctuation range not triggering an alarm (parameter No. 5721)

q: (Permission ratio at which the attainment of the specified spindle speed is
assumed (parameter No. 5701)) x (specified spindle speed)
r: Fluctuation ratio not triggering an alarm
(parameter No. 5702)) x (specified spindle speed)
p: Time from when the specified spindle speed is changed until a check
begins (parameter No. 5722)
- 968 -
- System with more than one spindle

In a system with more than one spindle, spindle speed fluctuation
detection is performed for the spindle described below.
1) If the system has no spindle control switching function
Spindle speed fluctuation detection is performed for the first
spindle.
2) If the system has a spindle control switching function
Spindle speed fluctuation detection is performed for the spindle
selected in spindle control switching.
Spindle speed fluctuation detection is not performed for a spindle
that is not selected in spindle control switching.
Signal
Spindle speed command signal SPALA<F042#2> : For 1st spindle

SPALB<F338#2> : For 2nd spindle
SPALC<F339#2> : For 3rd spindle
SPALD<F340#2> : For 4th spindle
[Function] Indicates that the actual spindle speed has fluctuated by more than the
permissible amount corresponding to the specified spindle speed.
[Output condition] These signals become 1 when:
- The actual spindle speed fluctuates more than the permissible
amount corresponding to the specified spindle speed.
These signals become 0 when:
- No spindle speed fluctuation detection alarm has been issued, or
- The control unit is reset to cancel the alarm when the signals are 1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F042 SPALA
F338 SPALB
F339 SPALC
F340 SPALD
- 969 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2409 G26

[Data type] Bit
#4 G26 Specifies whether G25 or G26 mode is selected when the power is
switched on, or in a cleared condition, as follows:
0: G25 mode (spindle speed fluctuation detection disabled)
1: G26 mode (spindle speed fluctuation detection enabled)
5701 Spindle speed permission ratio (q) at which it is assumed that the spindle
has attained the specified spindle speed

[Unit of data] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1.0%
If parameter FLR (bit 1 of parameter No. 5808) is 1: 0.1%
[Valid data range] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1 to 50
If parameter FLR (bit 1 of parameter No. 5808) is 1: 1 to 127
This parameter specifies a spindle speed permission ratio at which

the spindle speed fluctuation detection function assumes that the
spindle has attained the specified speed.
5702 Spindle speed fluctuation ratio (r) not triggering a spindle speed fluctuation
detection alarm

[Unit of data] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1.0%
If parameter FLR (bit 1 of parameter No. 5808) is 1: 0.1%
[Valid data range] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1 to 50
If parameter FLR (bit 1 of parameter No. 5808) is 1: 1 to 127
This parameter specifies a spindle speed fluctuation ratio not

triggering a spindle speed fluctuation detection alarm.
5721 Spindle speed fluctuation range (I) not triggering a spindle speed fluctuation
detection alarm

This parameter specifies a permissible fluctuation range that does
not trigger a spindle speed fluctuation detection alarm.
- 970 -
5722 Time (p) allowed from when the specified spindle speed is changed until
spindle speed fluctuation detection begins

[Unit of data] msec
This parameter specifies the time (p) allowed from when the
specified spindle speed is changed until spindle speed fluctuation
detection begins. In other words, spindle speed fluctuation
detection is not performed until the specified time elapses after the
specified spindle speed is changed.
#7 #6 #5 #4 #3 #2 #1 #0
5808 FLR

#1 FLR Specifies the measurement unit for the permission ratio (q) and
fluctuation ratio (r) specified in spindle speed fluctuation detection
parameter Nos. 5701 and 5702, respectively, as follows:
0: 1% units
1: 0.1% units
Alarm and message

SP0242 OVERHEAT Spindle overheating reported because a spindle speed
fluctuation was detected.
- Relax the cutting conditions if the cutting load is heavy.
- Check whether the cutting tool is blunt.
- It is likely that the spindle amplifier is faulty.
Note
NOTE
1 If a spindle speed fluctuation is detected, the message "SP0242 OVERHEAT" is
displayed on the alarm screen.
2 If the "SP0242 OVERHEAT" alarm occurs, automatic operation is stopped within
a single block.
3 If parameter G26 (bit 4 of parameter No. 2409) is 1, the "SP0242 OVERHEAT"
alarm recurs even after it is reset, unless the cause is removed.
4 If all the spindle motor command voltage signals (RI0s to RI12s) are 0, spindle
speed fluctuation detection is not performed.
5 In G25 and G26, do not specify addresses in an unspecified format at the same
time.
6 If the spindle is switched in G26 mode (spindle speed fluctuation detection
enabled), the spindle speed fluctuation detection parameter for the selected
spindle becomes valid.
7 If the spindle is operating normally, spindle speed fluctuation detection is
performed.
- 971 -
9.12 SPINDLE WARNING DETAILED SIGNALS
Overview
An alarm was added to the spindle amplifier αi series. The alarm uses a
signal to indicate a warning status in advance.
If the spindle enters a warning status, the spindle amplifier sends the
warning number to the CNC, which in turn notifies the PMC of the
warning status.
Signals
Spindle warning detailed signals
SPWRN1 <F276#0>, SPWRN2 <F276#1>, SPWRN3 <F276#2>, SPWRN4 <F276#3>,
SPWRN5 <F276#4>, SPWRN6 <F276#5>, SPWRN7 <F276#6>, SPWRN8 <F276#7>,
SPWRN9<F277#0>,
[Function] The following warning statuses are reported before alarms are raised,
using the following warning interface, which is independent of the
conventional alarm interface.
The warning statuses are output using nine binary code signals. To put
another way, the spindle warning numbers and signals are associated
based on the following expression.
8
Spindle warning number = å{2
i =1
i -1
}
× SPWRN i + 28 × SPWRN 9
[Output condition] The following warning numbers are output according to the status of
the spindle amplifier.
Warning
Contents Spindle operation
number
If it was detected that an internal cooling fan is
not running, the spindle amplifier sends the
warring number to the CNC. The spindle is
56 SPM internal fan stopped kept operating, however.
One minute later, the corresponding alarm
number is sent out, and the spindle becomes
idle.
If it is detected that an external cooling fan is
not running, the spindle amplifier sends the
warring number to the CNC. The spindle is
SPM radiator cooling fan
88 kept operating, however.
stopped
If the main circuit overheats because the
external cooling fan is not working, an alarm is
raised, and the spindle becomes idle.
Converter main circuit
58 A warning number is output according to the
overloaded
signal received from the PSM.
59 Converter cooling fan stopped
In the warning status, the spindle is kept
Converter radiator cooling fan
113 operating.
stopped
- 972 -
Each spindle warning detail signal becomes "0" only after all related
alarm causes are cleared.
If a warning occurs on more than one spindle, a spindle warning detail
signal is output for the signal having the lowest spindle number.
Signal address
- Spindle warning detailed signals
#7 #6 #5 #4 #3 #2 #1 #0
F276 SPWRN8 SPWRN7 SPWRN6 SPWRN5 SPWRN4 SPWRN3 SPWRN2 SPWRN1
F277 SPWRN9
- 973 -
10.TOOL FUNCTION B-63783EN-1/01
10 TOOL FUNCTION
- 974 -
B-63783EN-1/01 10.TOOL FUNCTION
10.1 TOOL FUNCTION
General
A tool can be selected by specifying its tool number following address
T. The tool number consists of a numeric value of no more than 10
digits.
When a T code is specified, the code signal for a specified tool number
and strobe signal are sent. These are used for selecting a tool on the
machine side. This code signal is maintained until another T code is
specified.
Only one T code can be specified in one block. The maximum number
of digits can be specified in parameter No. 2032. If a command longer
than the maximum number of digits is specified, an alarm can be
issued.
Values that can be set as the allowable number of digits and the ranges
of valid settings are listed below. When the allowable number of digits
is set to 10, a negative value cannot be specified in the T code.
Table 10.1 Allowable Numbers of Digits in the T Code and Valid Setting Ranges
Allowable number of digits Negative value specification Range of valid settings
Parameter(No.2032) permitted/not permitted (bit 2
(TSN) of parameter No. 2003)
Disabled 0 to 9
1
Enabled -9 to 9
Disabled 0 to 99
2
Enabled -99 to 99
Disabled 0 to 999
3
Enabled -999 to 999
Disabled 0 to 9,999
4
Enabled -9,999 to 9,999
Disabled 0 to 99,999
5
Enabled -99,999 to 99,999
Disabled 0 to 999,999
6
Enabled -999,999 to 999,999
Disabled 0 to 9,999,999
7
Disabled -9,999,999 to 9,999,999
8
Enabled -99,999,999 to 99,999,999
9
Enabled -999,999,999 to 999,999,999
10 Disabled 0 to 4,294,967,295
- 975 -
Signal
See Section 8.1.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2003 TSN

[Data type] Bit
#2 TSN Specifies whether a minus (-) can be used in a T code.

0: Cannot be used
1: Can be used
NOTE
To enable the use of a minus (-) in a T code, the allowable
number of digits in an T code must be nine or less.
2032 Allowable number of digits in a T code

[Data type] Integer
Specify the allowable number of digits in a T code.
NOTE
To set the allowable number of digits in a T code to 10, the use of
a minus "-" in a T code must be disabled.
Alarm and message

PS0003 TOO MANY DIGIT Data entered with more digits than permitted in the NC
instruction word. The number of permissible digits varies
according to the function and the word.
Reference item
Series15i/150i-MB Operator’s Manual II-10.1 Tool selection command
(Programming)
(B-63784EN)
Series15i/150i- Connection Manual 8 Miscellaneous function
- 976 -
10.2 TOOL COMPENSATION VALUE/TOOL COMPENSATION

NUMBER/TOOL COMPENSATION MEMORY
General
Tool compensation values include tool geometry compensation values
and tool wear compensation values.
Standard position
OFSG
OFSW
OFSG : Geometry compensation value

OFSW : Wear compensation value
Fig. 10.2 Geometric compensation and wear compensation

Tool compensation values can be entered into CNC memory from the
CRT/MDI panel or from a program.
A tool compensation value is selected from the CNC memory when the
corresponding code is specified after address H or D in a program.
The value is used for tool length compensation, cutter compensation, or
the tool offset.
- Increment system and valid range of tool offset values

The increment system and valid range of tool offset values depend on
the following parameters:
Parameter OFA(No.6002#0)
Parameter OFC(No.6002#1)
Parameter OFD(No.6004#0)
Parameter OFE(No.6007#0)
Table 10.2 (a) Increment and setting range of tool offset value (metric input)
OFE OFD OFC OFA Increment Geometry offset Wear offset value
value
0 0 0 1 0.01 mm ±9999.99 mm ±9999.99 mm
0 0 0 0 0.001 mm ±9999.999 mm ±9999.999 mm
0 0 1 0 0.0001 mm ±9999.9999 mm ±9999.9999 mm
0 1 0 0 0.00001 mm ±9999.99999 mm ±9999.99999 mm
1 0 0 0 0.000001 mm ±999.999999 mm ±999.999999 mm
Table 10.2 (b) Increment and setting range of tool offset value (inch input)
OFE OFD OFC OFA Increment Geometry offset Wear offset value
value
0 0 0 1 0.001 inch ±999.999 inch ±999.999 inch
0 0 0 0 0.0001 inch ±999.9999 inch ±999.9999 inch
0 0 1 0 0.00001 inch ±999.99999 inch ±999.99999 inch
0 1 0 0 0.000001 inch ±999.999999 inch ±999.999999 inch
1 0 0 0 0.0000001 inch ±99.9999999 inch ±99.9999999 inch
- 977 -
- NUMBER OF TOOL COMPENSATION SETTINGS

(1) 32 tool compensation settings
Applicable offset Nos. (D code/H code) are 0 to 32.
D00 to D32 or H00 to H32
Applicable offset Nos. (D code/H code) are 0 to 200
D00 to D200 or H00 to H499
D00 to D400 or H00 to H999
- Tool compensation memory

Three types of tool offset memory (A, B and C) are provided for setting
tool offsets.
Table. 10.2 (c) Tool Offset Memory and Tool Offset Settings
Tool offset Tool offset Tool offset memory Tool offset
memory A B memory C
Geometric offset The total of the A geometric offset is Individual
corresponding to D geometric offset set with no distinction setting
Geometric offset and wear offset is being made between Individual
corresponding to H set as a tool offset addresses D and H. setting
Wear offset with no distinction A wear offset is set Individual
corresponding to D being made with no distinction setting
Wear offset between being made between Individual
corresponding to H addresses D and addresses D and H. setting
H.
(1) Tool compensation memory A

The memory for geometric compensation and that for wear
compensation are not separated in tool compensation memory A.
Therefore, the sum of the geometric compensation amount and
wear compensation amount is set in the memory.
In addition, the memory for cutter compensation (for D code) and
that for tool length compensation (for H code) are not separated.
(2) Tool compensation memory B
compensation are separated in tool compensation memory B. The
geometric compensation amount and wear compensation amount
can thus be set separately.
However, the memory for cutter compensation (for D code) and
that for tool length compensation (for H code) are not separated.
- 978 -
(3) Tool compensation memory C

compensation are separated in the tool compensation memory C.
The geometric compensation amount and wear compensation
amount can thus be set separately.
In addition, separate memories are provided for cutter
compensation (for D code) and for tool length compensation (for
H code).
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6000 PNH EVO

[Data type] Bit
#0 EVO Specifies whether an offset change is valid starting with the next block
where a D or H code is specified or the next block to be buffered.
0: Valid starting with the next block where a D or H code is specified.
1: Valid starting with the next block buffered.
#1 PNH Specifies whether the offset number of a tool offset (G46 to G48) is
specified using a D code or H code (for the M series only).
0: Specified using a D code.
1: Specified using an H code.
- 979 -
#7 #6 #5 #4 #3 #2 #1 #0
6002 OFC OFA
#7 #6 #5 #4 #3 #2 #1 #0
6004 OFD
#7 #6 #5 #4 #3 #2 #1 #0
6007 OFE

[Data type] Bit
The increment system and valid setting range of tool offsets are determined.
Metric input
OFE OFD OFC OFA Unit Geometric offset Wear
No.6007#0 No.6004#0 No.6002#1 No.6002#0 compensation
0 0 0 1 0.01 mm ±9999.99 mm ±9999.99 mm
0 0 0 0 0.001 mm ±9999.999 mm ±9999.999 mm
0 0 1 0 0.0001 mm ±9999.9999 mm ±9999.9999 mm
0 1 0 0 0.00001 mm ±9999.99999 mm ±9999.99999 mm
1 0 0 0 0.000001 mm ±999.999999 mm ±999.999999 mm
Inch input
OFE OFD OFC OFA Unit Geometric offset Wear
No.6007#0 No.6004#0 No.6002#1 No.6002#0 compensation
0 0 0 1 0.001 inch ±999.999 inch ±999.999 inch
0 0 0 0 0.0001 inch ±999.9999 inch ±999.9999 inch
0 0 1 0 0.00001 inch ±999.99999 inch ±999.99999 inch
0 1 0 0 0.000001 inch ±999.999999 inch ±999.999999 inch
1 0 0 0 0.0000001 inch ±99.9999999 inch ±99.9999999 inch
Alarm and message

PS0193 ILLEGAL OFFSET NUMBER An illegal offset No. was specified.
This alarm is also generated when the tool shape offset No.
exceeds the maximum number of tool offset sets in the
case of tool offset memory B.
Reference item
Series15i/150i-MB Operator’s Manual II-14.6 Tool offset value
(Programming) II-14.7 Number of tool offset
(B-63784EN) value
II-14.8 Changing the number of
tool offset value
- 980 -
10.2.1 Specification of Diameter Entry for Tool Compensation Value
Explanation of specification
The tool compensation value recorded in CNC offset memory can be
used as the diameter.
By setting bit 0 (ODI) of parameter No. 6008 to 1, you can use the tool
compensation value recorded in offset memory as the diameter of the
tool instead of the radius.
When 10.000 mm is recorded in offset memory, for example, actual
compensation is performed with the compensation value set to 5.000
mm.
When tool offset by tool number is valid, the set tool compensation
value can be treated similarly.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6008 ODI

[Data type] Bit
#0 ODI The tool compensation value is:

0: Used as the radius.
1: Used as the diameter.
- 981 -
10.3 TOOL LIFE MANAGEMENT FUNCTION
General
Tools are grouped and the tool life (use count or use time) is
predetermined for each group. Each time a tool belonging to a group is
used, its life value is incremented. Once the predetermined tool life
value is reached, a new tool is automatically selected according to the
predefined tool order in the group. This allows continuous machining
as well as tool life management.
The tool life management data, including tool group numbers, tool life
values, and tool compensation codes, is stored in the CNC.
Tool group number m

Tool life value l
1 Tool number(T) Code specifying tool The first tool life management data
compensation value(H/D)
2 : : The second tool life management data
: : : :
: : : :
n : : The nth tool life management data
Tool life management data Machining program Machine and CNC operations
Tool group number 1 :
Machine CNC
: :
: Places a Automatically selects,
: Tool
Selected tool in from tool group m, a
Tool group number m selection Command for selecting
The wait state tool whose life has not
: tool group m
expired.
: :
Tool group number p : Attaches the tool Starts counting the life
Tool change command In the wait state of the tool attached to
(M06) To the spindle the spindle.l
: (tool change).
:
Fig. 10.3 (a) Tool life management data/ Machining program/Machine and CNC operations
- 982 -
Tool life management data

Tool life management data consists of tool group numbers, tool
numbers, codes specifying tool compensation values, and tool life
value.
- Tool group number

The Max. number of groups and the number of tools per group that can
be registered are set by parameter (GS1,GS2 No. 7400#0, #1).
Table10.3 (a) The Max. number of groups and tools that can be registered
The Max. number of
The Max. number of The Max. number of
groups and tools
groups and tools groups and tools
without optional function
GS2 GS1 without optional function without optional function
of tool pairs of 512 tool pairs
(No. 7400#1) (No. 7400#0) of 1024 tool pairs
Number Number Number Number Number Number
of group of tool of group of tool of group of tool
0 0 16 16 64 32 128 32
0 1 32 8 128 16 256 16
1 0 64 4 256 8 512 8
1 1 128 2 512 4 1024 4
CAUTION
When bits 0 or 1 of parameter GS1,GS2 No.7400 is
changed, re-register tool life management data with
the G10L3 command (for registering and deleting
data for all groups).
Otherwise, new data pairs cannot be set.
- Tool life value

A tool life value can be specified as a use time or use count by using
parameter LTM (bit 3 of No. 7400) or the count type setting (Q
command). The maximum value is as follows:
LTM(No.7400#3) Life count type Maximum life value
0 Use count 99999999
1 Use time 999 hours
When the life count type is use time, the increments of the life values
specified with address L in a program can be set to 1 m or 0.1 s by using
parameter FGL (bit 1 of No. 7403).
FGL(No.7403#1) Life value Maximum L Example (meaning
increment command value of L1000)
0 1m 59940 Life of 1000 m
1 0.1 s 35964000 Life of 100 s
- Tool number
A tool number is specified using a T code. A number of up to eight
digits (99999999) can be specified.
- 983 -
- Tool offset specification code

Two types of tool offset specification codes are used: H code (for tool
length compensation) and D code (for cutter compensation). A number
not exceeding three digits (999) can be specified as a tool offset
specification code, but a specified number must not exceed the number
of tool offsets usable with the CNC.
NOTE
When codes specifying tool offset values are not
used, registration can be omitted.
- Tool change type

For tool life management, the four tool change types (types A to D)
indicated below are available. The type used varies from one machine
to another. For details, refer to the appropriate manual of each machine
tool builder.
Table 10.3 (b) Tool Change Type

Tool change type A B C D
Parameter CT2,CT1 7 CT1 CT2 CT1 CT2 CT1 CT2 CT1
(No.7401#1, #0) 0 0 0 1 1 0 1 1
Tool group number specified
Previously used
in the same block as the tool Tools to be used next
tools
change command (M06)
Life counting is
performed when a
Life counting is performed for a tool in the specified tool group tool in the tool group
Tool life count timing
when M06 is specified next. specified in the
same block as M06
is specified
If a T command
(return tool group)
after M06 does not
Normally, when a tool group number is
match the tool When only M06 is
specified by itself, type B is used.
group currently specified, P/S
Remarks However, no alarm is raised even if the
being used, an alarm No. 0440 is
tool group number is specified by itself as
alarm (PS0442) is issued.
type C
issued (when bit 6
(ABT) of parameter
No. 7400 = 0).
NOTE
When a tool group number is specified and a new
tool is selected, the new tool selection signal is
output.
- 984 -
Tool service life count and tool selection

A count-based or time-based tool service life count system is selected
using bit 3 (LTM) of parameter No. 7400. Service life counting is
performed group by group. Service life count data is not lost when the
power is turned off.
Tool life count

Count specification Time specification
system
Bit 3 (LTM) of
0 1
parameter No. 7400
Bit 0 (FCO) of
Incremented by 1 for a tool parameter No. 7403
used in a program. 0 : At intervals of 1
Recounting is made possible second
Life count interval
with the M code for tool life 1 : At intervals of 0.1
count restart M code second
(parameter No. 7442). These intervals can be
overridden.
- Count specification (LTM = 0)

When a tool group command (T code) is specified, a tool whose service
life has not expired is selected from the group. Then, the service life
count for the selected tool is incremented by 1 with the tool change
command (M06). Unless the tool service life count restart M code is
used, however, the selection and count-up of a new tool are allowed
using only the first tool group number command and tool change
command after the control unit state is changed from the reset state to
the automatic operation start state.
Therefore, note that even when the same tool group number is specified
more than once in a single process, the count is not incremented, and a
new tool is not selected.
- Time specification (LTM = 1)

Once all the registered tool life management data has been deleted,
programmed tool life management data is registered.
When a tool group command (T code) is specified, a tool whose service
life has not expired is selected from the group. The service life
management for the selected tool is started with the tool change
command (M06). Service management (counting) is performed at
certain intervals (1 second or 0.1 second) while the tool is actually
being used in cutting mode. This service life count interval can be
specified using bit 0 (FCO) of parameter No. 7403. The time required
for single block stop, feed hold, dwell, machine lock, and interlock is
not counted.
By setting bit 3 (LFV) of parameter No. 7401, service life count can be
overridden using the service life count override signal. An override of
0 to 99.8 times can be used. When 0 times is specified, no count is
performed.
- 985 -
Tool life count restart M code

With the count-based tool life count system, when the tool life count
restart M code is specified and the life of at least one tool group has
expired, the tool change signal is output. When a tool group command
(T code) is specified after the tool life count restart M code is specified,
a tool whose life has not expired is selected from the group. Then, the
life count is incremented by 1 with the next tool change command
(M06). Thus, tool life count is enabled with a command other than the
first tool change command (M06) after the control unit status is
changed from the reset state to the automatic operation start state.
Specify the tool life count restart M code using parameter No. 7442.
Signal
Tool change signal TLCHA<F007#6>

[Function] Posts that all the tools of a group have reached the end of their service
lives. Generally, upon receiving this signal, the PMC lights an
indicator on the machine operator's panel, asking the operator to
change the tools.
[Output condition] This signal is set to 1 when:
- All the tools of a group have reached the ends of their service
lives.
If time is specified for the life count type, this signal is set to 1
immediately when the life of the last tool in a group has expired.
If frequency is specified as the life count type, this signal is set to
1 when the control unit is reset by a command such as M02 or
M30, or if an M code for restarting tool life count is specified after
the service life of the last tool in a group has expired.
This signal is set to 0 when:
- Every group has tools whose lives have not yet expired.
When this signal is 1, the tool change reset signal TLRST is issued
or an MDI operation is performed from the PMC to notify the
CNC that tool change has been performed for all those groups
whose service lives have expired. Then, this signal is set to 0.
Tool change reset signal TLRST<G010#7>

[Function] Notifies the control unit that all the tools of a group, which have
already reached the ends of their service lives, have been replaced with
new tools. Before inputting this signal, input the tool group signal
(TL1 to TL256) to notify the control unit of the target group for tool
replacement. By setting bit 4 (RAG) of parameter No. 7400 to 1, the
replacement of all registered groups with new tools can be posted
without inputting a tool group number.
[Operation] When this signal status changes from 0 to 1, the control unit operates as
follows:
- When the service lives of all the tools of a group specified by the
tool group signal (TL1 to TL512) have already been reached, the
relevant information is cleared. Therefore, if this group number is
- 986 -
subsequently specified in a program, the first tool is selected again.

If a group specified by the tool group signal (TL1 to TL512)
contains a tool whose service life has not yet been reached, no
operation is performed.
NOTE
Change the status of tool change reset signal
TLRST from 0 to 1 while the control unit is not being
reset (the RST signal is not 1), and the following
state is observed:
1) When bit 5 (TRS) of parameter No. 7401 = 0:
In the reset state (the OP signal is set to 0).
2) When bit 5 (TRS) of parameter No. 7401 = 1:
(1) In the reset state (the OP signal is set to 0).
(2) In the automatic operation stop state (STL and
SPL are set to 0, and OP is set to 1).
(3) In the automatic operation hold state (STL is
set to 0, and SPL is set to 1).
(Tool change reset signal TLRST is ignored in the
automatic operation stop state, automatic operation
hold state, and automatic operation start state (STL
is set to 1) during the execution of a data setting
command (G10L3).)
- 987 -
Tool skip signal TLSKP<G009#7>

[Function] Directs the control unit to skip a tool whose service life has not been
reached and selects the next tool. The following two methods can be
used, one of which can be selected by specifying bit 2 (SIG) of
parameter No. 7400:
- Not specifying a group number with the tool group signal (SIG =
0)
When the status of tool skip signal TLSKP changes from 0 to 1,
the group of the currently selected tool is assumed to have been
specified.
When this group is specified again by a Txxxxxxxx command, the
next tool within the group is newly selected.
- Specifying a group number with the tool group signal (SIG = 1)
The group number of a group to which a tool to be skipped
belongs is specified with the tool group signal (TL1 to TL512),
then the tool skip signal TLSKP is set to 1. When this group is
specified again with a Txxxxxxxx command, the next tool within
the group is selected.
[Operation] When the status of this signal changes from 0 to 1, the control unit
operates as follows:
- Among the tools in a skip operation target group, which have not
yet reached the end of their service lives, a tool having the lowest
tool number in the tool life management table is indicated by #.
When this group is specified again by a Txxxxxxxx command, it
is posted that the marked tool is skipped and the next tool is
selected. If, in the skip operation target group, the tool whose life
has not expired is the last tool in the tool life management table,
tool change signal TLCHA is set to 1 immediately.
CAUTION
Set tool skip signal TLSKP to 1 when the control unit
is in the reset state or automatic operation stop
state. In other words, change the tool skip signal
status from 0 to 1 when automatic operation start
signal STL and automatic operation hold signal SPL
are both 0.
- 988 -
New tool select signal TLCHB<F007#7>

[Function] This signal notifies the PMC that a new tool in a group is selected. This
signal is used when, for example, the tool length compensation amount
of a new tool is to be measured automatically as the tool is selected.
- When a tool group number is specified by a programmed
Txxxxxxxx command, the service life of the tool being used in the
group has expired, so a new tool is selected.
In this case, the code signal for the new tool is sent, then this
signal is set to 1 at the same time as tool function strobe signal TF
is sent.
- This signal is set to 0 in the following case:
When the status of this signal is 1, completion signal FIN for the
strobe signal TF is set to 1.
T command
Code signal T0 to T31
Strobe signal TF
New tool
select signal TLCHB
End signal FIN
Tool group signals TL01 to TL512 <G009, G042#0, G043#6, G043#7>

[Function] Specifies a tool group number. Before tool change reset signal TLRST
or tool skip signal TLSKP is input, a target group for tool change reset
operation or tool skip operation is specified using this signal.
[Operation] The table shown below presents several examples of tool group signal
settings and corresponding tool group numbers. A tool group number
is obtained by adding 1 to a binary representation. A group with a
specified number is selected.
- 989 -
TL512 TL256 TL128 TL64 TL32 TL16 TL8 TL4 TL2 TL1 Tool grpup
number
0 0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 1 2
0 0 0 0 0 0 0 0 1 0 3
0 0 0 0 0 0 0 0 1 1 4
0 0 0 0 0 0 0 1 0 0 5
0 0 0 0 0 0 1 0 0 1 10
0 0 0 0 0 0 1 1 1 0 15
0 0 0 0 0 1 0 0 1 1 20
0 0 0 0 0 1 1 1 0 1 30
0 0 0 0 1 1 0 0 0 1 40
0 0 0 0 1 1 0 0 0 1 50
0 0 0 1 1 0 0 0 1 1 100
0 0 0 1 1 1 1 1 1 0 127
0 0 0 1 1 1 1 1 1 1 128
0 0 1 1 0 0 0 1 1 1 200
0 0 1 1 1 1 1 1 1 1 256
0 0 0 0 0 0 0 0 0 0 257
0 1 0 0 1 0 1 0 1 1 300
0 1 1 0 0 0 1 1 1 1 400
0 1 1 1 1 1 0 0 1 1 500
0 1 1 1 1 1 1 1 1 1 512
1 0 0 0 0 0 0 0 0 0 513
1 0 0 1 0 1 0 1 1 1 600
1 0 1 0 1 1 1 0 1 1 700
1 1 0 0 0 1 1 1 1 1 800
1 1 1 0 0 0 0 0 1 1 900
1 1 1 1 1 0 0 1 1 1 1000
1 1 1 1 1 1 1 1 1 1 1024
CAUTION
When there is no additional combination option,
TL64 to TL1 are valid. When 512 tool life
management combinations are added, TL256 to
TL1 are valid. When 1024 tool life management
combinations are added, TL512 to TL1 are valid.
- 990 -
Tool life count override signals *TLV0 to *TLV9<G155#0, G155#1, G154>

[Function] If time is specified as the life count type, the life count can be
overridden by setting bit 3 (LFV) of parameter No. 7401 to 1. This
signal consists of ten binary code signals. The signal and override
value are related as follows:
9
Override value =å { 2i ×Vi } times
i =0
Where:
When *TLVi is 1, Vi = 0.
When *TLVi is 0, Vi = 1.
Each signal has the following weight:

Signal Magnification
*TLV0 0.1
*TLV1 0.2
*TLV2 0.4
*TLV3 0.8
*TLV4 1.6
*TLV5 3.2
*TLV6 6.4
*TLV7 12.8
*TLV8 25.6
*TLV9 51.2
(Example)
When *TLV7, *TLV6, and *TLV3 are set to "0", the override
value is calculated as follows:
12.8+6.4+0.8=20.0
The life count is multiplied by 20.0.
When all the signals are set to 1, the override value is 0. Set a
value from 0 to 99.9 in 0.1-time steps.
[Operation] The actual cutting time is counted and multiplied by the override value
obtained by the signals. The calculated time is used as the basis for
tool-life management. For example, assume that the override value is
0.1, and the time required for actual cutting is 1000 seconds. Then, the
tool life count time is 100 seconds.
- 991 -
Life end group select signalTLEGS<F043#5>

[Function] Posts notification that a tool group whose life has expired is selected.
[Output condition] This signal is set to 1 in the following cases:
- When time is specified as the life count type:
A tool group selected by a programmed Txxxxxxxx command is
in one of the following conditions:
i) A tool group selected by a programmed Txxxxxxxx
command is in one of the following conditions:
ii) The last tool is currently being used, and a tool skip
operation is being performed.
- When frequency is specified as the life count type
A tool group selected by a programmed Txxxxxxxx command is
in one of the following conditions:
i) The last tool is currently being used, and the life counter
indicates a value greater than or equal to the life value. In
this case, the command is the first command after the reset
mode, or an M code for restarting tool life counting is
specified.
ii) The last tool is currently used, and a tool skip operation is
performed.
- Completion signal FIN for the tool change M code command
(M06) is set to 1.
T command and output

condition
Code signals T0 to T31
Strobe signal TF
Strobe signal MF
Life end group select signal

TLCHB
CAUTION
1 If a T command and tool change M code command
are specified in the same block, this signal is set to 0
when FIN for the tool change M code command in
the same block is set to 1.
2 The signal status is kept as is even when the tool
group life has been recovered or when the CNC is
reset.
- 992 -
Life arrival signal TLARV<F043#4>

[Function] Posts that the service life of a selected tool group has ended.
[Output condition] This signal is set to 1 in the following cases:
- When time is specified as the life count type:
The tool group for which life management is started by the tool
change M code command (M06) is in one of the following
conditions:
indicates a value greater than or equal to the life value.
ii) The last tool is currently being used, and a tool skip operation
is performed.
- When frequency is specified as the life count type
The tool group for which the life counter is incremented by the
tool change M code command (M06) is in one of the following
conditions:
indicates a value greater than or equal to the life value.
ii) The last tool is currently being used, and a tool skip operation
is performed.
- When TLARV is 1, and completion signal FIN for the tool change
M code command (M06) is set to 1.
Output condition
Strobe signal MF
Life arrival signal TLARV
CAUTION
1 The signal status remains as is even when the tool
group service life has been zeroed or when the CNC
is reset.
2 Once the status of this signal changes from 1 to 0
after completion signal FIN for M06 is set to 1,
specifying a T command to select the same group
again does not set this signal to 1 if the tool data is
not yet updated by, for example, the tool change
reset signal (that is, if the tool life expired state is
maintained).
- 993 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G009 TLSKP TL64 TL32 TL16 TL08 TL04 TL02 TL01
G010 TLRST
G042 TL256
G043 TL128 TL512
G154 *TLV7 *TLV6 *TLV5 *TLV4 *TLV3 *TLV2 *TLV1 *TLV0
G155 *TLV9 *TLV8
#7 #6 #5 #4 #3 #2 #1 #0
F007 TLCHB TLCHA
F043 TLEGS TLARV
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7400 TAD ABT SNG RAG LTM SIG GS2 GS1

[Data type] Bit
#0 GS1
#1 GS2 A combination of the maximum number of groups and maximum number
of tools that can be registered for tool life management is set according to
the following table:
GS2 GS1 Tool life Tool life Tool life

(#1) (#0) management pairs: management pairs: management pairs:
with no addition 512 pairs 1024 pairs
option
Number of Number Number of Number Number of Number
groups of tools groups of tools groups of tools
0 0 16 16 64 32 128 32
0 1 32 8 128 16 256 16
1 0 64 4 256 8 512 8
1 1 128 2 512 4 1024 4
CAUTION
After changing the setting in this parameter, specify
G10 L3; to set data again.
- 994 -
#2 SIG Specifies whether to specify a group number for tool skip by using a
signal.
0: Do not specify.
1: Specify.
NOTE
If no group number is specified using a signal, tool skip is
performed for the tool of the group currently used.
#3 LTM Specifies whether to count tool life by time or frequency.

0: Count tool life by frequency.
1: Count tool life by time.
NOTE
After changing the setting of this parameter, reenter the data with
G10 L3;.
#4 RAG Specifies how to clear group execution data when the tool change reset
signal (TLRST) is entered.
0: Clear the execution data of a specified group if the life of the group
has expired.
1: Clear the execution data of all registered groups.
#5 SNG Specifies how to handle the tool skip signal (TLSKP) entered when a tool
whose life is not managed is used.
0: Skip the tool of the group most recently used or the group specified by
bit 2 (SIG) of parameter No. 7400.
1: Ignore the tool skip signal. Tool skip based on MDI operation is also
unacceptable.
#6 ABT Specifies whether to issue an alarm when the return tool number does not
belong to the currently used group in tool replacement A.
0: Issue an alarm (PS0442).

#7 TAD Specifies whether to issue an alarm when no T command is specified in

the block that includes M06 in tool replacement D.
0: Does not issue an alarm.
1: Issues an alarm (PS0440).
- 995 -
#7 #6 #5 #4 #3 #2 #1 #0
7401 TRU TRS LFV EMD CT2 CT1

[Data type] Bit
#0 CT1
#1 CT2 A tool change type is set according to the following tables:
- Tool life management

CT2 CT1 Tool Description
(#1) (#0) change Tool group number Tool life management
type specified in the block that count timing
specifies the tool change
command (M06)
0 0 A Group of tools Life counting is performed for a tool
already used in the specified tool group when M06
0 1 B Tool group to be used is specified next.
1 0 C next
1 1 D Life counting is performed when a
tool in the tool group specified in the
block that specifies M06 is specified.
#2 EMD Specifies when the asterisk (*) for representing the expiration of life is
displayed.
0: Displayed when the next tool is used.
1: Displayed when the life has expired.
#3 LFV Specifies whether life count override is valid.

0: Not valid.
1: Valid.
#5 TRS Specifies that the tool change reset signal (TLRST) is valid when RST is
not set to 1 for a reset, and:
0: When the reset state is set (OP is set to 0).
1: When the reset state is set (OP is set to 0), the automatic operation
stop state is set (STL and SPL are set to 0, and OP is set to 1), or the
automatic operation halt state is set (STL is set to 0, and SPL is set to
1). (However, TLRST is invalid in the automatic operation stop
state, automatic operation halt state, and automatic operation start
state (with STL set to 1) during data setting command (G10 L3)
execution.)
- 996 -
#6 TRU Specifies how to handle a cutting time less than 1 second when life
counting is based on time (LTM = 1), and the life count interval is 1
second (FCO = 0).
0: A cutting time less than 1 second is truncated, and is not counted.
1: A cutting time less than 1 second is rounded off to 1 second, and is counted.
NOTE
When the life count interval is 0.1 second (FCO = 1), a cutting
time less than 0.1 second is always rounded off to 0.1 second,
and is counted.
#7 #6 #5 #4 #3 #2 #1 #0
7403 FGL FCO

[Data type] Bit
#0 FCO Specifies whether the life count interval is 1 second or 0.1 second when
tool life counting is based on time.
0: 1 second
1: 0.1 second
According to this parameter, the unit of tool life value and tool life
counter display/setting is as follows:
Bit 0 (FCO) of parameter No. 7403 0 1
Life value and life counter
display/setting unit 1 minute 0.1 minute
NOTE
After changing the setting of this parameter, reenter the data with
G10 L3;.
#1 FGL Specifies whether a life value to be set by L in G10-based life data

registration is set in steps of 1 minute or 0.1 second when tool life
counting is based on time.
0: In steps of 1 minute
1: In steps of 0.1 second
7440 Number for ignoring tool life management

[Data type] Integer
If a value greater than the value set here is specified by a T code, the
value produced by subtracting the value set here from the value of the T
code is used as the tool group number for tool life management.
- 997 -
7442 M code used to restart tool life counting

[Data type] Integer
[Valid data range] From 0 through 99999999 (Excluding 01, 02, 30, 98, 99 and calling M
code)
When the tool life is specified with the number of times the tool has been
used, the tool change signal (TLCHA) is issued if the tool life of any one
of the tool groups has expired at the time of specification of the M code
used to restart tool life counting.
The T code (tool life management group command) specified after the M
code used to restart tool life counting selects a tool whose life has not
expired yet from the specified group. The next M06 code increments the
tool life counter by one.
When the tool life is specified with the time the tool has been used,
specifying the M code used to restart tool life counting does not cause any
operation. When 0 is set in this parameter, the M code used to restart
tool life counting has no effect.
7443 H code for enabling tool length compensation specified by group number

[Data type] Integer
Set, in this parameter, an H code for enabling tool length compensation
specified by the currently selected group number. When 0 is set in this
parameter, compensation is enabled by H99.
7444 D code for enabling cutter compensation specified by group number

[Data type] Integer
Set, in this parameter, a D code for enabling cutter compensation
specified by the currently selected group number. When 0 is set in this
parameter, compensation is enabled by D99.
- 998 -
Alarm and message

PS0437 ILLEGAL LIFE GROUP NUMBER A tool group number exceeded the maximum value.
The tool group No. (P after G10 L3:) or the group No.
assigned by the T code instruction for tool life management
in the machining program exceeded the maximum value.
PS0438 GROUP NOT FOUND AT LIFE DATA A tool group specified in the machining program was not set
in the tool life management data.
PS0439 OVER MAXIMUM TOOL NUMBER The number of tool specified in a single tool group exceeds
the maximum allowed number.
PS0440 T COMMAND NOT FOUND No T command was specified in a program which sets a tool
group.
The same block as M06 in the machining program does not
contain a T command in tool change method D (parameters
CT2=2, CT1=1: No. 7401#1/#0).
PS0441 NOT USING TOOL IN LIFE GROUP An H99 instruction, D99 instruction or the H/D code specified
in parameters (No. 7443, 7444) has been specified even
though no tool that belongs to a group was being used.
PS0442 ILLEGAL T COMMAND AT M06 The tool group of the tool specified in the tool instruction
(return tool group) after the M06 instruction in the machining
program does not match the current tool group in tool
change method A (parameters CT2=0, CT1=0: No.
7401#1/#0).
This alarm can be suppressed by setting ABT parameter No.
7400#6 to "1".
PS0443 P,L COMMAND NOT FOUND No P (group No. ) or L (tool life) was specified at the
beginning of a program that sets a tool group when tool data
in a group was being loaded during loading tool life
management data.
PS0444 OVER MAXIMUM LIFE GROUP The number of blocks in which P (group No. ) or L (tool life) is
instructed exceeding the maximum number of groups was
found while loading tool life management data.
PS0445 ILLEGAL L COMMAND An illegal range instructed in the L (tool life) instruction was
found while loading tool life management data.
PS0446 ILLEGAL H,D,T COMMAND A value specified by T (tool No. ), D (cutter compensation
No. ) or H (tool length offset No. ) exceeding the maximum
value was found while loading tool life management data.
PS0448 ILLEGAL FORMAT AT LIFE DATA An illegal address was specified in a program (G10 L3: to
G11;) that sets a tool group.
Allowable addresses are P (group No. ), L (tool life) and T
(tool No. ).
PS0449 ILLEGAL TOOL LIFE DATA Tool life management data is damaged for some reason.
Reload the tool group and the corresponding tool data by
G10 L3; or MDI input.
Reference item
Series15i/150i-MB Operator’s Manual II-10.2 Tool life management
(Programming)
(B-63784EN)
- 999 -
10.4 TOOL COMPENSATION FUNCTION
10.4.1 Tool Length Offset
General
This function can be used by setting the difference between the tool
length assumed during programming and the actual tool length of the
tool used into the offset memory. It is possible to compensate the
difference without changing the program.
Specify the direction of offset with G43 or G44. Select a tool length
offset value from the offset memory by entering the corresponding
address and number (H code).
Tool assumed during Actual tool

programming
Specify this distance as

the value of tool length
offset.
Fig. 10.4.1 (a) Tool length offset
- Direction of the offset

When G43 is specified, the tool length offset value (stored in offset
memory) specified with the H code is added to the coordinates of the
end position specified by a command in the program. When G44 is
specified, the same value is subtracted from the coordinates of the end
position. The resulting coordinates indicate the end position after
compensation, regardless of whether the absolute or incremental mode
is selected.
If movement along an axis is not specified, the system assumes that a
move command that causes no movement is specified. When a positive
value is specified for tool length offset with G43, the tool is moved
accordingly in the positive direction. When a positive value is
specified with G44, the tool is moved accordingly in the negative
direction. When a negative value is specified, the tool is moved in the
opposite direction.
G43 and G44 are modal G codes. They are valid until another G code
belonging to the same group is used. By setting bit 2 (G43) of
parameter No. 2401 or bit 3 (G44) of parameter No. 2401, G43 or G44
can be set upon power-up.
- 1000 -
- Specification of the tool length offset value

The tool length offset value assigned to the number (offset number)
specified in the H code is selected from offset memory and added to or
subtracted from the moving command in the program.
The tool length offset value may be set in the offset memory through
the MDI panel.
The range of values that can be set as the tool length offset value is as
follows.
- Specifying offset along two or more axes

When LXY (bit 4 of parameter No. 6000) is set to 1, offset can be
performed along any axes specified in the program. When two or more
axes are specified, offset can be performed along all specified axes.
Offset in X and Y axes:

G43 X_ Y_ H_ ;
- Canceling tool length compensation

To cancel the offset, command a G49 or assign offset H0. When G49 is
commanded, the canceling action is taken immediately.
When LXY, bit 4 of parameter No.6000, is set to 0 (tool length

compensation is applied along the Z-axis), the offset can be canceled
simply by specifying H00.
When LXY, bit 4 of parameter No.6000, is set to 1, tool length
compensation is applied along the axis specified in the program.
G43 X_ H_ ; (specified tool length compensation along the X-axis)
:
G43 X_ H0 ; (Cancels tool length compensation along the X-axis)
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2401 G44 G43

[Data type] Bit
#2 G43
#3 G44 G43 and G44 set G43, G44, or G49 mode to be entered when power is
turned on and when clear operation is performed (for M series only).
G43 G44 G43, G44, or G49 mode

0 0 G49 mode
0 1 G44 mode
1 0 G43 mode
- 1001 -
#7 #6 #5 #4 #3 #2 #1 #0
2409 K43

[Data type] Bit
#5 K43 Specifies whether to clear the tool length compensation vector, G43 to
G49 in the modal G code group, and H codes when the system is reset.
0: Cleared.
#7 #6 #5 #4 #3 #2 #1 #0
6000 LXY EVO

[Data type] Bit
#4 LXY Specifies whether the axis to which tool length compensation (G43, G44)
is applied is the Z-axis at all times, or an arbitrary programmed axis (for
the M series only).
0: Z-axis at all times.
1: Arbitrary programmed axis.
- 1002 -
#7 #6 #5 #4 #3 #2 #1 #0
6007 ZMV

[Data type] Bit
#5 ZMV When the offset of tool length compensation is changed with bit 4 (LXY)
of parameter No. 6000 set to 0 and bit 0 (EVO) of parameter No. 6000 set
to 1, the new offset becomes valid from:
0: A block to be buffered next;
1: A block containg the next Z-axis move command or H code command.
This parameter is valid only when bit 4 (LXY) of parameter No. 6000 is set to 0.
ZMV and bit 0 (EVO) of parameter No. 6000 have the following relationship:
ZMV EVO Time when a new offset becomes
(No.6007#5) (No.6000#0) valid
- 0 New offset becomes valid in a block
specifying the next H code.
0 1 New offset becomes valid in a block
to be buffered next.
1 1 New offset becomes valid in a block
specifying the next Z-axis move
command or H code.
Reference item
Series15i/150i-MB Operator’s Manual II-14.1 Tool length
(Programming) compensation
(B-63784EN)
- 1003 -
10.4.2 Tool Offset
General
The programmed travel distance of the tool can be increased or
decreased by a specified tool offset value or by twice the offset value.
The tool offset function can also be applied to an additional axis.
Workpiece
Tool center path Programmed path

Tool
Fig. 10.4.2 (a) Tool offset
- 1004 -
- Increase and decrease

As shown in Fig. 10.4.2(a), the travel distance of the tool is increased or
decreased by the specified tool offset value.
In the absolute mode, the travel distance is increased or decreased as
the tool is moved from the end position of the previous block to the
position specified by the block containing G45 to G48.
Table 10.4.2 (a) Increase and decrease of the tool travel distance
G code When a positive tool offset When a negative tool offset
value is specified value is specified
G45
Start position End position Start position End position
G46
G47
G48
If a move command with a travel distance of zero is specified in the

Programmed movement
Tool offset value
Actual movement position
incremental command (G91) mode, the tool is moved by the distance

corresponding to the specified tool offset value.
If a move command with a travel distance of zero is specified in the
absolute command (G90) mode, the tool is not moved.
- Tool offset value

Once selected by D code, the tool offset value remains unchanged until
another tool offset value is selected.
- 1005 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6000 PCI PNH EVO

[Data type] Bit
#1 PNH Specifies whether the offset number of a tool offset (G46 to G48) is
specified using a D code or H code (for the M series only).
0: Specified using a D code.
1: Specified using an H code.
#2 PCI Specifies whether a tool offset (G45 to G48) is valid for a circular
command (for the M series only).
0: Not valid.
1: Valid.
Reference item
Series15i/150i-MB Operator’s Manual II-14.2 Tool offset
(Programming)
(B-63784EN)
- 1006 -
10.4.3 Cutter Compensation
General
When the tool is moved, the tool path can be shifted by the radius of the
tool (Fig. 10.4.3(a)).
To make an offset as large as the radius of the tool, CNC first creates an
offset vector with a length equal to the radius of the tool (start-up).
The offset vector is perpendicular to the tool path. The tail of the
vector is on the workpiece side and the head positions to the center of
the tool.
If a linear interpolation or circular interpolation command is specified
after start-up, the tool path can be shifted by the length of the offset
vector during machining.
To return the tool to the start position at the end of machining, cancel
the cutter compensation mode.
Cutter
compensation
cancel
Start-up
Fig. 10.4.3 (a) Outline of Cutter Compensation C
- 1007 -
- Offset cancel mode

At the beginning when power is applied the control is in the cancel
mode. In the cancel mode, the vector is always 0, and the tool center
path coincides with the programmed path.
- Start Up
When a cutter compensation command (G41 or G42, nonzero
dimension words in the offset plane, and D code other than D0) is
specified in the offset cancel mode, the CNC enters the offset mode.
Moving the tool with this command is called start-up.
Specify positioning (G00) or linear interpolation (G01) for start-up. If
circular interpolation (G02, G03) is specified, alarm PS070 occurs.
When reading a start-up block and subsequent blocks, the CNC first
reads the number of blocks specified in parameter No. 6009.
- Offset mode
In the offset mode, compensation is accomplished by positioning (G00),
linear interpolation (G01), or circular interpolation (G02, G03). If two
or more blocks that do not move the tool (miscellaneous function,
dwell, etc.) are processed in the offset mode, the tool will make either
an excessive or insufficient cut. If the offset plane is switched in the
offset mode, alarm PS0271 occurs and the tool is stopped.
- Offset mode cancel

In the offset mode, when a block which satisfies any one of the
following conditions is executed, the CNC enters the offset cancel
mode, and the action of this block is called the offset cancel.
1. G40 has been commanded.
2. 0 has been commanded as the offset number for cutter
compensation.
When performing offset cancel, circular arc commands (G02.2 and
G03.2) are not available. If a circular arc is commanded, an P/S alarm
(No.270) is generated and the tool stops. In the offset cancel, the
control executes the instructions in that block and the block in the
cutter compensation buffer. In the meantime, in the case of a single
block mode, after reading one block, the control executes it and stops.
Start up
(G41/G42)
Offset cancel mode Offset mode
Offset mode cancel
(G40/D0)
Fig. 10.4.3 (b) Changing the offset mode
- Setting the cutter compensation value

Assign a cutter compensation values to the D codes on the MDI panel.
- 1008 -
- Offset vector
The offset vector is the two dimensional vector that is equal to the
cutter compensation value assigned by D code. It is calculated inside
the control unit, and its direction is up-dated in accordance with the
progress of the tool in each block.
The offset vector is deleted by reset.
- Specifying a cutter compensation value

Specify a cutter compensation value with a number assigned to it. The
number consists of 1 to 3 digits after address D (D code). The D code is
valid until another D code is specified. The D code is used to specify
the tool offset value as well as the cutter compensation value.
- Plane selection and vector

Offset calculation is carried out in the plane determined by G17, G18
and G19, (G codes for plane selection). This plane is called the offset
plane.
Compensation is not executed for the coordinate of a position which is
not in the specified plane. The programmed values are used as they are
In simultaneous 3 axes control, the tool path projected on the offset
plane is compensated.
The offset plane is changed during the offset cancel mode. If it is
performed during the offset mode, a alarm (PS0271) is displayed and
the machine is stopped.
- 1009 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6001 CNI CNC CSU

[Data type] Bit
#0 CSU This bit, used with bit 7 (CSC) of parameter No. 6003, sets the
startup/cancel type of cutter compensation.
CSC CSU Type Operation
0 0 Type A A compensation vector perpendicular to the block next to the
startup block or the block preceding the cancellation block is
output.
Tool center path
G41
Programmed path
N2
N1
0 1 Type B A compensation vector perpendicular to the startup block or

cancellation block and an intersection vector are output.
Intersection point Tool center
path
Programmed
G41 path
N2
N1
1 0 Type C When the startup block or cancellation block specifies no

1 movement operation, the tool is shifted by the cutter
compensation amount in a direction perpendicular to the block
next to the startup or the block before cancellation block.
Intersection point Tool center

path
N3
Shift
G41 N2 Programmed
path
N1
When the block specifies movement operation, the type is set

according to the CSU setting; if CSU is 0, type A is set, and if
CSU is 1, type B is set.
- 1010 -
#1 CNC This bit, used with bit 6 (CNI) of parameter No. 6001, selects the method
for making an interference check in cutter compensation mode.
CNI CNC Operation
0 0 Interference check is enabled. The direction and the anlgle of
an arc are checked.
0 1 Interference check is enabled. Only the angle of an arc is
checked.
1 - Interference check is disabled.
For the operation taken when the interference check shows the occurrence of an
rference (overcutting), see the description of bit 5 (CAV) of parameter No. 6008.
NOTE
Checking of only the direction cannot be set.
#6 CNI Specifies whether an interference check in the cutter compensation mode

is valid.
0: Valid. By setting bit 1 (CNC) of parameter No. 6001, a direction
check and circular angle check are made.
1: Not valid.
#7 #6 #5 #4 #3 #2 #1 #0
6003 CSC

[Data type] Bit
#7 CSC Specifies the type of operation to be performed at start-up and

cancellation of tool side offset in cutter compensation or three-
dimensional cutter compensation.
0: Type A or type B. (Which type is used is determined by bit 0 (CSU)
of parameter No. 6001.)
1: Type C.
- 1011 -
#7 #6 #5 #4 #3 #2 #1 #0
6005 AIM

[Data type] Bit
#1 AIM Specifies whether to issue an alarm when cutter compensation is

specified in the MDI mode.
0: Issue no alarm. (In this case, cutter compensation is enabled for commands in
the MDI mode, and an intersection calculation is made. If MDI intervention is
performed, however, no intersection calculation is made, and the previous
vector is held.)
1: Issue an alarm (PS0275).
#7 #6 #5 #4 #3 #2 #1 #0
6008 NAG NAA CAV CCC

[Data type] Bit
#2 CCC Specifies whether the type of outer corner connection in the cutter
compensation mode is linear connection type or circular connection type.
0: Linear connection type
1: Circular connection type
#5 CAV Specifies operation to be performed when an interference check has

detected the occurrence of interference (overcutting).
0: An alarm (PS0272) is issued, and machining is stopped (interference
check alarm function).
1: The tool path is changed to avoid interference (overcutting), and
machining is continued (interference check avoidance function).
For the method of interference check, see the descriptions of bit 1 (CNI) of
parameter No. 6001 and bit 6 (CAV) of parameter No. 6001.
- 1012 -
#6 NAA If the interference check avoidance function judges that the avoidance
operation will be dangerous or that further interference will occur for the
interference avoidance vector, the following action takes place:
0: An alarm is issued.
If the avoidance operation is determined to be dangerous, alarm
PS0278 is issued.
If further interference for the interference avoidance vector is
determined, alarm PS0279 is issued.
1: The avoidance operation will continue without issuing any alarm.
NOTE
Normally, this bit should be set to 0.
#7 NAG If the gap vector length for the interference check avoidance function for
cutter compensation is 0:
0: Avoidance is performed.
1: Avoidance is not performed.
6009 Number of blocks to be read in the cutter compensation mode

[Data type] Integer
Specify the number of blocks to be read in the cutter compensation mode.
If a value equal to or less than 3 is specified, the specification of 3 blocks
is assumed. If a value equal to or greater than 8 is specified, the
specification of 8 blocks is assumed. As more blocks are read, an
overcutting (interference) forecast can be made for much more blocks
ahead. In this case, however, more blocks are read and analyzed, so
that a longer block processing time is required.
This parameter is not enabled immediately when the MDI mode is set by
stopping the cutter compensation mode. The new setting of this
parameter is enabled when the cutter compensation mode is once
cancelled, and the mode is set again.
- 1013 -
6010 Limit for ignoring the small movement resulting from cutter compensation

[Data type] Real
table(A))
When the tool moves around a corner in cutter compensation mode, the limit for
ignoring the small travel amount resulting from cutter compensation is set. This
limit eliminates the interruption of buffering caused by the small travel amount
generated at the corner and any change in feedrate due to the interruption.
If ∆Vx≤∆Vlimit and ∆VY

≤∆Vlimit, this vector is ignored.
∆V x
∆V Y
S
r
r Even if ∆Vx≤∆Vlimit and

∆VY≤∆Vlimit, vector to single-
block stop point
Tool center path N1
remains.
N2
Programmed path
∆Vlimit is determined depending on the setting in parameter No. 6010.
- 1014 -
Alarm and message

PS0270 CRC:START_UP /CANCEL BY An attempt was made to execute the cutter compensation
CIRCLE startup or cancel block in the circular interpolation mode or
involute interpolation mode.
PS0271 CRC:PLANE CHANGE An attempt was made to change the plane in the cutter
compensation mode.
To change the plane, cancel the cutter compensation
mode.
PS0272 CRC:INTERFERENCE The depth of the cut is too great during cutter
compensation. Check the program.
The criteria for judging interference are as follows:
(1) The direction of movement of the programmed block
differs from the direction of movement of the
corresponding tool center path block by 90° or more or
270° or less.
The check in this case can be disabled by setting CNC
parameter No. 6001#1 to "1".
(2) In the case of an arc, the difference in angle between
the start and end points of the programmed block
differs by 180° or more with the difference in angle
between the start and end points of the corresponding
tool center path block.
PS0273 CRC:MOTION IN G39 Corner circular interpolation (G93) during cutter
compensation has been specified not as an individual
instruction but together with a move instruction.
PS0275 CRC:MDI MODE Cutter compensation has been specified in the MDI mode.
This alarm is also generated when the AIM parameter AIM
No. 6005#1 is set to 1.
PS0276 CRC:NO INTERSECTION There is not point of intersection of the compensated tool
center path during cutter compensation.
PS0277 CRC:NO AVOIDANCE Interference cannot be avoided as there no interference
avoidance vector has been specified for the interference
check avoidance function during cutter compensation.
PS0278 RC:DANGEROUS AVOIDANCE Danger was judged when avoidance operation was
executed by the interference check avoidance function
during cutter compensation.
PS0279 CRC:INTERFERENCE TO AVD. Interference occurred again even though the interference
avoidance vector has been calculated by the interference
check avoidance function during cutter compensation.
Reference item
Series15i/150i-MB Operator’s Manual II-14.3 General of cutter
(B-63784EN) II-14.4 Details of cutter
compensation
- 1015 -
10.4.4 Three-dimensional Tool Compensation
General
In cutter compensation, two-dimensional offset is performed for a
selected plane. In three-dimensional tool compensation, the tool can be
shifted three-dimensionally when a three-dimensional offset direction
is programmed.
Surface normal direction

vector(I, J, K)
Three-dimensional tool
compensation vector Tool center coordinate
value (x’, y’, z’)
Tool compensation value
Program coordinate value,

(x, y, z)
Z(K)
Y(J) X(I)
Fig. 10.4.4 (a) Three-dimensional tool compensation value
As shown in Fig. 10.4.4 (a), the tool is moved with the tool center
coordinates (x', y', z') shifted from the programmed coordinates (x, y, z)
by the tool offset value, according to the programmed surface normal
vector (I, J, K). In this case, the three-dimensional tool compensation
vector has the same magnitude as the tool offset value and the same
direction as that of the surface normal vector (I, J, K).
- 1016 -
- Three-dimensional tool compensation vector

In three-dimensional tool compensation mode, the following three-
dimensional tool compensation vector is generated at the end of each
block:
Programmed path
Path after three-dimensional tool
compensation
Three-dimensional tool
compensation vector
G40
G41
The three-dimensional tool compensation vector is obtained from the

following expressions:
i×r
Vx= (Vector component along the Xp-axis)
p
j×r
Vy= (Vector component along the Yp-axis)
p
k×r
Vz= (Vector component along the Zp-axis)
p
In the above expressions, i, j, and k are the values specified in addresses
I, J, and K in the block. r is the offset value corresponding to the
specified offset number.
p is the value obtained from the following expression:
2 2 2
p= i + j +k
When the user wants to program the magnitude of a three-dimensional
tool compensation vector as well as its direction, the value of p in the
expressions of Vx, Vy, and Vz can be set as a constant in parameter No.
6011.
If the parameter is set to 0, however, p is determined as follows:
2 2 2
p= i + j +k
- Relationship between three-dimensional tool compensation and other

compensation functions
Tool length The path shifted by three-dimensional tool compensation is
compensation shifted by tool length compensation.
Tool offset In three-dimensional tool compensation mode, no tool offset
can be specified.
Cutter When addresses I, J, and K are all specified at startup,
compensation three-dimensional tool compensation mode is set. When
other than all of the addresses are specified, cutter
compensation mode is set. Therefore, cutter compensation
cannot be specified in three-dimensional tool compensation
mode and three-dimensional tool compensation cannot be
specified in cutter compensation mode.
- 1017 -
- Specifying I, J, and K
Addresses I, J, and K must all be specified at startup to start three-
dimensional tool compensation. When even one of the three addresses
is omitted, two-dimensional cutter compensation is activated. When a
block specified in three-dimensional tool compensation mode contains
none of addresses I, J, and K, the same vector as that generated in the
previous block is generated at the end of the block.
- Modal I, J, and K commands

When bit 0 (OKI) of parameter No. 6030 is 1, three-dimensional tool
compensation can be performed even if one or two of the I, J, and K
commands are omitted; the omitted addresses are assumed to be the
same values as the previous values.
Example
N1 G41 X_ Y_ Z_ I_ J_
K_ D_
N2 X_ Y_ Z_ I_ K_ Vector calculation is
performed with the omitted J
value assumed to be the
value in N1.
N3 X_ Y_ Z_ I_ Vector calculation is
performed with the omitted J
value and K value assumed
to be the value in N1 and the
value in N2, respectively.
- Accurate vector command

When bit 0 (ONI) of parameter No. 6029 is 1, up to nine significant
digits (nine digits in the integer part to nine digits in the decimal part)
can be specified in the I, J, and K commands of three-dimensional tool
compensation, regardless of the increment system of the reference axis.
Example
Permitted
.999999999
1.23456789
999999999.
Not permitted (PS0012 is issued.)

0.999999999
1.234567890
999999999.0
- 1018 -
NOTE
1 When bit 0 (ONI) of parameter No. 6029 is 1, the
functions using the I, J, and K commands listed
below must not be used in three-dimensional tool
compensation mode. Otherwise, the PS0282
alarm is issued.
Exponential interpolation (I, J, and K commands of
G02.3/G03.2)
Canned cycle shift amount (I and J commands of
G76 and G87)
Type 2 of tool center point control (I, J, and K
commands of G43.5)
Direction of rigid tapping orientation (I command of
G84.2/G84.3)
2 When bit 0 (ONI) of parameter No. 6029 is 1, the I,
J, and K commands must be specified using the
decimal point. If these commands are specified
without the decimal point, a PS0283 alarm is
issued.
3 When bit 0 (ONI) of parameter No. 6029 is 1, macro
variables cannot be used for the I, J, and K
commands.
- Offset vector in interpolation

When circular interpolation, helical interpolation (both specified with
G02, G03), or involute interpolation (G02.2, G03.2) is specified, the
vector generated in the previous block is maintained.
Vector generated in the block before an arc
The same vector is generated.

Programmed path
Path after three-dimensional
tool compensation
Three-dimensional tool compensation vector
- Alarm in three-dimensional tool compensation mode

If one of the following G codes is specified in three-dimensional tool
compensation mode, an alarm is issued:
G31 Skip function (PS alarm No. 0282)
G37 Automatic tool length measurement
(PS alarm No. 0282)
- 1019 -
Parameter
6011 Constant denominator for three-dimensional tool compensation or tool
length compensation in a specified direction

[Data type] Real
table(A))
Specify the magnitude of a compensation vector.
When this parameter is set to 0, I 2 + J 2 + K 2 is set.
#7 #6 #5 #4 #3 #2 #1 #0
6029 ONI

[Data type] Bit
#0 ONI The I, J, and K commands of three-dimensional tool compensation are

specified as follows:
0: The increment system of the reference axis is used.
1: Up to nine significant digits (nine digits in the integer part to nine digits in the
decimal part) can be specified.
NOTE
When this parameter is set to 1, the I, J, and K commands of
three-dimensional tool compensation must be specified using the
decimal point. If these commands are specified without the
decimal point, alarm PS0283 is issued.
- 1020 -
#7 #6 #5 #4 #3 #2 #1 #0
6030 OKI

[Data type] Bit
#0 OKI The I, J, and K commands in three-dimensional tool compensation mode

conform to:
0: The conventional specifications.
- When the I, J, and K commands are all omitted in three-dimensional tool
compensation mode, the previous vector is maintained.
- When one or two of the I, J, and K commands are omitted in three-dimensional
tool compensation mode, their components are assumed to be 0.
1: The new specifications.
- When the I, J, and K commands are all omitted in three-dimensional tool
compensation mode, the previous vector is maintained.
- When one or two of the I, J, and K commands are omitted in three-dimensional
tool compensation mode, the previous values are assumed.
Alarm and message

PS0282 ILLEGAL COMMAND IN 3-D OFFSET An illegal G code was specified in the 3-dimensional tool
offset mode. Skip instructions and tool length
measurement cannot be specified.
PS0283 ILLEGAL IJK IN 3-D OFFSET When bit 0 (ONI) of parameter No. 6029 is 1, the I, J, and K
commands are specified without the decimal point in
three-dimensional tool compensation mode.
Reference item
Series15i/150i-MB Operator’s Manual II-14.5 Three dimensional tool
(Programming) offset
(B-63784EN)
- 1021 -
10.4.5 Tool Offsets Based on Tool Numbers
General
Cutter compensation data, tool length compensation data, and the tool
pot number can be set for a specific tool number (T code). Up to 300
sets of data can be set. If a certain tool number is specified, the pot
number corresponding to that tool number is output as a T code to the
PMC. If cutter compensation or tool length compensation is specified,
compensation is performed using the cutter compensation or tool
length compensation data set for the tool number.
Tool Data Registration, Modification, and Deletion

- Setting tool data
After all the registered tool data has been deleted, programmed tool
data can be registered.
- Adding or modifying tool data

The tool data programmed for a group can be added to or modified. If a
previously registered tool number is specified, the tool data for that tool
number is updated to specified data.
- Deleting tool data

Registered tool data can be deleted. If an attempt is made to delete the
tool data for the currently selected tool, a PS0425 alarm is issued. Any
attempt to delete tool data by specifying a tool number and pot number
fails if no tool matches the two numbers.
Format
- Registration involving tool data deletion
Format Meaning of command
G10L70; G10L70:Starts the deletion of registered tool data and the
T-P-K-R-; registration of new tool data.
T-P-K-R-; T-:Tool number(0-99999999)
: P-:Pot number(0-9999)
T-P-K-R-; K-:Tool length offset(Caution)
G11; R-:Cutter compensation value(Caution)
M02(M30); G11:Ends the registration of setting data.
- 1022 -
- Adding and modifying tool data

G10L71; G10L71:Starts the addition to or modification of registered
T-P-K-R-; tool data.
T-P-K-R-; T-:Tool number(0~99999999)
: P-:Pot number(0~9999)
T-P-K-R-; K-:Tool length offset (Caution)
G11; R-:Cutter compensation value (Caution)
M02(M30); G11:Ends the addition to or modification of setting data.
CAUTION
The unit of data and valid data range of tool length
offsets and cutter compensation values depend on
the settings of bit 0 (OFA) of parameter No. 6002, bit
1 (OFC) of parameter No. 6002, bit 0 (OFD) of
parameter No. 6004, and bit 0 (OFE) of parameter
No. 6007.
Deleting tool data

G10L72; G10L72: Starts the deletion of registered tool data.
T-; T-: Delete tool data for the specified tool number.
: P-: Delete all tool data for the specified pot number.
P-; T- P-: Delete tool data for the specified tool number and
: pot number.
G11: Ends the deletion of setting data.
T- P-;
:
G11;
MO2(M30);
Example:
Tool data setting

N01 G10 L70 ;
N02 T01 P10 K11.0 R12.0 ;
N03 T02 P20 K21.0 R22.0 ;
N04 T03 P20 K31.0 R32.0 ;
N05 T04 P30 K32.0 R42.0 ;
N06 G11 ;
Tool data deleting

N11 G10 L72 ;
N12 T01 ; :Deletes the tool data (set in N02) corresponding to T01.
N13 P20 ; :Deletes the tool data (set in N03 and N04) corresponding to P02.
N14 T04 P30 ; :Deletes the tool data (set in N05) corresponding to T04 and P30.
N15 T04 P20 ; :Issues an alarm.
N16 G11 ;
- 1023 -
Tool Offset Based on Tool Numbers
- Tool pot number output

When a tool number (T code) is specified, the corresponding tool pot
number is read from the tool data file, then is output to the machine as a
tool function code signal (T0 to T31) together with the tool function
strobe signal (TF).
- Compensation based on a cutter compensation value and tool length

compensation value
When an M code for tool change is specified, the cutter compensation
value and tool length compensation value of the previously specified
tool number (T code) become valid. Then, compensation is applied
using the valid compensation values when a compensation command
(such as G43 and G41) is executed.
Example :
Tool data setting

N01 G10 L70 ;
N02 T01 P10 K11.0 R12.0 ;
N03 T02 P20 K21.0 R22.0 ;
N04 G11 ;
Compensation based on tool data (when the M code for tool change is M06)
N11 T01 ; : The pot number, 10, corresponding to T01 is output as a code signal.
N12 M06 ; : The cutter compensation value and tool length compensation value
corresponding to T01 become valid.
N13 G43 _ _ _ ; : Tool length compensation is performed using the valid compensation
value (K11.0 of T01).
N14 T02 ; : The pot number, 20, corresponding to T02 is output as a code signal.
N15 G41 _ _ _ ; : Cutter compensation is performed using the valid compensation value
(R12.0 of T02).
N16 G40 G49 ;
N17 M06 ; : The cutter compensation value and tool length compensation value
N18 G43 _ _ _ ; : Tool length compensation is performed using the valid compensation
value (K21.0 of T02).
NOTE
Use parameter No. 2429 to specify an M code for tool
change.
- 1024 -
- Tool change methods

The execution of an M code for tool change and tool number (T code)
that are specified in the same block depends on the settings of bit 1
(CT2) and bit 0 (CT1) of parameter No. 7401, as indicated in the table
below. The method that is used depends on the machine. For details,
refer to the relevant manual provided by the machine tool builder.
Table10.4.5 (a) Differences between Tool Change Methods

CT2 CT1 Tool Description
(#1) (#0) change (tool offset based on tool numbers)
method
0 0 A The compensation values corresponding to the previously
specified tool number (T code) become valid, and the tool pot
number corresponding to a tool number specified in a block where
an M code for tool change is specified is output as a code signal.
The compensation values corresponding to this tool number do
not become valid for the next M code for tool change.
0 1 B The compensation values corresponding to the previously
specified tool number (T code) become valid, and the tool pot
number corresponding to a tool number specified in a block where
an M code for tool change is specified is output as a code signal.
The compensation values corresponding to this tool number
become valid for the next M code for tool change.
1 0 C Same as method B
1 1 D The tool pot number corresponding to a tool number specified in a
block where an M code for tool change is specified is output as a
code signal; the compensation values become valid immediately.
- 1025 -
Example
- Tool change method A

Example:
N01 T10 ; : The tool pot number corresponding to T10 is output as a code signal.
N02 M06 T11 ; : The cutter compensation value and tool length compensation value
corresponding to T10 become valid. The T11 tool is returned to the
magazine.
The tool number specified in a block where M06 is specified specifies the number of the tool to
be returned to the magazine. Accordingly, the compensation values corresponding to the tool
number (T11) specified in the block where M06 is specified do not become valid for the next M
code (M06) for tool change.
- Tool change methods B and C

Example:
N01 T10 ; : The tool pot number corresponding to T10 is output as a code signal.
N02 M06 T11 ; : The cutter compensation value and tool length compensation value
corresponding to T10 become valid, and the tool pot number
corresponding to T11 is output as a code signal.
N03 M06 T10 ; : The compensation values corresponding to T11 become valid, and the
tool pot number corresponding to T10 is output.
- Tool change method D

Example:
N01 T10 M06 ; : The tool pot number corresponding to T10 is output as a code signal, and
the cutter compensation value and tool length compensation value
N02 T11 M06 ; : The tool pot number corresponding to T11 is output as a code signal, and
the cutter compensation value and tool length compensation value
- 1026 -
- Notification output to the machine when tools having the same pot number are
specified
If there are two or more programmed tool numbers having the same pot
number, the pot number duplication signal (TDUP) is output to the
machine.
Example:
Tool data setting

N01 G10 L70 ;
N02 T01 P10 K11.0 R12.0 ;
N03 T02 P20 K21.0 R22.0 ;
N04 T03 P20 K31.0 R32.0 ;
N05 T04 P30 K32.0 R42.0 ;
N06 G11 ;
Compensation based on tool data

N11 T01 ; : The tool pot number, 10, corresponding to T01 is output as a code signal.
N12 T02 ; : The tool pot number, 20, corresponding to T02 is output as a code signal,
and the pot number duplication signal is output to the machine at the
same time.
- T code handling with the program check screen and system variables
Using bit 4 (TLN) of parameter No. 2203, the user can select whether
to use a tool pot number or tool number as a T code to be displayed on
the program check screen and read by a system variable.
CAUTION
Relationship with compensation based on an H code or D code
Compensation can be performed by specifying an
offset number for tool offset with an H code/D code.
However, tool length compensation or cutter
compensation cannot be performed by specifying an
offset number with an H code/D code. If such an
attempt is made, a compensation value of 0 is
assumed. By setting bit 5 (NOT) of parameter No.
0011 to 1, however, tool length compensation or
cutter compensation can be performed by specifying
an offset number with an H code/D code. In such a
case, tool offset based on tool numbers (tool pot
number output, and compensation based on the
compensation value for a tool number) becomes
impossible. Set the parameter to the reset state.
- 1027 -
Relationships with Other Functions

When tool offset based on tool numbers is enabled (when bit 5 (NOT)
of parameter No. 0011 is set to 0), a D code and H code cannot be
registered as tool life management data.
Compensation enable commands (such as H99/D99), specified during

tool life management, cannot be used. If an attempt is made to use a
compensation enable command during tool life management, the
command is ignored.
If tool offset based on tool numbers and tool life management are used
at the same time, rather than a programmed T code (group number), the
actually selected tool number (T code) belonging to that group acts as a
tool number (T code) command for tool offset based on tool numbers.
Example :
Tool life management data
Tool offset data based on tool numbers
Program (the tool life management ignore number is 1000, and the M code for tool
change is 6.)
N1 T1005 ;
N2 M06 ;
(1) As T1005 is specified in N1, tool number 1 in tool life management group 05 is
selected. Then, in tool offsetting based on tool numbers, the pot number (100)
corresponding to T1 is output as a code signal to the machine.
(2) As M06 is specified in N2, life count starts for the tool corresponding to tool
number 1. In tool offset based on tool numbers, the compensation values
(23.456, 1.234) of T1 become valid.
- 1028 -
- Automatic tool length measurement

With the automatic tool length measurement command (G37), the tool
length compensation value for the currently valid tool number is
updated.
Never specify the automatic tool length measurement command in a
block in which an M code for tool change is specified.
- Custom macro system variable

With the system variables used for tool compensation values, tool
offset values cannot be read or updated based on tool numbers.
Signal
Duplicate pot number signal
TDUP<F044#6>
[Function] Notifies the machine that, in tool offset by tool number, a duplicate pot
number exists in the tool data for a specified tool.
[Output condition] This signal is output under the same conditions as those for the tool
function strobe signal (TF).
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F044 TDUP
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0011 NOT

[Data type] Bit
#5 NOT Specifies whether to use Tool Nos. to specify output of tool pot Nos. and
tool offsets.
0: Use tool Nos. (H/D codes cannot be used to specify tool length
compensation and cutter compensation.)
1: Do not use tool Nos. (H/D codes can be used to specify tool length
compensation and cutter compensation.)
- 1029 -
#7 #6 #5 #4 #3 #2 #1 #0
2203 TLN

[Data type] Bit
#4 TLN T codes displayed on the program check screen and T codes that can be
read with system variables indicate
0: Pot numbers
1: Tool numbers
2429 M code for tool replacement

[Data type] Integer
[Valid data range] From 0 through 99999999 (excluding 01, 02, 30, 98, 99 and calling M
code)
Set the M code for a tool replacement command in tool life management
and in tool offset by the tool number. If 0 is set, is regarded as 6 (M06).
- 1030 -
#7 #6 #5 #4 #3 #2 #1 #0
7401 CT2 CT1

[Data type] Bit
#0 CT1
#1 CT2 A tool change type is set according to the following tables:
- Tool offset by tool number

CT2 CT1 Tool
(#1) (#0) change Description
type
0 0 A The offset value corresponding to the tool number (T code)
specified previously becomes valid, and the tool pot number
for the tool number specified in the block that specifies the
tool change M code is output as a code signal. The offset
value corresponding to this tool number is not made valid by
the next tool change M code.
0 1 B The offset value corresponding to the tool number (T code)
specified previously becomes valid, and the tool pot number
for the tool number specified in the block that specifies the
tool change M code is output as a code signal. The offset
value corresponding to this tool number is made valid by the
next tool change M code.
1 0 C Same as type B.
1 1 D The tool pot number for the tool number specified in the block
that specifies the tool change M code is output as a code
signal, and the corresponding offset value becomes valid
immediately.
#7 #6 #5 #4 #3 #2 #1 #0
7617 DNA

[Data type] Bit
#3 DNA Specifies whether to issue an alarm if the tool number (pot number)
specified by the tool data deletion command (G10L72) cannot be found.
0: Issue an alarm (SR422).
1: Do not issue an alarm, ignoring the deletion command of the block.
- 1031 -
Alarm and message

PS0421 SETTING COMMAND ERROR The instruction for setting tool data (G10L70 to G11,
G10L71 to G11) is in error.
PS0422 NOT FOUND TOOL DATA The specified tool No. pot No. , for the tool No. , tool length
compensation data, and cutter compensation data has not
been set.
PS0423 TOOL DATA WRITE ERROR Writing occurred simultaneously on tool set data by a tool
No.
PS0424 OVER MAXIMUM TOOL DATA An attempt was made to set tool data exceeding the
maximum number of tool data sets.
PS0425 NOT DELETE TOOL DATA IN Tool data cannot be deleted.
OPERATION
Reference item
Series15i/150i-MB Operator’s Manual II-14.11.2 Tool offset by tool
(Programming) number
(B-63784EN)
- 1032 -
10.4.6 Tool Axis Direction Tool Length Compensation
General
When a five-axis machine that has two axes for rotating the tool is used,
tool length compensation can be performed in a specified tool axis
direction on a rotation axis. When a rotation axis is specified in tool
axis direction tool length compensation mode, tool length
compensation is applied in a specified tool axis direction on the
rotation axis by the compensation value specified in the H code. That
is, movement is made along the three linear axes (Xp, Yp, Zp).
Unless otherwise noted in the explanation of this function, the two
rotation axes are assumed to be the B-axis and C-axis.
Tool axis direction
B C
Z
Workpiece C
B
Y
Fig. 10.4.6 (a) Tool Axis Direction Tool Length Compensation
- Command for tool axis direction tool length compensation

When G43.1 Hn is specified, tool axis direction tool length
compensation is enabled.
The tool compensation vector changes as the offset value changes or
movement is made on a rotation axis. When the tool compensation
vector changes, movement is made according to the change value along
the X-axis, Y-axis, and Z-axis.
When the command specifies movement on a rotation axis only, the
position of the tool tip is the same both before and after execution of the
command. (During rotation axis movement, however, the tool tip
moves.)
- 1033 -
- Examples of machine configuration and rotation axis calculation formats

Let Vx, Vy, Vz, Lc, a, b, and c be as follows:
Vx,Vy,Vz : Tool compensation vectors along the X-axis, Y-
axis, and Z-axis
Lc : Offset value
a,b,c : Absolute coordinates on the A-axis, B-axis and C-axis
Then, the tool compensation vector on each axis in each machine
configuration is indicated below.
(1) A-axis and C-axis, with the tool axis on the Z-axis
A C
Workpiece C
A
Y
X
Vx = Lc * sin(a) * sin(c)
Vy = -Lc * sin(a) * cos(c)
Vz = Lc * cos(a)
- 1034 -
(2) B-axis and C-axis, with the tool axis on the Z-axis
B C
Z
Workpiece C
B
Y
Vx = Lc * sin(b) * cos(c)
Vy = Lc * sin(b) * sin(c)
Vz = Lc * cos(b)
(3) A-axis and B-axis, with the tool axis on the X-axis
A
Workpiece
X
B
Y
Vx = Lc * cos(b)
Vy = Lc * sin(b) * sin(a)
Vz = -Lc * sin(b) * cos(a)
- 1035 -
(4) A-axis and B-axis, with the tool axis on the Z-axis, and the B-axis
used as the master
B X
Workpiece Y
Vx = Lc * cos(a) * sin(b)
Vy = -Lc * sin(a)
Vz = Lc * cos(a) * cos(b)
(5) A-axis and B-axis, with the tool axis on the Z-axis, and the A-axis
used as the master
Y
B
Workpiece
X
A
Vx = Lc * sin(b)
Vy = -Lc * sin(a) * cos(b)
Vz = Lc * cos(a) * cos(b)
- 1036 -
- Tool holder offset

The machine-specific length from the rotation center of the tool
rotation axes (A- and B-axes, A- and C-axes, and B- and C-axes) to the
tool mounting position is referred to as the tool holder offset. Unlike a
tool length offset value, a tool holder offset value is set in parameter No.
7548. When tool axis direction tool length compensation is applied,
the sum of the tool holder offset and tool length offset is handled as a
tool length for compensation calculation.
Rotation center
Tool holder offset
Tool
length
Tool length offset
Fig. 10.4.6 (b) Tool Holder Offset
- Parameter-based rotation angle specification

A tool compensation vector is found from the coordinates on the
rotation axes for controlling the tool axis direction. However, the
configuration of some machines is such that the tool axis is inclined
using a fixed attachment. In such a case, the rotation angles of the
rotation axes can be set using parameters.
Set bit 1 (RAP) of parameter No. 1014 to 1, and set the coordinates in
parameter No. 7516.
- Rotation axis origin compensation

This function compensates for a slight shift of the rotation axis origin
caused, for example, by thermal displacement. Specify a compensation
value in parameter No. 7518.
When the tool axis is on the Z-axis, and the rotation axes are the B-axis
and C-axis, a compensation vector is calculated as follows:
Xp = Lc * sin(B-Bz) * cos(C-Cz)
Yp = Lc * sin(B-Bz) * sin(C-Cz)
Zp = Lc * cos(B-Bz)
Xp,Yp,Zp: Compensation pulse on each axis after origin shift
compensation
Lc : Offset value
B,C : Machine position on B-axis and C-axis
Bz,Cz : Origin compensation value on B-axis and C-axis
- 1037 -

Set offsets relative to the rotation angles of the rotation axes in
parameter No. 7517. The compensation vector calculation formula is
the same as that used for rotation axis origin compensation, except that
Bp and Cp are changed to rotation axis offsets.
When rotation axis origin compensation and rotation offsetting are set
at the same time, both compensations are performed.
When the tool axis is on the Z-axis, and the rotation axes are the B-axis
and C-axis, compensation vector calculation is performed as follows:
Xp = Lc * sin(B-(Bz+Bo)) * cos(C-(Cz+Co))
Yp = Lc * sin(B-(Bz+Bo)) * sin(C-(Cz+Co))
Zp = Lc * cos(B-(Bz+Bo))
Bz,Cz :B-axis and C-axis origin compensation values
Bo,Co :B-axis and C-axis rotation axis offset values
NOTE
Even in three-dimensional handle feed/interrupt,
rotation axis origin compensation and rotation axis
offset can be used. Note, however, that a
compensation vector for tool axis direction tool length
compensation is calculated using absolute
coordinates, while machine coordinates are used for
three-dimensional handle feed/interrupt. This means
that, if there is a mismatch between the absolute
coordinates and machine coordinates, a different
compensation calculation result is produced by each
function. So, when using three-dimensional handle
feed/interrupt together with tool axis direction tool
length compensation, ensure that the machine
coordinates and absolute coordinates match.
Limitation
- Automatic reference position return command (G28, G29, G30)

Never specify an automatic reference position return command (G28,
G29, or G30) in tool axis direction tool length compensation mode.
If an automatic reference position return command is specified in tool
axis direction tool length compensation mode, the compensation vector
is cancelled at the time of reference position return. So, correct tool
axis direction tool length compensation is not performed in subsequent
movement along linear axes.
- 1038 -
- Machine coordinate system positioning (G53)

When machine coordinate system positioning (G53) is performed, the
compensation vector is temporarily cancelled in the block, but is
applied when movement is next performed.
G53 Specified
point
G00
Specified
Workpiece coordinate point
system origin
Machine coordinate system origin
Fig. 10.4.6 (c) Machine Coordinate System Positioning during Tool Axis
Direction Tool Length Compensation
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1014 RAP RAM

[Data type] Bitaxis
1: Parameter axis. The rotation axis is not controlled in designation
direction tool length compensation.
- 1039 -

When a rotation axis turns about a linear axis, the linear axis is referred to as an axis
to which the rotation axis belongs, and is set using this parameter. For a rotation
axis that belongs to no linear axis, or for a linear axis, 0 is set.
Example:
Rotation axis: A (turning about the X-axis), C (turning about the Z-axis)
Axis number Axis name Setting

1 X 0
2 Y 0
3 Z 0
4 C 3
5 A 1
#7 #6 #5 #4 #3 #2 #1 #0
2202 DTL

[Data type] Bit

- 1040 -

[Data type] Integer
Enter the tool axis direction when the two rotation axes are set at 0 degree.
1 X-axis
2 Y-axis
3 Z-axis

[Data type] Integer
When a machine does not have the rotation axis that turns about the tool
axis, the axis number of a rotation axis used as the master axis is set.
For machines not using the master-axis configuration, 0 is set.
7516 Angular displacement of a rotation axis

table(A))
When using the three-dimensional handle feed function or tool axis
direction tool length compensation function, set the coordinate of a
rotation axis, among the rotation axes determining the tool axis
direction, which is not controlled by the CNC. This parameter is
No. 1014.
- 1041 -

table(A))
dimensional handle feed function or tool axis direction tool length
compensation function to compensate for the move direction.

table(A))
Set an angular displacement shifted from the origin for a rotation axis
when the three-dimensional handle feed function or tool axis direction
tool length compensation function is used.
7548 Tool holder offset for tool axis direction tool length compensation

[Data type] Real
table(A))
used.
- 1042 -
Alarm and message

PS0360 PARAMETER OUT OF RANGE Illegal parameter setting. (Set value is out of range.)
(TLAC)
PS0361 PARAMTER SETTING ERROR 1 Illegal parameter setting. (axis of rotation setting)
(TLAC)
PS0362 PARAMETER SETTING ERROR 2 Illegal parameter setting (tool axis setting)
(TLAC)
Reference item
Series15i/150i-MB Operator’s Manual II-14.12 Tool axis direction tool
(Programming) length compensation
(B-63784EN)
- 1043 -
10.4.7 Rotary Table Dynamic Fixture Offset
General
If the position of a workpiece is set as a reference fixture offset with
respect to the position of the rotary table, a fixture offset after rotation
of the rotary table can be automatically calculated from the angular
displacement of the rotary table, and the workpiece coordinate system
can be created accordingly. Once a reference fixture offset is set, the
workpiece coordinate system can be dynamically held for any position
of the rotary table. The sum of the fixture offset and the workpiece
origin offset determines the origin of the workpiece coordinate system.
Y
Y
Y
X
X
F0
F
θ
θ0
X
Center of
rotation axis
C
Z
W
W :Workpiece origin offset
θ0 :Reference angle
Origin of machine F0 :Reference fixture offset
coordinate system θ :Angular displacement about
the rotation axis
F :Fixture offset
Fig. 10.4.7 (a) Fixture Offset
- Fixture offset command

When the G54.2 Pn command is specified, a fixture offset is calculated
from an angular displacement about the rotation axis and data specified
as n, and the fixture offset function is enabled. If zero is specified for n,
the fixture offset function is cancelled.
- When a movement about a rotation axis is specified in G54.2 mode

If a movement about a rotation axis involved in fixture offset is
specified in G54.2 mode, the coordinate about the rotation axis at the
end of the block is used to calculate the fixture offset. Movement is
made to the position on the workpiece coordinate system determined by
the fixture offset.
- 1044 -
- Operation upon a reset

The setting of the KWZ bit (bit 6 of parameter 2409) determines
whether the fixture offset is cancelled upon a reset. If the setting is 1,
the vector before the reset is held. If the setting is 0, the vector is
cleared. Clearing the vector, however, does not cause any movement
upon a reset.
- Setting data
(1) Groups of three parameters specifying a rotation axis and two
linear axes constituting a rotation plane
(parameters 6068 to 6076)
The first parameter of each group specifies the number of the
rotation axis, and the second and third parameters specify the
numbers of the linear axes. The order in which the two linear axes
are specified must be such that rotation in the positive direction
about the rotation axis agrees with the rotation from the positive
side of the first linear axis to the positive side of the second linear
axis.
Example) Let three axes X, Y, and Z of a four-axis machine form
a right-handed coordinate system and the remaining axis C
be such a rotation axis that the positive rotation about the
axis matches the counterclockwise rotation about the Z-axis
when the negative side of the Z-axis is viewed from the
positive side. Then, the three parameters specify the
following:
First parameter : 4 (C-axis)
Second parameter : 1 (X-axis)
Third parameter : 2 (Y-axis)
Up to three groups of parameters can be specified. In fixture
offset calculation, the data of the rotation axis of the first group is
calculated first. From the result, the data of the second and third
groups is calculated. If there are two or more rotation axes and if
a rotation plane varies with the rotation about another rotation
axis, the rotation plane with the relative rotation axis set to the 0°
position should be specified.
(2) Reference angle of the rotation axis and corresponding reference
fixture offset
The position of the rotation axis (reference angle) and the
corresponding fixture offset (reference fixture offset) are
specified.
The data is specified on the fixture offset screen.
Up to eight pairs can be specified.
(3) Parameter for enabling or disabling fixture offset for each
axis(FAX bit (bit 0 of parameter 1007))
The bit is set to 1 for an axis for which fixture offset is enabled.
This setting is unnecessary for a rotation axis.
(4) Parameter specifying a fixture offset type
(FTP bit (bit 1 of parameter 6004))
This parameter specifies whether movement is made according to
a change in the vector of fixture offset (when movement is made
about the rotation axis by the G54.2 command or in G54.2 mode).
- 1045 -
When 0 is specified, movement is made.

(The workpiece coordinates of the current position do not change,
and the corresponding machine coordinates change.)
When 1 is specified, no movement is made.
(The workpiece coordinates of the current position change, but
the corresponding machine coordinates do not change.)
- Input/output of fixture offset

The data can be programmed and can be input from or output to
external equipment, as described below:
(1) Setting a reference fixture offset by G10
G10 L21 PnP;
n: Reference fixture offset number
P: Reference angle or reference fixture offset on each axis
With this command, a reference fixture offset or reference angle
can be programmed.
If the command is executed in G90 mode, the specified value is set
directly. If the command is executed in G91 mode, the sum of the
specified value and the previous value is set.
NOTE
This operation requires the programmable data
input (G10) function.
(2) Reading or writing a system variable of a custom macro

With the following system variable, a reference fixture offset or
reference angle can be read or written:
15001 + 20*(n - 1) + (m - 1)
n: Reference fixture offset number (1 to 8)
m: Axis number (1 to number of controlled axes)
NOTE
This operation requires the use of the custom macro
function.
(3) Reading and writing the PMC window

Data can be read or written as a system variable of a custom macro
in the PMC window.
NOTE
This operation requires the use of an NC window
and a custom macro function.
(4) Output to external equipment

When the punch soft key is selected on the fixture offset screen,
data can be output to external equipment such as a Floppy
Cassette via the RS-232C interface.
Data is output in G10 format without a program number.
NOTE
This operation requires a reader/punch interface
and a programmable data input function.
- 1046 -
(5) Input from external equipment

When the read soft key is selected on the fixture offset screen,
data can be input from external equipment such as a Floppy
Cassette via the RS-232C interface.
Data is input in G10 format without a program number.
NOTE
This operation requires the use of a reader/punch
interface and a programmable data input function.
- Calculating a fixture offset

(1) Relationship between rotation axes and linear axes
First group: 4 (B-axis), 3 (Z-axis), 1 (X-axis)
Second group: 5 (C-axis), 1 (X-axis), 2 (Y-axis)
Third group: 0, 0, 0
(2) Reference angle and reference fixture offset
X:F0X
Y:F0Y
Z:F0Z
B:θ0
C:φ0
When the above values are specified for the following:
O : Center of rotary table
W : Workpiece origin offset
F0 : Fixture offset when B equals θ0 and C equals φ0
FA : Fixture offset (FAX, FAY, FAZ) when B equals 0 and C
equals 0
F : Fixture offset (FX, FY, FZ) when B equals θ and C equals
the fixture offset is calculated as shown below: φ
é FAX ù é cos(− θ 0 ) 0 sin (− θ 0 )ù écos(− φ 0 ) − sin (− φ 0 ) 0ù é F 0 X ù

ê FAY ú = ê 0 1 0 ú ê sin (− φ 0 ) cos(− φ 0 ) 0ú ê F 0Y ú
ê ú ê úê úê ú
ëê FAZ ûú ëê − sin (− θ 0 ) 0 cos(− θ 0 )ûú ëê 0 0 1úû êë F 0 Z ûú
é FX ù écos(φ ) − sin (φ ) 0ù é cos(θ ) 0 sin (θ )ù é FAX ù
ê FY ú = ê sin (φ ) cos(φ ) 0ú ê 0 1 0 úú êê FAY úú
ê ú ê úê
êë FZ úû êë 0 0 1úû êë− sin (θ ) 0 cos(θ )úû êë FAZ úû
Limitation
- If data is changed in G54.2 mode

If a parameter setting or reference fixture offset is changed in G54.2
mode, the new data is valid from the next block to be buffered.
- Movement resulting from a change in the vector of the fixture offset

The movement resulting from a change in the vector of the fixture
offset is made according to the current modal G code of group 01. If
the G code is not G00 or G01 (if the code is G02, G03, etc.), the
movement is temporarily made according to G01.
- 1047 -
- If manual intervention is made on the rotation axis

If automatic operation is stopped by a SBK stop or similar in G54.2
mode, and if manual movement is made about the rotation axis, the
vector of the fixture offset does not change. When a rotation axis
command is specified in automatic operation or MDI operation or
when G54.2 is specified, the vector is calculated.
When a movement about the rotation axis is specified in incremental
mode (G91 mode) after manual intervention is made with the ABS bit
(bit 3 of parameter 2409) set to 0 and the manual absolute switch is set
on, the vector is calculated, using coordinates which do not reflect the
amount of manual intervention.
Example)
N1 G90 G00 C10.0;
N2 G54.2 P1;
After executing the program, perform manual intervention with the
manual absolute switch set to on. Then, make a movement of +20.0
about the C-axis. When
N3 G91 C30.0;
is specified, the C coordinate is 60.0 in the workpiece coordinate
system. In the fixture offset calculation, however, C coordinate 40.0 is
used.
If the ABS bit (bit 3 of parameter 2409) is set to 1 when N3 is executed,
programmed C coordinate 40.0 (10.0 + 30.0) is directly used for the
calculation.
- If compensation is made on the rotation axis

The coordinate of the rotation axis in the workpiece coordinate system
is used for the fixture offset calculation. If a tool offset or another
offset is made, the coordinate before the offset is used. If mirror image
or scaling is performed, the coordinate before the operation is used.
- Commands for which fixture offset is not calculated

If any of the following commands is executed for the rotation axis in
G54.2 mode, the vector of fixture offset is not calculated:
Command in the machine coordinate system (G53)
Command for changing the workpiece coordinate system (G54 to
G59, G54.1, G92, G52)
Command related to reference position return (G27, G28, G29,
G30, G30.1)
- Rotation axis used for fixture offset

The rotation axis used for polar coordinate interpolation (G12.1)
cannot be set for fixture offset.
- 1048 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1007 FAX

[Data type] Bitaxis
#0 FAX Specifies whether the fixture offset is valid for each axis.
0: Invalid.
1: Valid.
#7 #6 #5 #4 #3 #2 #1 #0
2409 KWZ

[Data type] Bit
#6 KWZ Specifies whether to clear G54 to G59 in the modal G code group when the
system is reset.
0: Cleared. (Initialized to G54.)
When fixture offset is used, whether to clear fixture offset mode when the
system is reset depends on the setting of this parameter.
#7 #6 #5 #4 #3 #2 #1 #0
6004 FTP

[Data type] Bit
#1 FTP Specifies the type of fixture offset.

0: Move type. (A movement is made when the fixture offset is
changed,)
1: Shift type. (No movement is made when the fixture offset is
changed.)
- 1049 -
6068 Rotation axis for fixture offset (first group)
6069 Linear axis 1 for fixture offset (first group)
6070 Linear axis 2 for fixture offset (first group)
6071 Rotation axis for fixture offset (second group)
6072 Linear axis 1 for fixture offset (second group)
6073 Linear axis 2 for fixture offset (second group)
6074 Rotation axis for fixture offset (third group)
6075 Linear axis 1 for fixture offset (third group)
6076 Linear axis 2 for fixture offset (third group)

[Data type] Integer
Specify a rotation axis and two linear axes constituting a rotation plane
for fixture offset. The order in which the two linear axes are specified
must be such that the rotation in the positive direction about the
rotation axis agrees with the rotation from the positive side of linear axis
1 to the positive side of linear axis 2.
Up to three groups of a rotation axis and two linear axes can be specified.
In fixture offset calculation, the data of the rotation axis of the first
group is calculated first. Then, the data of the rotation axes of the
second and third groups is calculated.
If the second or third group is not required, specify 0 in the
corresponding rotation axis parameter.
Alarm and message

PS0898 ILLEGAL PARAMETER IN G54.2 An illegal parameter (Nos. 6068 to 6076) was specified for
fixture offset.
Reference item
Series15i/150i-MB Operator’s Manual II-14.13 Rotary table dynamic
(Programming) fixture offset
(B-63784EN)
- 1050 -
10.4.8 Three-dimensional Cutter Compensation
General
The three-dimensional cutter compensation function is used with
machines that can control the direction of tool axis movement by using
rotation axes (such as the B- and C-axes). This function performs
cutter compensation by calculating a tool vector from the positions of
the rotation axes, then calculating a compensation vector in a plane
(compensation plane) that is perpendicular to the tool vector.
There are two types of cutter compensation: Tool side compensation
and leading edge compensation. Which is used depends on the type of
machining.
- Tool Side Compensation

Tool side compensation is a type of cutter compensation that performs
three-dimensional compensation on a plane (compensation plane)
perpendicular to a tool direction vector.
Programmed tool path

Tool vector (before compensation)
Cutter compensation
vector
Tool center
path(after
compensation)
Z
Y
X
Compensation
Cutter
plane
compensation amount
Fig.10.4.8 (a) Tool side compensation
- Leading Edge Offset

Leading edge offset is a type of cutter compensation that is used when a
workpiece is machined with the edge of a tool. A tool is automatically
shifted by a specified cutter compensation value on the line where a
plane formed by a tool direction vector and tool movement direction
intersects a plane perpendicular to the tool axis direction.
Tool vector
Tool used
Reference
tool
Tool center path

(after
compensation)
Programmed
Cutter compensation tool path
vector Cutter compensation
amount
Fig. 10.4.8 (b) Reading edge offset
- 1051 -
Parameter
(1) Parameters setting the relationship between the rotation axis and rotation plane with which the tool is
controlled
(1) Relationship between the rotation axis and rotation plane Parameter (No.6080 to 6089)
(2) Direction of the tool axis Parameter (No.6106 to 6107)
(3) Reference angle for the rotation axis Parameter (No.6104 to 6105)
(2) Parameters for tool side compensation
Limit for ignoring the small movement Parameter (No.6114)
Interference check at compensation plane switching Parameter NIC (No.0014#5)
Parameter (No.6261)
(3) Parameter for leading edge offset
Angle variation range Parameter (No.6115)
(4) Parameters for cutter compensation
Single block stop in an internally generated block Parameter SBO (No.0010#7)
Displayed incremental and absolute positions not including the cutter Parameter DCR (No.2202#3)
compensation vector
Validating an offset change starting with the next buffered block Parameter EV0 (No.6000#0)
Startup B Parameter CSU (No.6001#0)
Making no interference check in the move direction Parameter CNC (No.6001#1)
Making no interference check Parameter CNI (No.6001#6)
Startup C Parameter CSC (No.6003#7)
Limit for ignoring the small movement Parameter (No.6010)
For parameters (4), see the section on cutter compensation.
6080 Rotation axis for three-dimensional cutter compensation and so forth (first
group)
group)
group)
group)

[Data type] Integer
compensation/spindle unit compensation/inclined rotary head tool
length compensation (first group).
- 1052 -

[Data type] Real
table(A))
Set the angle of rotation for the rotation axis to perform three-
dimensional cutter compensation/spindle unit compensation/inclined
rotary head tool length compensation (first group).
6085 Rotation axis for three-dimensional cutter compensation and so forth

(second group)

(second group)

(second group)

(second group)

[Data type] Integer
[Valid data range] 0 - number of controlled axes
compensation/spindle unit compensation/inclined rotary head tool
length compensation (second group).
- 1053 -

[Data type] Real
table(A))
compensation (second group).
First group Second group

Angle of inclination 6084 6089
- These parameters set the relationship between the rotation axis and rotation
plane.
- Two groups can be set. Therefore, machines controlled with two rotation
axes are supported.
- In the calculation of the tool direction, calculation for the rotation axis of the
first group is made first, then based on the calculation result, calculation for the
rotation axis for the second group is made.
- When two rotation axes are used, the rotation plane may be changed by the
rotation of the other rotation axis. In this case, set the rotation plane obtained
when the rotation axis position is 0 degrees.
- When there is one rotation axis, set the rotation axis of the second group to 0.
- In general, the direction vector of a rotation axis has three direction components.
This function supports direction vectors with one direction component and two
direction components. In each case, set the following:
A) When the direction vecotor of a rotation axis has one direction component
(type A)
The rotation axis rotates about one of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, and linear axis 2.
2) Set the linear axis 3 and the angle of inclination to 0.
3) The rotation axis is defined as follows:
- 1054 -
- The rotation axis rotates about an axis that perpendicularly

intersects the plane formed by linear axis 1 and linear axis 2.
- When the rotation axis rotates from the positive direction of linear
Z
C Y
B) When the direction vector of a rotation axis has two direction components
(type B)
The rotation axis rotates about an axis that lies in a plane formed by any
two of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, linear axis 2, and
linear axis 3.
2) The linear axes 1, 2, and 3 form a right-handed coordinate system in
this order.
3) The angle of inclination is defined as follows:
- Rotation is performed in the plane formed by linear axes 3 and 1.
axis 3 to the positive direction of linear axis 1, the angle of
inclination is positive.
- When the rotation axis and linear axis 3 match, the angle of
inclination is 0 degrees.
4) When the angle of inclination is 0 degrees, the rotation axis is defined
as follows:
- The rotation axis rotates about an axis that perpendicularly
intersects the plane formed by linear axes 1 and 2.
Z
B
Y
α
α: Angle of
inclination
X
- 1055 -

[Data type] Real
table(A))
Set a reference angle for the rotation axis to perform three-dimensional
cutter compensation/inclined rotary head tool length compensation.
Set an angle for the rotation axis assumed when a tool axis direction
(parameter No. 6106 to No. 6107) is set.
Usually, set 0.0.
- 1056 -
(RA)
(RB)

[Data type] Real
table(A))
Set the direction of each rotation axis to perform three-dimensional
cutter compensation/inclined rotary head tool length compensation by
using angles RA and RB.

The direction of a compensation vector is set by setting an angular
displacement (RA, RB) from the direction of linear axis 3.
RA: Rotation is performed in the plane formed by linear axis 2 and
linear axis 3. When rotation is performed from the positive
direction of linear axis 2 to the positive direction of linear axis 3, the
direction of the rotation is positive.
RB: Rotation is performed in the plane formed by linear axis 3 and
linear axis 1. When rotation is performed from the positive
direction of linear axis 3 to the positive direction of linear axis 1, the
direction of the rotation is positive.
Linear axes 1, 2, and 3 are set in parameter Nos. 6081 to 6083.
- 1057 -
When tool axis and

Linear axis 2
RA = 0.0
RB = 0.0
Linear axis 1
When tool axis and

Linear axis 2
RA = 0.0
RB = 90.0
Linear axis 1
6114 Limit for assuming the block as a non-movement block in intersection

calculation for tool side compensation (G41.2, G42.2)

[Data type] Real
table(A))
When an intersection calculation is made for tool side compensation, the
block is assumed to be a block involving no movement if the difference in
the coordinates of two points on the compensation plane is smaller than
the value set in this parameter. In such a case, an additional block
ahead is read for intersection calculation. Usually, set a value about
0.01 mm.
- 1058 -
#7 #6 #5 #4 #3 #2 #1 #0
0014 NIC

[Data type] Bit
#5 NIC Specifies whether to perform an interference check when compensation

plane switching occurs during three-dimensional cutter compensation.
0: Perform.
1: Do not perform.
6261 Effective angle in an interference check for three-dimensional cutter

compensation

[Data type] Real
table(A))
A tool direction change is assumed when the angle difference between two tool
direction vectors in three-dimensional cutter compensation is equal to or greater
than the value set in this parameter.
When 0 is set, the specification of 45 degrees is assumed.
Let two tool direction vectors be Va and Vb. When the difference in angle is α
degrees or more as shown in the figure below, the tool direction vector is
determined to have been changed.
Va
α degrees
Vb
- 1059 -
6115 Angle determination fluctuation value for leading edge offset

[Data type] Real
table(A))
This parameter sets a variation range used to determine whether the included angle
between the tool direction vector (VT) and move direction vector (VM) is 0°, 180°,
or 90° during leading edge offsetting.
For example, let the included angle between VT and VM beθ (0≤θ≤180), and the
angle set in this parameter be ∆θ. Then, θ is determined as follows:
When 0≤θ≤∆θ θ=0°
When (180-∆θ) ≤θ≤180 θ=180°
When (90-∆θ) ≤θ≤ (90+∆θ) θ=90°
Normally, set around 1.0 in this parameter.
- 1060 -
Alarm and message

PS0271 CRC:PLANE CHANGE An attempt was made to change the plane in the cutter
compensation mode.
To change the plane, cancel the cutter compensation
mode.
PS0272 CRC:INTERFERENCE The depth of the cut is too great during cutter
compensation. Check the program.
The criteria for judging interference are as follows:
(1) The direction of movement of the programmed block
differs from the direction of movement of the
corresponding tool center path block by 90° or more or
270° or less.
The check in this case can be disabled by setting CNC
(2) In the case of an arc, the difference in angle between
the start and end points of the programmed block
differs by 180° or more with the difference in angle
between the start and end points of the corresponding
tool center path block.
PS0276 CRC:NO INTERSECTION There is not point of intersection of the compensated tool
center path during cutter compensation.
PS0995 ILLEGAL PARAMETER IN The parameter settings (parameter Nos. 6080 to 6089) for
G41.2/G42.2 determining the relationship between the axis of rotation
and the rotation plane are incorrect.
PS0996 G41.3/G40 FORMAT ERROR (1) A move instruction was specified in a block in which the
G41.3 or G40 code is specified.
(2) A G or M code which suppresses buffering was
specified in the block in which the G41.3 code was
specified.
PS0997 ILLEGAL COMMAND IN G41.3 (1) A G code other than G00 or G01 in group 01 was
specified in the G41.3 mode.
(2) An offset (G code in group 07) was specified in the
G41.3 mode.
(3) The block following the block in which G41.3 (startup)
was specified did not contain a move command.
PS0998 G41.3 ILLEGAL START_UP (1) The G41.3 G code (startup) was specified in a group 01
mode for other than G00 and G01.
(2) The angle formed by the tool direction vector and the
movement direction vector was 0° or 180° degrees at
startup.
PS0999 ILLEGAL PARAMETER IN G41.3 The parameter settings (parameter Nos. 6080 to 6089) for
determining the relationship between the axis of rotation
and the rotation plane are incorrect.
Reference item
Series15i/150i-MB Operator’s Manual II-14.14 Three dimensional tool
(Programming) offset
(B-63784EN)
- 1061 -
10.4.8.1 Three-dimensional cutter compensation at tool center point

For machines with a rotation axis for rotating a tool, this function
performs three-dimensional cutter compensation at the tool tip position
if the program-specified point is specified with a pivot point.
When this function is used, the program-specified point (pivot point) is
converted into a tool tip position (cutting point) and a three-
dimensional cutter compensation vector is calculated for the latter
position. Then, the program-specified point (pivot point) is
compensated for with the three-dimensional cutter compensation
vector.
If the tool side offset (G41.2/G42.2) of three-dimensional cutter
compensation is performed, the operation of this function will be as
follows:
(1) If parameter No. 6130 is 0 (conventional specification)

The three-dimensional cutter compensation vector is calculated at
the program-specified point (pivot point).
(2) If parameter No. 6130 is not 0 (this function)
The three-dimensional cutter compensation vector is calculated at
the tool tip position (cutting point).
Description
This function calculates a vector at the tool tip position for the three-
dimensional cutter compensation function as described below.
(1) Convert the programmed coordinates from a program-specified

point (pivot point) to a tool tip position (cutting point). Parameter
No. 6130 is used to store the distance from the program-specified
point (pivot point) to the tool tip position (cutting point).
(2) Calculate a three-dimensional cutter compensation vector at the
tool tip position (cutting point).
(3) Add the cutter compensation vector to the program-specified point
(pivot point).
- 1062 -
3D cutter compensation vector

according to this specification
Program-specified
point (pivot point)
Conventional 3D cutter
compensation vector
Vector from program-specified point (pivot

point) to tool tip position (cutting point)
Distance from program-specified

Tool center
point (pivot point) to cutting point
(set for parameter)
Tool side
Tool tip position

(cutting point) Tool
3D cutter compensation
vector according to this
specification Workpiece
Fig. 10.4.8.1(a) Basic operation (for G42.2)
- Cautions
CAUTION
1 This function is not effective for leading edge offset.
2 With a command for a rotation axis only, this function
does not calculate a cutter compensation vector.
3 This function cannot be used in three-dimensional
coordinate conversion mode.
4 The cautions for the three-dimensional cutter
compensation function also apply to this function.
- 1063 -
Parameters
(1) Parameters defining the relationship between the rotation axis for controlling the tool and the rotation
plane
1. Relationship between rotation axis and rotation plane Parameters No. 6080 to 6089
2. Direction of the tool axis Parameters No. 6106 to 6107
3. Reference angle for the rotation axis Parameters No. 6104 to 6105
(2) Tool tip position support parameter
Distance from the program-specified point (pivot point) to the tool tip position Parameter No. 6130
(cutting point)
For details of (1), see the section on three-dimensional cutter
compensation.
6130 Distance from the program-specified point (pivot point) to the tool tip
position (cutting point)

[Data type] Real
[Minimum unit of data]Depend on the increment system of the reference axis.
[Valid data range] 9 digit of the minimum unit of data (refer to standard parameter setting
table (A))
(When the increment system IS-B, -999999.999 - +999999.999)
Set the distance from the program-specified point to the actual cutting point to
calculate a three-dimensional cutter compensation vector at the tool tip position.
If this parameter is 0, the tool tip support of the three-dimensional cutter

compensation function is not effective.
Change the setting of this parameter before turning the three-dimensional cutter
compensation mode to on.
Reference items
FANUC Series Connection Manual 10.4.8 Three-dimensional tool
15i/150i-MB (This manual) compensation
Operator’s Manual II.14.14 Three-dimensional tool

(B-63784EN)
Parameter Manual 4.4.29 5-Axis control
(B-63790EN) parameters
- 1064 -
10.4.9 Designation Direction Tool Length Compensation
Overview
In a five-axis machine tool having three basic axes and two rotation
axes for turning the tool, tool length compensation can be applied in the
direction of the tool axis.
The tool axis direction is specified with I, J, and K; a move command
for the rotation axes is not specified directly. When I, J, and K are
specified in designation direction tool length compensation mode, the
following operation is performed automatically:
- The two rotation axes operate so that the tool axis is oriented in
the direction specified by I, J, and K. (This specifications manual
explains this operation.)
Tool axis direction

(I,J,K)
B C
Z
Workpiece C
B
Y
Fig. 10.4.9 (a) Designation direction tool lenght compensation
- Designation direction tool length compensation

G41 Xp_ Yp_ Zp_ I_ J_ K_ D_ ;
Xp : X-axis or an axis parallel to the X-axis
Yp : Y-axis or an axis parallel to the Y-axis
Zp : Z-axis or an axis parallel to the Z-axis
I , J , K : Direction of tool axis
D : Offset number
- 1065 -
NOTE
1 The format of specified-direction tool length
compensation is the same as that for three-
dimensional tool compensation. When using
specified-direction tool length compensation, set bit
0 (DDT) of parameter No. 7711 to 1.
2 A three-dimensional space in which specified-
direction tool length compensation is to be
performed is determined by the axis addresses
specified in G41. If Xp, Yp, or Zp is not specified,
specified-direction tool length compensation is
performed along the X-axis, Y-axis, or Z-axis.
3 Specify I, J, and K in a G41 block at all times. If any
of I, J, or K is missing, ordinary tool length
compensation is performed.
4 Usually, specified-direction tool length
compensation is started by the G41 command.
When the G42 command is specified, compensation
is performed in the direction opposite to that of G41.
- Canceling designation direction tool length compensation

G40 Xp_ Yp_ Zp_ B_ C_ ;
NOTE
A compensation vector can be cancelled by
specifying G40; only. In this case, no movement is
made on a rotation axis.
- 1066 -
- Operation in the specified-direction tool length compensation mode

(1) Movement is made on all five axes simultaneously to the position
( x, y , z, b, c ) calculated as shown below.
( x, y, z ) x, y , z : Tool center position

b, c : Rotation axis position
X ,Y , Z : tip position
(programmed position)
l
I, J, K : Tool axis direction
l : Tool offset value
(I , J , K )
All positions are represented by absolute
coordinates.
( X ,Y , Z )
I
x= X +l
I + J2 + K2
2
J
y =Y + l
I2 + J2 + K2
K
z=Z +l
I2 + J 2 + K2
I2 + J2
b = tan −1
K
J
c = tan −1
I
Fig. 10.4.9 (b) Expression for Compensation Calculation
(2) When circular interpolation or helical interpolation (G02, G03) is

specified
I, J, and K have no effect on specified-direction tool length
compensation. A compensation vector generated in the previous
block is used as is.
The same vector

is generated.
Tool center path
Compensation vector
of the previous block
Programmed path
Fig. 10.4.9 (c) Compensation Vector in Circular Interpolation
NOTE
1 In a block in which all of I, J, and K are omitted, the
compensation vector for the previous block is used.
2 If any one of I, J, or K is omitted, 0 is assumed in
place of the omitted value.
3 Shortcut control is exercised on the amount of
movement on a rotation axis so that 180° is not
exceeded.
- 1067 -
- Specification of the magnitude of a compensation vector

By setting parameter No. 6011, the magnitude of a compensation
vector can be specified.
I
x = X +l
S
J
y =Y +l
S
K
z = Z +l
S
where,
x, y , z : Tool center position (absolute coordinates)
X ,Y , Z : Tool tip position (absolute coordinates)
(Programmed position)
I, J, K : Tool axis direction
l : Tool offset value
S : Parameter No. 6011
When parameter No. 6011 = 0, however, S = I 2 + J 2 + K 2 .
- Feedrate in the specified-direction tool length compensation mode

As the feedrate used in specified-direction tool length compensation,
the feedrate on the axes excluding the rotation axes is used. When bit 2
(FWR) of parameter No. 7711 is set to 1, however, the feedrate on all
axes including the rotation axes is used.
- 1068 -
- Example of machine configuration and expression for rotation axis calculation

(1) When the rotation axes are the A- and C-axes, and the tool axis is
the Z-axis
A C
Workpiece C
A
Y
X
I2 + J2
a = tan −1
K
I
c = tan −1
−J
(2) When the rotation axes are the B- and C-axes, and the tool axis is
the Z-axis
B C
Z
Workpiece C
B
Y
I2 + J2
b = tan −1
K
J
c = tan −1
I
- 1069 -
(3) When the rotation axes are the A- and B-axes, and the tool axis is
the X-axis
A
Workpiece
X
B
Y
J
a = tan −1
−K
J 2 + K2
b = tan −1
I
the Z-axis (master axis: B-axis)
B X
Workpiece Y
−J
a = tan −1
I + K2
2
I
b = tan −1
K
- 1070 -
the Z-axis (master axis: A-axis)
Y
B
Workpiece
X
A
−J
a = tan −1
K
I
b = tan −1
J + K2
2
Limitation
- Rotation axis specification

A rotation axis must not be specified in specified-direction tool length
compensation mode. Otherwise, an alarm (PS0809) is issued.
- Commands related to reference position return

The specified-direction tool length compensation mode must be
cancelled before any of the following can be specified:
- Reference position return check (G27)
- Return to reference position (G28)
- Return to 2nd reference position (G30)
- Return from reference position (G29)
- Coordinate system rotation, scaling

In specified-direction tool length compensation mode, coordinate
system rotation and scaling are applied to the tool tip position.

When specified-direction tool length compensation is used during
three-dimensional coordinate conversion, three-dimensional
coordinate conversion is applied to the tool axis directions (I, J, K) as
well.
- 1071 -
- Relationships with other compensation functions

(1) Tool length compensation
Tool length compensation is applied to a path resulting from
specified-direction tool length compensation.
(2) Tool offset
The tool offset function cannot be used in specified-direction tool
length compensation mode.
(3) Cutter compensation
If all of I, J, and K are specified in a G41 block, the specified-
direction tool length compensation mode is set. If any one of I, J,
or K is omitted, cutter compensation mode is set. This means that
both modes cannot be set at the same time.
(4) Tool axis direction tool length compensation
In specified-direction tool length compensation mode, tool axis
direction tool length compensation cannot be used.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1014 RAP RAM

[Data type] Bitaxis
1: Parameter axis. The rotation axis is not controlled in designation
direction tool length compensation.
- 1072 -

When a rotation axis turns about a linear axis, the linear axis is referred to as an axis
to which the rotation axis belongs, and is set using this parameter. For a rotation
axis that belongs to no linear axis, or for a linear axis, 0 is set.
Example:
Rotation axis: A (turning about the X-axis), C (turning about the Z-axis)
Axis name Setting
1 X 0
2 Y 0
3 Z 0
4 C 3
5 A 1
6011 Constant denominator for three-dimensional tool compensation or tool

length compensation in a specified direction

[Data type] Real
table(A))
Specify the magnitude of a compensation vector.
When this parameter is set to 0, I 2 + J 2 + K 2 is set.
- 1073 -

[Data type] Integer
Enter the tool axis direction when the two rotation axes are set at 0
degree.
Data Tool axis

direction
1 X-axis
2 Y-axis
3 Z-axis

[Data type] Integer
When a machine does not have the rotation axis that turns about the tool
axis, the axis number of a rotation axis used as the master axis is set.
For machines not using the master-axis configuration, 0 is set.
Caution
CAUTION
Always set the following parameters to 1 for the
rotation axis for designation direction tool length
compensation:
Parameter ROT (No.1006#0)
Parameter ROL (No.1009#2)
Alarm and message

PS0809 ILLEGAL COMMAND IN G41/G42 Specified direction tool length compensation parameters
are incorrect.
A move instruction for a axis of rotation was specified in the
specified direction tool length compensation mode.
Reference item
Series15i/150i-MB Operator’s Manual II-14.15 Designation direction
(Programming) tool length
(B-63784EN) compensation
- 1074 -
10.4.10 Tool Center Point Control
Overview
On a five-axis machine having two rotation axes that turn a tool, tool
length compensation can be performed momentarily even in the middle
of a block.
This tool length compensation is classified into two types by the
difference in programming method. In the explanation of this function,
the two rotation axes are assumed to be the B- and C-axes.
(1) Type 1
The rotation axis position (B, C) is specified.
The CNC applies tool length compensation by the compensation
amount along the tool axis of which orientation is calculated from
the specified rotation axis position. This means that compensation
is performed by moving the three linear axes.
(2) Type 2
The tool axis orientation (I, J, K) is specified.
The CNC controls the two rotation axes so that the tool is oriented
as specified, and performs tool length compensation along the tool
axis by the compensation amount. This means that compensation
is performed by moving the two rotation axes and three linear
axes.
Tool center point control (type 1) differs from tool length
compensation along the tool axis as shown below:
Tool center point control (type 1)
The path of the tool tip center is linear as specified.
Tool pivot point

= interpolation path
(not linear)
Tool tip center path

(linear)
Tool length compensation along the tool axis
The path of the tool tip center is not linear.
Tool pivot point

= interpolation path
(linear)

(not linear)
Fig. 10.4.10 (a) Difference between Tool Center Point Control and Tool
Length Compensation along the Tool Axis
NOTE
The length from the tool tip to tool pivot point must
equal the sum of the tool length compensation and
tool holder offset.
The difference between tool center point control (type 2) and
designation direction tool length compensation is also the same as
shown in Fig. 10.4.10 (a).
- 1075 -
Format
- Specifying tool center point control (type 1)
G43.4 H_ ;
H : Offset number
- Specifying tool center point control (type 2)

G43.5 I_ J_ K_ H_ Q_ ;
I,J,K : Tool axis orientation
H : Offset number
Q : Tool inclination angle (degrees)
NOTE
1 The command format of tool center point control
(type 2) is very different from the command format of
designation direction tool length compensation
(G41I_J_K_D_).
2 When I, J, and K are all omitted form a block, the
compensation vector in the previous block is used.
3 When any of I, J, and K is omitted, the omitted I, J, or
K is assumed to be 0.
4 Movement of the rotation axes is controlled by a
shortcut control so that the amount of movement
does not exceed 180°.
- Canceling tool center point control

G49 ;
NOTE
The command for canceling tool center point control
(type 2) differs from the command for canceling
designation direction tool length compensation
(G40).
- 1076 -
Explanation
- Specification of tool center point control
The tool compensation vector changes in the following cases:
Type 1 : The offset value is changed, or the rotation axis position
(B, C) is specified.
Type 2 : The offset value is changed, or the tool axis orientation (I,
J, K) is specified
As the tool compensation vector changes, movement occurs along the
X-, Y-, and Z-axes by the amount of the change. The time at which the
tool compensation vector is calculated is as follows:
Tool center point control : Calculated momentarily even in the
middle of a block.
Tool length compensation along the tool axis : Calculated only at
the end point of a block.
Designation direction tool length compensation : Calculated only
at the end of a block
When only the rotation axis position is specified in tool center point
control (type 1) mode, and when only I, J, and K are specified in tool
center point control (type 2) mode, the tool tip center position remains
unchanged before and after the specification. (Also while the rotation
axes are being moved, the tool tip center does not move.)
- Inclination angle of the tool
For tool center point control (type 2), the inclination angle of the tool
can be specified with address Q of G43.5. The inclination angle of the
tool is the difference in the angle between the tool orientation specified
by (I, J, K) and the tool orientation set for actual machining.
If the tool orientation specified by (I, J, K) matches the tool orientation
set for actual machining, Q need not be specified.
Tool orientation specified by Tool orientation during actual machining

(I,J,K)
Inclination angle of the tool
Machining direction
Example:
For machining with the tool tilted toward the machining direction
by 2 degrees, specify the following:
G43.5 I_ J_ K_ H_ Q2.0
- 1077 -
- Programmed point
In programming, the position of the tool tip center is specified.
Ball-end mill
Tool tip center
Programmed path
Flat-end mill
Tool tip center
Programmed path
Corner-radius-end mill
Tool tip center
Programmed path

When linear interpolation (G01) is specified in tool center point control
mode, the feedrate is controlled so that the tool tip center moves at a
specified feedrate.
Also in tool center point control (type 2), the feedrate is controlled so
that the tool tip center moves at a specified feedrate regardless of the
setting of bit 2 (FWR) of parameter No. 7711.
- Specification of rotation axes

(1) Type 1
When only the rotation axes are specified in tool center point
control (type 1) mode, the feedrate of the rotation axes is set to the
maximum cutting feedrate (parameter No. 1422).
(2) Type 2
In tool center point control (type 2) mode, the rotation axes cannot
be specified. If the rotation axes are specified, alarm (PS1061)
occurs.
- 1078 -
- Positioning (G00)
NOTE
1 Set the following parameters:
(1) Bit 4 (LRP) of parameter No.1400 = 1: Linear
type rapid traverse
(2) Bit 5 (FRP) of parameter No.1603 = 1:
Acceleration/deceleration before interpolation is
used in rapid traverse.
(3) Parameter No.1671: Acceleration of
acceleration/deceleration before interpolation for
rapid traverse
(4) Parameter No.1672: Acceleration change
period of bell-shaped acceleration/deceleration
before interpolation for rapid traverse
2 If the above settings are not made, or if look-ahead
acceleration/deceleration before interpolation is not
valid, axis movement may be performed at a higher
feedrate than the rapid traverse rate.
- Operation at start and cancellation

(1) Type 1
When tool center point control (type 1) starts (G43.4H_) and
when it is canceled (G49), the CNC calculates the compensation
vector only at the end of the block.
(2) Type 2
When tool center point control (type 2) starts (G43.5H_) and
when it is canceled (G49), the CNC calculates the compensation
vector only at the end of the block.
- Operation of tool center point control (type 1)

The following items are the same as for tool length compensation along
the tool axis:
- Machine configuration example and equation for rotation axis
calculation
- Specification of angular displacement in a parameter
- Zero-point compensation for the rotation axes
- Operation of tool center point control (type 2)

The following item is the same as for tool length compensation along
the tool axis:
The following items are the same as for tool length compensation in a
specified direction:
- Operation in tool length compensation in a specified direction
- Machine configuration example and equation for rotation axis
calculation
- 1079 -

When the tool offset by tool number is used, the tool length
compensation amount corresponding to a tool number (T code) is used
for tool center point control.
When tool life management is used, the tool length compensation
amount of the tool used is used for tool center point control.
- Three-dimensional cutter compensation
Tool center point control and three-dimensional cutter compensation
can be used at the same time.
Three-dimensional cutter compensation is applied to a specified tool
tip point. Three-dimensional cutter compensation, however, is not
performed momentarily in the middle of a block; it is performed only at
the end of a block.
When tool center point control (type 2) is used during three-
dimensional coordinate conversion, the tool axis orientation (I, J, K) is
also subjected to three-dimensional coordinate conversion.
- Rotation axis rollover
NOTE
Whenever using tool center point control (type 2), set
bit 2 (ROL) of parameter No. 1009 to 1 to perform
rotation axis rollover.
Restrictions
- Axis name extension
NOTE
When I, J, and K are used as axis names by axis
name extension, tool center point control (type 2)
cannot be used.
- Manual intervention
When manual intervention is made for a rotation axis with the manual
absolute switch set to off, the compensation vector is calculated using
the rotation axis position that was found just before the manual
intervention.
Example: When the manual absolute switch is turned off with B
positioned to 30.0, then a manual intervention by 1.0 degree is
made for the B-axis, the machine coordinate position of the B-axis
is 31.0. Then, starting automatic operation sets the absolute
coordinate position of the B-axis to 30.0. In tool center point
control, therefore, the compensation vector is calculated with B
set to 30.0.
- 1080 -
- Look-ahead acceleration/deceleration before interpolation

When using tool center point control, also use look-ahead
acceleration/deceleration before interpolation. If look-ahead
acceleration/deceleration before interpolation is not used, the feedrate
may exceed the maximum cutting feedrate as a result of tool center
point control, which will cause alarm OT0553.
Example:
Interpolation path
In the above example, the feedrate is controlled so that the tool tip
center moves at a specified feedrate. As a result, a higher feedrate than
the specified feedrate is detected on the interpolation path. In such a
case, if look-ahead acceleration/deceleration before interpolation is
used, the feedrate is clamped so that the feedrate on the interpolation
path does not exceed the maximum cutting feedrate. If look-ahead
acceleration/deceleration before interpolation is not used, a higher
feedrate on the interpolation path than the maximum cutting feedrate
results in alarm OT0553.
- Mirror image
When a mirror image by the external switch or CNC setting is used in
tool center point control mode, the movement of the tool control point
is reversed. Therefore, the movement at the tool center point does not
match the path reversed by a program command. When a
programmable mirror image was specified, the path at the tool center
point can be reversed by a program command. In this case, however,
mirroring must be performed so that there is no contradiction between
the linear axis and the rotary axis. For details, see the programmable
mirror image section (11.15).
- 1081 -
- Functions resulting in the same operation as tool length compensation along the
tool axis
- Functions resulting in the same operation as tool length compensation in a
specified direction
When the following functions are used in tool center point control
mode, the same operation as tool length compensation along the tool
axis (type 1) or tool length compensation in a specified direction (type
2) results:
- Specification of an axis not related to tool center point control
- Skip function (G31 to G31.9)
- Unidirectional positioning (G60)
- The following G functions of group 01:
Circular interpolation, helical interpolation, spiral interpolation,
conical interpolation (G02, G03)
Circular threading B (G2.1, G3.1)
Involute interpolation (G2.2, G3.2)
Three-dimensional circular interpolation (G2.4, G3.4)
Threading (G33)
- Selection of a workpiece coordinate system (G54 to G59)
- Setting of a workpiece coordinate system (G92)
- Feed per revolution (G95)
- Inverse time feed (G93)
- Unavailable functions 1
In tool center point control mode, the functions listed below cannot be
used.
If these functions are used, the compensation vector of the previous
block is used as is.
- The following G functions of group 01:
Exponential interpolation (G2.3, G3.3)
Spline interpolation (G6.1)
Smooth interpolation (G5.1Q2)
NURBS interpolation (G6.2)
- Cylindrical interpolation (G7.1)
- Polar coordinate interpolation (G12.1)
- Normal-direction control (G41.1, G42.1)
- Unavailable functions 2
In tool center point control mode, the functions listed below cannot be
used.
To use these functions, specify G49 to cancel tool center point control,
then specify these functions.
- Automatic reference position return command (G28, G29, G30)
- Positioning of the machine coordinate system (G53)
- 1082 -
Parameters
The parameters used are the same as those for tool length compensation
along the tool axis and tool length compensation in a specified
direction.
Parameters common to types 1 and 2

Parameter No. Data type Description
1014#0 Bit axis Rotation axis selection

1014#1 Bit axis Parameter axis selection
1029 Integer axis Linear axis as the center about which
the rotation axis rotates
7514 Integer Tool axis orientation
7515 Integer Axis number of the master axis of
rotation axes
7548 Real Tool holder offset
number
Parameters for type 1

Parameter No. Data type Description
7516 Real Angular displacement of the rotation

number axis axes
7517 Real Offset of angular displacement of the
number axis rotation axes
7518 Real Rotation axis reference position
number axis compensation amount
Alarms and messages

PS0217 ILLEGAL OFFSET VALUE The offset number is illegal.
PS1060 ILLEGAL PARAMETER IN There is an illegal parameter relating to tool center point
G43.4/G43.5 control.
PS1061 ILLEGAL COMMAND IN G43.4/G43.5 Rotation axes are specified in tool center point control (type
2).
OT0553 EXCESS VELOCITY IN G43.4/G43.5 As a result of tool center point control, the feedrate along an
axis exceeds the maximum cutting feedrate.
Reference
FANUC Series Connection Manual 10.4.6 Tool length
15i/150i-MB (Function) compensation along tool
(B-63783EN-1) axis
10.4.9 Designation direction tool
length compensation
- 1083 -
10.4.11 Control Point Compensation of Tool Length Compensation

Along Tool Axis
Normally, the control point of tool length compensation along the tool
axis is the point of intersection of the centers of two rotation axes. The
machine coordinates also indicate this control point.
This section explains the compensation performed when the centers of
the two rotation axes do not intersect and also explains how to place the
control point at a convenient position on the machine.
Description
- Compensation of the rotation centers of two rotation axes
Compensation when the rotation centers of two rotation axes do not
match is performed.
The length from the tool mounting position to the first rotation axis
center is set as the tool holder offset value in parameter No. 7548.
The vector from the first rotation axis center to the second rotation axis
center is set as the rotation center compensation vector in parameter No.
7519. Since parameter No. 7519 is an axis type parameter, the
compensation amount for three axes (X, Y, and Z) can be set in this
parameter.
B axis center
Rotation center
compensation vector B
Tool holder
offset
A A axis Z
center
Tool length
X
compensation amount Y B
A
Workpiece
Fig. 10.4.11 (a) Compensation of Rotation Centers of Two Rotation Axes
- 1084 -
According to the machine type, set the values listed in the following
table:
Table 10.4.11 (a) Setting the Tool Holder Offset and Rotation Center
Compensation Vector
Machine type Tool holder offset Rotation center
Parameter No. 7548 compensation vector
Parameter No. 7519
(1) A- and C- axes. Tool Length from tool mounting Vector from A-axis center
axis is Z-axis. position to A-axis center to C-axis center
(2) B- and C-axes. Tool Length from tool mounting Vector from B-axis center
axis is Z-axis. position to B-axis center to C-axis center
(3) A- and B-axes. Tool Length from tool mounting Vector from B-axis center
axis is X-axis. position to B-axis center to A-axis center
(4) A- and B-axes. Tool Length from tool mounting Vector from A-axis center
axis is Z-axis. position to A-axis center to B-axis center
B-axis is master.
(5) A- and B-axes. Tool Length from tool mounting Vector from B-axis center
axis is Z-axis. position to B-axis center to A-axis center
A-axis is master.
NOTE
When using the spindle center compensation
described below, set the length from the tool
mounting position to the spindle center as the tool
holder offset.
- 1085 -
- Spindle center compensation

Compensation of the spindle center is performed.
The amount of spindle center compensation is set in parameter No.
7520. Since parameter No. 7520 is an axis type parameter, the
compensation amount for three axes (X, Y, and Z) can be set in this
parameter.
Second rotation axis
center (control point)
Rotation center compensation
vector parameter (No. 7519)
First rotation axis center
Spindle center compensation

vector parameter (No. 7520)
Spindle center
Tool holder offset
parameter (No. 7548)
Tool mounting position
Tool length
compensation amount
Tool tip
(programmed point)
Workpice coordinate origin

Machine coordinate origin
Fig. 10.4.11 (b) Spindle Center Compensation
- 1086 -
Shifting the control point

Conventionally, the center of a rotation axis was used as the control
point. The control point can now be shifted as shown in the figure
below.
Then, when the rotation axis is at the 0-degree position also in tool
length compensation along the tool axis (G43.1), the control point can
be set to the same position as that for ordinary tool length compensation
(G43).
The control point here is indicated with machine coordinates.
When linear interpolation is specified, for example, this control point
moves linearly.
Ordinary tool length Tool length compensation along Tool length compensation along
compensation (G43) tool axis (G43.1) : tool axis (G43.1) :
When tool is not tilted When tool is tilted
Control
point before
shift
Shift
vector
Control Control
point point
Tool length
compensation
vector
Workpiece coordinate origin
Machine coordinate origin
Fig. 10.4.11 (c) Shift of the Control Point
The method of shifting the control point can be selected using the
following parameters:
Table 10.4.11 (b) Methods of Shifting the Control Point

Bit 5 (SVC) of Bit 4 (SBP) of Shift of control point
parameter No. 7540 parameter No. 7540
0 - As in the conventional case, the control point is not shifted.
1 0 The control point is shifted, and the shift vector is calculated
automatically as follows:
- (rotation center compensation vector (parameter No. 7519))
+ spindle center compensation vector (parameter No. 7520))
+ tool holder offset along tool axis (parameter No. 7548)))
1 1 The control point is shifted, and the shift vector is the vector set in
parameter No. 7745.
- 1087 -
- Equation for each machine type

Vx, Vy, Vz :Tool length compensation vector
A, B, C :Absolute coordinates of A-, B-, and C-axes
To :Tool offset value
Ho :Tool holder offset value
Jx, Jy, Jz :Rotation center compensation vector
Cx, Cy, Cz :Spindle center compensation vector
Sx, Sy, Sz:Shift vector
Suppose the above. Then, the tool length compensation vector for each
axis is calculated depending on the machine type, as follows:
(1) A- and C-axes. The tool axis is the Z-axis.
éVx ù écos C − sin C 0ùæ é1 0 0 ùé Cx ù é Jx ù ö é Sx ù
êVy ú = ê sin C ú çê ú ê ú + ê Jy ú ÷ + ê Sy ú
ê ú ê cos C 0úç ê0 cos A − sin Aú ê Cy ú ê ú÷ ê ú
êëVz úû êë 0 0 1úûçè êë0 sin A cos A úû êëTo + Ho + Cz úû êë Jz úû ÷ø êë Sz úû
(2) B- and C-axes. The tool axis is the Z-axis.
éVx ù écos C − sin C 0ùæ é cos B 0 sin B ù é Cx ù é Jx ù ö é Sx ù
êVy ú = ê sin C ç ú + ê Jy ú ÷ + ê Sy ú
ê ú ê cos C 0úúç êê 0 1 0 úú êê Cy ú ê ú÷ ê ú
ëêVz ûú ëê 0 0 1ûúçè ëê− sin B 0 cos B ûú ëêTo + Ho + Cz ûú ëê Jz ûú ÷ø ëê Sz ûú
(3) A- and B-axes. The tool axis is the X-axis.
éVx ù é1 0 0 ùæ é cos B 0 sin B ù éTo + Ho + Cx ù é Jx ù ö é Sx ù
êVy ú = ê0 cos A − sin Aúç ê 0 1 0 úú êê Cy ú + ê Jy ú ÷ + ê Sy ú
ê ú ê úç ê ú ê ú÷ ê ú
êëVz úû êë0 sin A cos A úûçè êë− sin B 0 cos B úû êë Cz úû êë Jz úû ÷ø êë Sz úû
(4) A- and B-axes. The tool axis is the Z-axis, and the B-axis is the
master.
éVx ù é cos B 0 sin B ùæ é1 0 0 ùé Cx ù é Jx ù ö é Sx ù
êVy ú = ê 0 ú çê ú ê ú + ê Jy ú ÷ + ê Sy ú
ê ú ê 1 0 úç ê0 cos A − sin Aú ê Cy ú ê ú÷ ê ú
êëVz úû êë − sin B 0 cos B úûçè êë0 sin A cos A úû êëTo + Ho + Cz úû êë Jz úû ÷ø êë Sz úû
(5) A- and B-axes. The tool axis is the Z-axis, and the A-axis is the
master.
éVx ù é1 0 0 ùæ é cos B 0 sin B ù é Cx ù é Jx ù ö é Sx ù
êVy ú = ê0 cos A − sin Aúç ê 0 1 0 úê Cy ú + ê Jy ú ÷ + ê Sy ú
ê ú ê ç
ú ê úê ú ê ú÷ ê ú
ç ÷
ëêVz ûú ëê0 sin A cos A ûúè ëê− sin B 0 cos B ûú ëêTo + Ho + Cz ûú ëê Jz ûú ø ëê Sz ûú
The shift vector (Sx, Sy, Sz) is calculated as follows:

(A) When bit 5 (SVC) of parameter No.7540 = 0, the vector is set to 0.
(B) When bit 5 (SVC) of parameter No.7540 = 1, and bit 4 (SBP) of
parameter No. 7540 = 0:
When the machine type is other than (3)
é Sx ù é Cx + Jx ù
ê Sy ú = − ê Cy + Jy ú
ê ú ê ú
êë Sz úû êëCz + Jz + Hoúû
When the machine type is (3)
é Sx ù éCx + Jx + Ho ù
ê Sy ú = − ê Cy + Jy ú
ê ú ê ú
êë Sz úû êë Cz + Jz úû
(C) When bit 5 (SVC) of parameter No.7540 = 1, and bit 4 (SBP) of
parameter No. 7540 = 1, the vector specified in parameter No.
7745 is set.
- 1088 -
- Tool center point control

Control point compensation of tool length compensation along the tool
axis is also enabled for tool center point control.
Parameters
7519 Rotation center compensation vector in tool length compensation along tool
axis

table (A).)
(For IS-B, -999999.999 to +999999.999)
In the function for tool length compensation along the tool axis, set the vector from
the first rotation axis center to second rotation axis center.
7520 Spindle center compensation vector in tool length compensation along tool
axis

table (A).)
(For IS-B, -999999.999 to +999999.999)
In the function for tool length compensation along the tool axis, set the
compensation vector of the spindle center.
#7 #6 #5 #4 #3 #2 #1 #0
7540 SVC SBP

[Data type] Bit
#4 SBP In tool length compensation along the tool axis, shift of the control point is:
0: Calculated automatically.
1: The setting in parameter No. 7745.
#5 SVC In tool length compensation along the tool axis, the control point is:
0: Not shifted.
1: Shifted.
The shift method is specified with bit 4 (SBP) of parameter No. 7540.
- 1089 -
7719 Rotation center compensation vector for head 2 in parallel axis control and
twin-table control

table (A).)
(For IS-B, -999999.999 to +999999.999)
In the function for tool length compensation along the tool axis, set the vector from
the first rotation axis center to second rotation axis center.
7738 Spindle center compensation vector for head 2 in parallel axis control and
twin-table control

table (A).)
(For IS-B, -999999.999 to +999999.999)
In the function for tool length compensation along the tool axis, set the spindle
center compensation vector.
7745 Shift vector in tool length compensation along tool axis

table (A).)
(For IS-B, -999999.999 to +999999.999)
In the function for tool length compensation along the tool axis, set the control
point shift vector. This parameter is valid when bit 5 (SVC) of parameter No.
7540 is 1 and bit 4 (SBP) of parameter No. 7540 is 1.
- 1090 -
7746 Shift vector of tool length compensation along tool axis for head 2 in parallel
axis control and twin-table control

table (A).)
(For IS-B, -999999.999 to +999999.999)
In the function for tool length compensation along the tool axis, set the control
point shift vector. This parameter is valid when bit 5 (SVC) of parameter No.
7540 is 1 and bit 4 (SBP) of parameter No. 7540 is 1.
Reference
FANUC Series Connection Manual 10.4.6 Tool length
15i/150i-MB (Function) compensation along tool
(B-63783EN-1) axis
10.4.10 Tool Center Point Control
- 1091 -
10.4.12 Grinding Wheel Wear Compensation
On a specified compensation plane, a compensation vector is created

on an extension of a straight line starting from a specified point
(compensation center) toward a command end point.
Compensation vector
Compensation center Programmed path
Tool center path
Fig. 10.4.12 (a) Grinding Wheel Wear Compensation
Format
- Grinding wheel wear compensation (start of grinding wheel wear compensation)
G41 P_ D_ ;
P_ : Number of compensation center position
P1 (Selection of first compensation center)
P2 (Selection of second compensation center)
P3 (Selection of third compensation center)
D_ : Non-zero offset number
- Canceling the compensation vector

D0 ;
Cancels just the compensation vector.
- - Maintaining the compensation vector

G40 ;
When a D code with a non-zero value has been specified,
specifying G40 sets the mode in which the compensation
vector is maintained.
- Canceling grinding wheel wear compensation

G40 D0 ;
- 1092 -
Description
- Grinding wheel wear compensation (start of grinding wheel wear compensation)
Up to three compensation center positions can be set. Set the
coordinates (in the workpiece coordinate system) of these
compensation center positions in parameter Nos. 6050 to 6055.
With the Pn (n = 1, 2, or 3) command, select the number of a
compensation center position.
P1 ---- Selects the first compensation center.

P2 ---- Selects the second compensation center.
P3 ---- Selects the third compensation center.
When G41P_ (selection of a compensation center position) and a D

code with a non-zero value are specified, a compensation vector is
created, and movement takes place even if there is no move command
specified in the block.
The D code may be specified in a block before or after G41P_.
Example
G41 P1 ; Selects the first compensation center.
D2 ; Creates a compensation vector and performs movement.
NOTE
1 Specify the P_ command and G41 command at the
same time. If they are not specified at the same time,
or if a value other than 1 to 3 is specified in the P_
command, alarm PS618 is issued.
2 When the selected compensation center position
and absolute coordinate match on an axis, the
compensation vector component on that axis
becomes 0.
- Canceling the compensation vector

Specifying D0 cancels the compensation vector.
When D0 is specified in a block, movement due to the cancellation
takes place even if the block contains no move command.
Then, when a D code with a non-zero value is specified again, a
compensation vector is created, and movement takes place.
- Maintaining the compensation vector

When a D code with a non-zero value has been specified, specifying
G40 sets the mode that maintains the created compensation vector.
When compensation vector maintenance mode has been entered, the
command end position is shifted by the amount of the maintained
vector.
To create a new compensation vector again, specify the grinding wheel
wear compensation start command (G41 P_ D_). To cancel the
maintained vector, specify D0. Specifying D0 cancels grinding wheel
wear compensation, therefore, canceling the maintained vector. In this
case, movement due to the cancellation takes place.
- 1093 -
- Canceling grinding wheel wear compensation

When G40 and D0 are specified at the same time, the compensation
vector is canceled, movement due to the cancellation takes place, then
grinding wheel wear compensation is canceled.
When D0 has been canceled, specifying G40 cancels grinding wheel
wear compensation without causing movement due to the
compensation vector cancellation. This is because the compensation
vector has already been canceled by the D0 command.
- Grinding wheel wear compensation status

G code D code Mode and its meaning
G41 Other than 0 Grinding wheel wear compensation mode

(A compensation vector is created.)
0 Compensation vector cancel mode

(No compensation vector is created.)
G40 Other than 0 Compensation vector maintenance mode

(A compensation vector is maintained.)
0 Grinding wheel wear compensation cancel
mode
(Grinding wheel wear compensation is
canceled.)
- Compensation plane
In grinding wheel wear compensation mode or compensation vector
maintenance mode, a compensation vector is always created for the
axes on the compensation plane determined by parameter Nos. 6056
and 6057.
If an axis on the compensation plane is changed in this mode, alarm
PS619 is issued in a block for obtaining the movement end position.
- 1094 -
- Compensation vector
A compensation vector is created only on the plane (compensation
plane) of the axes (compensation axes) set in parameter Nos. 6056 and
6057.
On an extension of a straight line starting from the compensation center
and directed toward the command end position, a compensation vector
is created, where the length of the vector equals the offset value
specified by the offset number in a D code. (See Fig. 10.4.12 (a).)
If the offset value is negative, a compensation vector whose direction is
from the compensation center toward the command end position is
added to the command end position. (See Fig. 10.4.12(b).)
If the offset value is positive, a compensation vector whose direction is
from the command end position toward the compensation center is
added to the command end position. (See Fig. 10.4.12(c).)
The direction of the compensation vector can be changed by bit 3
(WCD) of parameter No. 6008.
CAUTION
The offset value is used as a radius. It can also be
used as a diameter by setting bit 0 (ODI) of
parameter No. 6008 to 1.
Compensation vector
Z
Tool center path

Compensation Programmed path
center
Y
Fig. 10.4.12 (b) Offset Value (-)
Compensation vector
Z

Tool center path
center
Y
Fig. 10.4.12 (c) Offset Value (+)
- 1095 -
- Compensation plane and plane selection by G17/G18/G19

Creation of a compensation vector is not related to plane selection by
G17/G18/G19.
For example, while circular interpolation is being performed on the XY
(G17) plane, compensation can be applied to a compensation plane
(such as the YZ plane). In grinding wheel wear compensation mode, if
the creation of a compensation vector results in a change in the vector
component, movement along a compensation axis is performed even
when no move command is specified for that axis.
Example 1
With the Y- and Z-axes set as the compensation
axes, a linear interpolation command is executed for
the X- and Y-axes.
Programmed path a->b Path after compensation a’->b’
Y a’ Y a’
Vay Vay Va
a a
Vaz
Compensation
b’ center b’
Vby Vby Vb
b Vbz
b
X Z
Example 2
With the Y- and Z- axes set as the compensation
axes, an arc command is executed for the X- and Y-
axes.
Programmed path a->b Path after compensation a’->b’
Y a’ Y a’
Vay Vay Va
a a
Compensa- Vaz
tion center
b’ b’
Vby Vby Vb
b b Vbz
X Z
- 1096 -
- Circular interpolation/helical interpolation

When circular interpolation (G02/G03) is specified in grinding wheel
wear compensation mode, the radius at the start point of an arc differs
from the radius at the end point, which prevents a correct arc from
being formed, unless the compensation center and arc center match. As
a result, a spiral is formed.
Likewise, this occurs in helical interpolation.
Compensation vector
Arc center
Tool center path
Compensation center
Programmed path
Fig. 10.4.12 (d) Arc Interpolation in Grinding Wheel Wear Compensation Mode
Also, for the value obtained after compensation, a check of the arc
radius error limit (parameter No. 2410) is made.
When arc interpolation is specified in compensation vector

maintenance mode, the end position and arc center are shifted by the
amount of the compensation vector. As a result, an arc is formed
instead of a spiral.
Maintained vector
Tool center path

Programmed arc center
Programmed path
Fig. 10.4.12 (e) Arc Command in Compensation Vector Maintenance Mode

(G40)
- Exponential interpolation
When exponential interpolation is specified in grinding wheel wear
compensation mode, a compensation vector is created for each of the
points approximating a straight line in exponential interpolation.
- Power-up and reset

When a power-up or reset operation is performed, grinding wheel wear
compensation cancel mode is set.
- 1097 -
- Available compensation functions

The commands listed below can be used in grinding wheel wear
compensation mode. In these command modes, grinding wheel wear
compensation can also be used.
- Tool length compensation (G43, G44, G49)
- Position offset (G45 to G48)
Restrictions
- Changing a compensation axis
Before changing a compensation axis, set compensation vector cancel
mode, or cancel grinding wheel wear compensation.
- Changing the coordinate system

Before changing the coordinate system, set compensation vector cancel
mode, or cancel grinding wheel wear compensation.
- Commands related to reference position return

Before issuing the following commands, set compensation vector
cancel mode, or cancel grinding wheel wear compensation:
- Reference position return (G28)
- Second reference position return (G30)
- Return from the reference position (G29)
- Floating reference position return (G30.1)
- Relation with other compensation functions

For a system having the grinding wheel wear compensation function,
the following functions cannot be added:
- Functions belonging to G code group 07 except this function
Cutter compensation (G40, G41, G42), three-dimensional tool
compensation (G40, G41), three-dimensional cutter
compensation (G41.3, G41.2, G42.2), tool length compensation in
a specified direction (G41)
The grinding wheel wear compensation function cannot be used when

the tool offset function by tool number is valid. Before using the
grinding wheel wear compensation function, disable the tool offset
function by tool number by setting bit 5 (NOT) of parameter No. 0011
to 1.
The commands listed below are invalid for the coordinates of the
compensation center of grinding wheel wear compensation. When
these commands are executed in grinding wheel wear compensation
mode, a compensation vector is created on an extension of the line
connecting the compensation center and the command end position of
the following functions:
- Scaling (G51)
- Coordinate system rotation (G68)
- 1098 -
- Relation with compensation functions

The commands listed below cannot be used in grinding wheel wear
compensation function mode. Before using these commands, cancel
grinding wheel wear compensation. Also, grinding wheel wear
compensation cannot be used in a mode of these commands.
- Three-dimensional circular interpolation (G02.4, G03.4)
- Hypothetical axis interpolation (G07)
- Polar coordinate interpolation (G12.1, G13.1)
- Cylindrical interpolation (G07.1)
- Spline interpolation (G06.1)
- Smooth interpolation (G05.1)
- NURBS interpolation (G06.2)
- Relation with functions that simplify programming
The following command is invalid for the coordinates of the

compensation center of grinding wheel wear compensation:
- Programmable mirror image (G51.1)
A compensation vector is created on an extension of the line
connecting the compensation center and the command end position
to which programmable mirror image is applied.

grinding wheel wear compensation. Also, in mode of these commands,
grinding wheel wear compensation cannot be used.
- Chamfering at an arbitrary angle, corner rounding
- Figure copy (G72.1, G72.2)
- Normal direction control (G40.1, G41.1, G42.1)
- Three-dimensional coordinate conversion (G68, G69)
- Relation with measurement functions

grinding wheel wear compensation.
- Skip function/multiple-command skip function (G31)
- Multistage skip (G31.1 to G31.4)
- Automatic tool measurement (G37)
- Relation with other functions

- Background drawing
A program producing a spiral tool center path cannot be drawn
correctly.
- Binary input operation by a remote buffer
This function cannot be used in grinding wheel wear compensation
function mode. Before using this function, cancel grinding wheel
wear compensation.
- 1099 -
Parameters
6050 First axis coordinate of compensation center 1 in grinding wheel wear

compensation
6051 Second axis coordinate of compensation center 1 in grinding wheel wear

compensation

compensation

compensation

compensation

compensation

[Data type] Real number
[Minimum unit of data] The increment system of the reference axis is followed.
table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the coordinates (in the workpiece coordinate system) of a compensation center
in grinding wheel wear compensation.
6056 Axis number of the first axis of the compensation plane in grinding wheel
wear compensation
6057 Axis number of the second axis of the compensation plane in grinding wheel
wear compensation

[Data type] Integer
[Valid data range] 1 to the number of controlled axes
Set the controlled-axis numbers of the first and second linear axes to which
grinding wheel wear compensation is applied.
NOTE
Before changing an axis of the compensation plane, set
compensation vector cancel mode, or cancel grinding wheel wear
compensation.
- 1100 -
#7 #6 #5 #4 #3 #2 #1 #0
6008 WCD

[Data type] Bit
#3 WCD Specify the direction of the compensation vector that differs according to
the sign of the offset value in grinding wheel wear compensation.
Offset value in D code

Negative Positive
6008#3 0 From compensation center From command end
toward command end position toward
position compensation center
1 From command end From compensation center
position toward toward command end
compensation center position
Compensation vector
Z
Tool center path

center
From compensation center toward command end position
Compensation vector
Z

Tool center path
center
From command end position toward compensation center
- 1101 -
Alarms and messages

PS0618 ILLEGAL P-DATA (WHEEL WEAR The P data for selecting the compensation center in
COMPENSATION) grinding wheel wear compensation is illegal.
PS0619 ILLEGAL AXIS(WHEEL WEAR A compensation axis has been changed in grinding wheel
COMPENSATION) wear compensation mode or compensation vector
maintenance mode. Alternatively, the settings in
parameter Nos. 6056 and 6057 that determine the target
axes for grinding wheel wear compensation are illegal.
- 1102 -
10.4.13 Cutter Compensation for Rotary Table
For machines having a rotary table, such as that shown in the figure
below, cutter compensation can be performed.
Y Z
Table coordinate
system
B
X Y
shows the direction in which the machine moves.
This machine is the one used in the example.
The table coordinate system rotates with the rotation of the table. Part Z
X
programs are created in the workpiece coordinate system.
Workpiece coordinate system
Fig.10.4.13 (a) Machine having a rotary table

Format
- Startup (cutter compensation start)
G41.4 (or G42.4) IP_ D_ ;
G41.4: Cutter compensation, left (group 07)
G42.4: Cutter compensation, right (group 07)
IP_ : Value specified for moving an axis
D_ : Code specifying the cutter compensation
amount (1 to 3 digits)
- Cutter compensation cancellation
G40 IP_ ;
G40 : Cutter compensation cancellation (group 07)
IP_ : Value specified for axis moving
- Selection of an offset plane
Offset plane Plane selection IP_
command
XpYp G17 ; Xp_Yp_
ZpXp G18 ; Xp_Zp_
YpZp G19 ; Yp_Zp_
The selected plane, or two axes, must be included in the three linear
axes (parameters Nos. 6140 to 6142) handled by this function.
Select the plane vertical to the tool (XpYp plane in Fig.10.4.13 (a)).
- 1103 -
Description
The cutter compensation for Rotary table basically performs operations
in conformance with cutter compensation. The operations different
from those of cutter compensation are described below. For a
description of the specifications and cautions not mentioned here, see
the description of cutter compensation.
- Startup
If the cutter compensation for Rotary table (G41.4 or G42.4, a
command with a dimension word other than 0 and a D code other than
D0 on the offset plane) is issued in offset cancellation mode, the CNC
enters offset mode.
Startup is specified with positioning (G00) or linear interpolation
(G01). If circular interpolation (G02, G03) or involute interpolation
(G02.2, G03.2) is specified, alarm PS0270 is issued.
- Offset mode
In offset mode, compensation is performed for positioning (G00) and
linear interpolation (G01).
NOTE
In G41.4 or G42.4 mode, circular interpolation (G02,
G03) or involute interpolation (G02.2, G03.2) cannot
be specified.
- Offset mode cancellation

If a block satisfying either of the following conditions is executed in
offset mode, the CNC enters offset cancellation mode.
1 G40 is specified.
2. 0 is specified for the code for specifying the cutter
compensation amount (D code).
If offset cancellation is to be performed, circular interpolation (G02,
G03) or involute interpolation (G02.2, G03.2) must not be specified
Otherwise, alarm PS0270 is issued.
- 1104 -
Example
- Parameter specification example

On the machine shown in Fig.10.4.13 (a) parameters must be specified
as follows:
The axis numbers are assumed as follows: X = 1, Y = 2, Z = 3, A = 4, B
=5
Parameter Setting Description
No.
6140 1 (X) Axis number of linear axis 1
6141 2 (Y) Axis number of linear axis 2
6142 3 (Z) Axis number of linear axis 3
6143 -5 (B) Axis number of rotation axis (first set)
6144 2 (Y) Axis number of the linear axis corresponding to the
rotation axis (first set)
6145 -4 (A) Axis number of rotation axis (second set)
6146 1 (X) Axis number of the linear axis corresponding to the
rotary axis (second set)
6150 0.0 Reference angle for the rotation axis (first set)
6151 0.0 Reference angle for the rotation axis (second set)
- Formulas
With the above settings, the cutter compensation vector at end point N2
in the following program is calculated as follows:
(1) Part program
A part program is created in the workpiece coordinate system.
G42.4 D1
N1 X x1 Y y1 Z z1 A a1 B b1
N2 X x 2 Y y 2 Z z2 A a2 B b2
N3 X x3 Y y 3 Z z3 A a3 B b3
(2) Definitions
P1 = ( x1 , y1 , z1 ) , P2 = ( x 2 , y 2 , z2 ) , P3 = ( x3 , y 3 , z3 )
P0 : Origin of the table coordinate system (parameter No. 6154)
(3) Calculation of the matrix for conversion from the workpiece
coordinate system to the table coordinate system
Reference angle conversion matrix
é1 0 0 ù écos b0 0 − sin b0 ù
M 0 = êê0 cos a0 sin a0 úú êê 0 1 0 úú
êë0 − sin a0 cos a0 úû êë sin b0 0 cos b0 úû
where a0 and b0 are the reference angles specified for
parameters Nos. 6150 and 6151.
P1 conversion matrix
ê
M 1 = ê0 cos a1 sin a1 úú êê 0 1 0 úú
êë0 − sin a1 cos a1 úû êë sin b1 0 cos b1 úû
M 2 = êê0 cos a 2 sin a2 úú êê 0 1 0 úú
ëê0 − sin a2 cos a2 ûú ëê sin b2 0 cos b2 ûú
- 1105 -
M 3 = êê0 cos a3 sin a3 úú êê 0 1 0 úú
ëê0 − sin a3 cos a3 ûú ëê sin b3 0 cos b3 ûú
(3) Calculation of three points P1 ' , P2 ' , P3 ' used to calculate cutter
compensation
P1 , P2 , and P3 are converted to P1 ' , P2 ' , and P3 ' using the
following formulas:
P1 ' = M 2 −1 M 1 M 0 −1 ( P1 − P0 ) + P0
P2 ' = M 0 −1 ( P2 − P0 ) + P0
P3 ' = M 2 −1 M 3 M 0 −1 ( P3 − P0 ) + P0
The cutter compensation vector is calculated using these three
points.
If the reference angle is 0
P2'=P2
P3
Y
P1'
P3'
Cutter
X
compensation
vector
Z
P1
Restrictions
- Interference check
In G41.4 or G42.4 mode, an interference check is performed using a
specified position in the workpiece coordinate system and a
compensation vector. The interference check avoidance function
cannot be used.
- Corner arc (G39)
In G41.4 or G42.4 mode, G39 cannot be specified. Specifying G39
causes alarm PS1062 to be issued.
- Manual intervention
In G41.4 or G42.4 mode, manual intervention must not be performed
on the rotation axis.
- 1106 -
Parameters
6140 Axis number of linear axis 1 in the cutter compensation for Rotary table

[Data type] Integer
[Valid data range] 1 to the number of controlled axes
Set the axis numbers of the three linear axes used for the cutter compensation for
Rotary table.
(The linear axes correspond to the coordinate axes in the workpiece coordinate
system.)
- 1107 -
6143 Axis number of the rotation axis in the cutter compensation for Rotary table
(first set)
6144 Axis number of the linear axis corresponding to the rotation axis in the cutter
compensation for Rotary table (first set)
6145 Axis number of the rotation axis in the cutter compensation for Rotary table
(second set)
6146 Axis number of the linear axis corresponding to the rotation axis in the cutter
compensation for Rotary table (second set)

[Data type] Integer
[Invalid data range] From 1 to the number of controlled axes
Set the axis numbers of the rotation axes used for the cutter compensation for
Rotary table, as well as the axis numbers of the linear axes corresponding to the
rotation axes. Up to two sets can be set. The orientation of the rotation axis in
the first set depends on the angle of the rotation axis in the second set. If there is
only one rotation axis, set 0 for parameter No. 6145.
The axis numbers of the linear axes corresponding to the rotation axes indicate the
linear axes about which the rotation axes rotate. See the table below.
Linear axis about Value set for Rotation direction of the rotation Direction with an angular
which a rotation parameter No. axis displacement of 0
axis rotates 6144 or 6146
Linear axis 1 Axis number of Foward direction of linear axis 2 to Forward direction of linear axis
linear axis 1 forward direction of linear axis 3 2
If the rotation direction of the rotation axis is the reverse of what is described in the
table above, set a negative value for parameter No. 6143 or 6145.
If the direction with an agular displacement of 0 differs from what is described in
the table above, specify parameters Nos. 6150 and 6151, assuming that the angle of
the rotation axis in relation to the direction described in the table above as the
reference angle.
- 1108 -
6150 Reference angle of the rotation axis in the cutter compensation for Rotary
table (first set)
6151 Reference angle of the rotation axis in the cutter compensation for Rotary
table (second set)

[Data type] Real
[Unit of data] Degrees
[Minimum unit of data] Follows the increment system of the reference axis.
[Valid data range] 9 digits of the least input increment. (See the Standard parameter
setting table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the angles of reference positions on the rotation axes used for the
cutter compensation for Rotary table.
6154 Workpiece coordinates of the origin of the table coordinate system in the
cutter compensation for Rotary table

[Minimum unit of data] Follows the increment system of the corresponding axis.
[Valid data range] 9 digits of the least input increment. (See the Standard parameter
setting table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the workpiece coordinates of the origin of the table coordinate system used for
the cutter compensation for Rotary table. Specify the parameter for the three axes
specified for parameters Nos. 6140 to 6142. The intersection of two rotation axes
is assumed to be the origin of the table coordinate system.
Alarm and message

PS1062 ILLEGAL USE OF G41.4/G42.4 (1) Any of the parameters Nos. 6140 to 6146, related to the
cutter compensation for Rotary table, is not correct.
(2) At the start of the rotary table support of cutter
compensation (G41.4/G42.4), axes other than those
specified for parameters Nos. 6140 to 6142 were
selected as a plane.
(3) In the mode of the cutter compensation for Rotary table
(G41.4/G42.4), a move command other than G00/G01
(such as G02) was issued.
- 1109 -
Reference item
FANUC Series OPERATOR’S II.14.3 CUTTER
15i/150i-MB MANUAL COMPENSATION C
(PROGRAMMING)
(B-63784EN)
- 1110 -
10.4.14 Tool Center Point Control for 5-axis Machining
Overview
There are three different types of five-axis machines. They are <1> a
tool rotation type, <2> a table rotation type, and <3> a tool and table
rotation type. (See Fig.10.4.14 (d).)
The conventional tool center point control method can be applied only
to <1> tool rotation type machines.
(See Fig.10.4.14 (a).)
This function is intended to make tool center point control applicable to
<2> table rotation type and <3> mixed-type machines.
To put another way, tool center point control for 5-axis machining
(called tool center point control later) is intended to perform machining
on a five-axis machine having table rotary axes as well as three
orthogonal axes (X-, Y-, and Z-axes) while changing the attitude of the
tool. With this function, the tool center point can move along the
specified path even if the tool is tilted with respect to the workpiece.
(See Fig.10.4.14 (b).)
Programming is possible in a coordinate system (programming
coordinate system) fixed to the table, making CAM-based
programming easy. Also, the cutting speed becomes easy to control,
because the tool center point moves at a specified speed.
Tool center point path
Tool length
Controlled
vector
point
Tool center point

Programmed path
Fig.10.4.14 (a)
- 1111 -
Table rotation type machine
A
Y’
Z’
B
X’
Y’
Z’
X’
Y’ Z’
X’
Tool center point path
Fig.10.4.14 (b)
- 1112 -
As the table rotates, the position and orientation of a workpiece fixed

on the table change. However, programmed positions are specified in
the coordinate system fixed on the table (programming coordinate
system). Because the programming coordinate system does not move
with respect to the table, specifying a line with a program generates a
straight path as viewed in the programming coordinate system.
Fig.10.4.14 (c) shows how linear interpolation in the programming
coordinate system is performed on a mixed-type machine.
If linear interpolation is specified in this function mode, speed control
is carried out in such a way that tool center point moves at a specified
speed in the programming coordinate system.
Example
Machine configuration: The A-axis is a rotary axis for controlling the tool.
The B-axis is a rotary axis for controlling the table.
Program: Created in the "programming coordinate system"
Command start
point
Z’
Programming
coordinate system
Y’
X’
B
Command end point
The cutting path is straight.
Z’
Programming
coordinate system
Y’
X’
Fig.10.4.14 (c)
- 1113 -
<1> Tool rotation

type machine
Z
B
X
<2> Table rotation

type machine
Z
Y
C
B
<3> Mixed type

machine
Z
C Y
Fig.10.4.14 (d)
This function can be used also when the rotary axis for controlling the
tool and the rotary axis for controlling the table do not cross each other.
- 1114 -
Format
- Tool center control command
Format
G43.4 H ; Starts tool center point control (TYPE1)
G49 ; Cancels tool center point control.

Symbol description
H : Tool offset number
Once this command is issued, linear interpolation for the X-, Y-, and
X-axes is issued in the programming coordinate system.
Then, a rotation command for a table or tool is issued.
The CNC controls the controlled point so that the tool center point
moves along the specified straight line in the programming coordinate
system at the same time with interpolation for the rotary axis.
Controlled point and

tool center point
Controlled point:
Target of control in the
machine coordinate
system
Tool offset value

Tool center point
Fig.10.4.14 (e)
- 1115 -
Programming coordinate system

Issuing G43.4 makes the CNC use the current workpiece coordinate
system as its programming coordinate system (fixed on the table).
The programming coordinate system is used for tool center point
control.
It rotates as the table rotates.
It does not rotate when the tool head rotates.
Once G43.4 is issued, it is assumed that the subsequent X, Y, and Z
commands are issued in the programming coordinate system.
If the table rotary axis moves in the same block as for G43.4 or in a
block before G43.4, the angle of the table rotary axis is used as the
initial status of the programming coordinate system.
Programming coordinate system
C-axis reference position (note)
Programming
Y 45 coordinate system
Y
Workpiece 0
coordinate 45
system X
X
C
When C43.4 is Tool center point

issued, if C = 0 control under way
Programming
coordinate system
Y 90 Y
Workpiece
coordinate 45 90
system X
X
45
C
When C43.4 is Tool center point

issued, if C = 45 control under way
Note:
The term "C-axis reference position" refers to a position to which
the C-axis moves in such a way that when C** is issued for the
C-axis, graduations ** on the C-axis comes to that position.
Fig.10.4.14 (f)
- 1116 -
Operation descriptions
- Tool center point control command

When tool center point control is in use, a move command is issued in
the programming coordinate system.
The program specifies the tool center point.
For rotary axes, the positions of each block end are specified.
The feed rate is specified with F, using a tangential speed (relative
speed between the workpiece and tool) in the programming coordinate
system.
- Commands that can be issued when tool center point control is in use
The commands that can be issued when tool center point control is in
use are linear interpolation (G01) and positioning (G00).
If a linear interpolation command (G01) is issued when tool center
point control is in use, speed control is carried out in such a way that the
tool center point can move at the specified speed.
The speed of the controlled point is displayed as the actual speed.
For positioning (G00), observe the following cautions.
CAUTION
1 Be sure to set the following parameters.
1) Parameter LRP(No.1400#4=1)=1 :
Linear rapid traverse
2) Parameter FRP(No.1603#5=1)=1 :
Acceleration/deceleration before interpolation
is used for rapid traverse.
3) Parameter No.1671 :
Acceleration before interpolation for rapid
traverse
4) Parameter No.1672 :
Change time for bell-shaped acceleration
before interpolation for rapid traverse
2 If the above settings are not made, or look-ahead
acceleration/deceleration before interpolation is not
in effect, an axis may move faster than the rapid
traverse rate.
- Rotary axis command

If only a rotary axis is specified when tool center point control is in use,
the maximum cutting feed rate (parameter No. 1422) becomes effective
as the feed speed for the rotary axis.
- Tool behavior at start and cancellation

When tool center point control is started (G43.4) or canceled (G49), the
tool moves by a tool offset value.
Compensation vector calculation is performed only at the end of a
block.
- 1117 -
- Current position display when tool center point control is in use

For a machine coordinate system for which tool center control is in use,
the position of the controlled point (rotation center of the tool rotary
axis) is displayed.
Which to use, absolute or relative coordinates, is selected using
parameter DET (bit 6 of parameter No. 2219). If parameter DET = 0
(bit 6 of parameter No. 2219 = 0), the position of the tool center point
in the programming coordinate system is displayed.
If parameter DET = 1 (bit 6 of parameter No. 2219 = 1), the position of
the tool center point in the machine coordinate system is displayed.
- Tool offset
If a tool number-based tool offset is used, tool center point control is
carried out using the tool length compensation value that corresponds
to a tool number (T code).
If tool life management is in use, tool center point control is carried out
using the tool length compensation value for a tool in use.
- 1118 -
About parameters
(1) About the machine configuration

What machine configuration to select as a target of parameter setting is
important.
Following are descriptions about the machine configuration.
- Master and slave

If there are two rotary axes for controlling the orientation of a tool or
two rotary axes for controlling the orientation of a table, a typical
structure is such that a rotation mechanism is on the tip of another
rotation mechanism. The former rotation mechanism is called the slave,
and the latter, the master.
The master and slave are sometimes called, respectively, the first and
second axes.
Master and slave
Second rotation axis
B axis = slave
= second axis
First rotation axis
A axis = master
= first axis
Fig.10.4.14 (g)
The rotation center axis for the master is called the first rotary axis,
while the rotation center for the slave is called the second rotary axis.
(Fig.10.4.14 (g))
- 1119 -
- If table rotation axes do not cross

Explained below is a mechanism in which the table rotation axes do not
cross.
In the mechanism shown in the following example, the master and
slave axes do not cross each other. (See Fig.10.4.14 (h).)
When both maser and slave are at 0 degrees, a vector from the machine
coordinate system origin to a point on the first rotary axis of the table is
set as a rotary table position in a parameter.
Similarly, when both maser and slave are at 0 degrees, a vector from the
machine coordinate system origin to a point on the second rotary axis is
set as an intersection offset vector between the first and second rotary
axes of the table in a parameter.
Machine in which the table rotary axes do not cross each other
Y
B-axis = 0 degrees
Machine
Z
coordinate
system
A-axis
= 0 degrees
Rotary table position
Intersection offset vector between the first

and second rotary axes of the table
Fig.10.4.14 (h)
- 1120 -
- If the first rotary axis of the tool does not cross the tool axis
Explained below is a mechanism in which the tool axis (spindle
rotation center axis) and the first rotary axis of the tool do not cross.
When both maser and slave are at 0 degrees, a vector from a point a sum
of the tool length compensation value and the tool holder offset value
apart from the tool center point to a point on the first rotary axis of the
tool is set as an intersection offset vector between the tool axis and the
first rotary axis of the tool in a parameter.
- If tool rotary axes do not cross each other

Explained below is a mechanism in which the tool rotary axes do not
cross each other.
Fig.10.4.14 (i) is an example of a mechanism in which the first and
second rotary axes of the tool do not cross each other.
When both master and slave are at 0 degrees, a vector from a point on
the second rotary axis of the tool to a point on the first rotary axis of the
tool is set as an intersection offset vector between the second rotary
axis of the tool and the first rotary axis of the tool in a parameter.
Setting a shift vector from the points stated above in parameters
enables the controlled point to shift.
Machine in which tool rotary axes do not cross each other
First rotary axis of the tool

C
Intersection offset vector between

the second rotary axis of the tool
and the first rotary axis of the tool
Second rotary axis of the tool
Intersection offset vector

between the tool axis and the
second rotary axis of the tool
Tool axis
Fig.10.4.14 (i)
- 1121 -
(2) Examples of setting parameters

Many parameters are related to this function.
So, using some examples as references would be convenient in setting
parameters for the target machine. The examples follow.
<1> Example of setting parameters for a mixed-type machine

In the machine explained in this example, the first, second, third, fourth,
fifth, and sixth axes are, respectively, X, Y, Z, A, B, and C.
Shown below is an example of setting parameters for a mixed-type
machine.
Rotary axis A is the table rotary axis on the X-axis.
Rotary axis B is the tool rotary axis on the Y-axis.
Mixed-type machine
Zm B
Machine coordinate system Xm-Ym-Zm
Ym
Xm
Rotation center of the

A rotary table
(PRM6181,6182,6183)
Intersection offset vector between the tool

axis and the tool rotary axis
(PRM6190,6191,6192)
Tool holder offset value

(PRM7548)
In the mixed-type machine shown above, if the machine coordinate

system for rotary axis B is at 0 degrees, assume:
Rotary table position = (5.0, 2.0, -15.0)
Intersection offset vector between the tool axis and the tool rotary axis
= (3.0, 0, 2.0)
Tool holder offset value = 2.0
The settings of the parameters for the mixed-type machine stated above
are as follows:
- 1122 -
Parameter No.
6161 21 Mechanical unit type
6162 5(B) Controlled axis number for the first rotary axis
6163 2(Y) Axis direction for the first rotary axis
6165 0 Rotation direction of the first rotary axis
6166 0.0 Rotation angle for the first rotary axis when it is a hypothetical axis
6167 4(A) Controlled axis number for the second rotary axis
6168 1(X) Axis direction for the second rotary axis
6170 1 Rotation direction of the second rotary axis
6171 0.0 Rotation angle for the second rotary axis when it is a hypothetical axis
6177#0 0 The first rotary axis is an ordinary rotary axis.
6177#1 0 The second rotary axis is an ordinary rotary axis.
6179 0.0 Reference angle RA
6180 0.0 Reference angle RB
6181 5.0 Rotary table position (X-axis)
6182 2.0 Rotary table position (Y-axis)
6183 -15.0 Rotary table position (Z-axis)
6184 0.0 Intersection offset vector between the first and second rotary axes of the table (X-axis)
6185 0.0 Intersection offset vector between the first and second rotary axes of the table (Y-axis)
6186 0.0 Intersection offset vector between the first and second rotary axes of the table (Z-axis)
6190 3.0 Intersection offset vector between the tool axis and the first rotary axis of the tool (X-axis)
6191 0.0 Intersection offset vector between the tool axis and the first rotary axis of the tool (Y-axis)
6192 2.0 Intersection offset vector between the tool axis and the first rotary axis of the tool (Z-axis)
6193 0.0 Intersection offset vector between the second and first rotary axes of the tool (X-axis)
6194 0.0 Intersection offset vector between the second and first rotary axes of the tool (Y-axis)
6195 0.0 Intersection offset vector between the second and first rotary axes of the tool (Z-axis)
7540#4 0 Automatic calculation for controlled-point shifting
7540#5 0 Controlled-point shift
7745 X0.0 Controlled-point shift vector
Y0.0
Z0.0
7548 2.0 Tool holder offset value
- 1123 -
<2> Example of setting parameters for a table rotation type machine
This is an example of setting parameters for the table rotation type

machine shown below.
Rotary axis A is the table rotary axis (master) on the X-axis.
Rotary axis B is the table rotary axis (slave) on the Y-axis.
Ym Center of the second rotary axis of the table
Zm B
Xm
Center of the first rotary axis of the table
Rotary table position Intersection offset vector between the first

(PRM6181,6182,6183) and second rotary axes of the table
(PRM6184,6185,6186)
In the table rotation type machine shown above, if the machine

coordinate system for rotary axes A and B is at 0 degrees, assume:
Rotary table position = (-10.0, -30.0, 0)
Intersection offset vector between the first and second rotary axes of
the table = (0, 8.0, 8.0)
The settings of the parameters for the table rotation type machine stated
above are as follows:
- 1124 -
Parameter No.
6162 4(A) Controlled axis number for the first rotary axis
6163 1(X) Axis direction for the first rotary axis
6167 5(B) Controlled axis number for the second rotary axis
6168 2(Y) Axis direction for the second rotary axis
6179 0.0 Reference angle RA
6180 0.0 Reference angle RB
6181 -10.0 Rotary table position (X-axis)
6182 -30.0 Rotary table position (Y-axis)
6183 0.0 Rotary table position (Z-axis)
Y0.0
Z0.0
- 1125 -
(3) Parameters
The parameters for this function are as follows:
6161 Type of a mechanical unit

[Data type] Integer
Specify the type of a mechanical unit.
PRM6161 Rotary axis to be Master and slave
controlled
0 Mechanical unit with no
rotary axis
2 Two tool rotary axes Use the first and second rotary
axes, respectively, as the
master and slave axes.
12 Two table rotary axes Use the first and second rotary
21 One tool rotary axis + one Use the first and second rotary
table rotary axis axes, respectively, as the tool
rotary axis and table rotary axis.
NOTE
Count also hypothetical axis as a rotary axis to be
controlled
<About the hypothetical axis>
In some cases, it is convenient to use an imaginary
rotary axis whose angle is fixed at a certain value.
An example of these cases might be a case in which
a tool is mounted through an attachment in a
slanted manner.
In this case, the imaginary axis is the hypothetical
axis.
Bits 0, 1, and 2 of parameter No. 6177 specify
whether the corresponding axes are ordinary or
hypothetical axes.
First rotary axis (master)

Tool rotary axis
Second rotary axis (slave)

Table rotary axis
- 1126 -
6162 Controlled axis number for the first rotary axis

[Data type] Integer
[Valid data range] 0 to Number of controlled axes
Specify the controlled axis number for the first rotary axis.
6163 Axis direction for the first rotary axis

[Data type] Integer
Specify the axis direction for the first rotary axis.
1: X-axis
2: Y-axis
3: Z-axis
2
Y
X Parameter No.6163
6165 Retraction direction for the first rotary axis

[Data type] Integer
Specify the direction in which the first rotary axis rotates as machine
movement when a positive movement command is issued.
0: Counterclockwise as viewed in the positive direction set in
parameter No. 6163
1: Clockwise as viewed in the positive direction set in parameter No.
6163
Usually, reset the parameter to 0 for the tool rotary axis, and set the
parameter to 1 for the table rotation axis.
- 1127 -
6166 Rotation angle when the first rotary axis is a hypothetical axis

[Valid data range] Degree
[Valid data range] 9 digit of minimum unit of data (Refer to the standard parameter setting
table (A))
(When the increment system is IS-B, -999999.999 to +999999.999)
Specify a rotation angle for the first rotary axis if it is a hypothetical
axis (IA1 (bit 0 of parameter No. 6177) = 1).
6167 Controlled axis number for the second rotary axis

[Data type] Integer
Specify the controlled axis number for the second rotary axis.
6168 Axis direction for the second rotary axis

[Data type] Integer
Specify the axis direction for the second rotary axis.
1: X-axis
2: Y-axis
3: Z-axis
6170 Retraction direction for the second rotary axis

[Data type] Integer
Specify the direction in which the second rotary axis rotates as machine
parameter No. 6168
6168
- 1128 -
6171 Rotation angle when the second rotary axis is a hypothetical axis

table (A))
Specify a rotation angle for the second rotary axis if it is a hypothetical
#7 #6 #5 #4 #3 #2 #1 #0
6177 IA2 IA1

[Data type] Bit
#0 IA1
0: The first rotary axis is an ordinary rotary axis.
1: The first rotary axis is a hypothetical rotary axis.
In this case, reset the controlled axis number for the first rotary axis
(parameter No. 6162) to 0. Also set parameter No. 6163 to No. 6166 on
the assumption that there are rotary axes.
#1 IA2
0: The second rotary axis is an ordinary rotary axis.
1: The second rotary axis is a hypothetical rotary axis.
In this case, reset the controlled axis number for the second rotary axis
the assumption that there is a rotary axis.
- 1129 -

[Data type] Integer
Specify the tool axis direction in the machine coordinate system when
the rotary axis for controlling the tool is at 0 degrees.
Also specify the tool axis direction in the machine coordinate system
for a mechanical unit that has only a rotary axis for controlling the table
(no rotary axis for controlling the tool).
1: +X-axis direction
2: +Y-axis direction
3: +Z-axis direction
Z
Tool axis direction
The tool axis direction is the
+Z-axis direction.
Y
The tool axis direction is
the +X-axis direction.

+Y-axis direction.
X
- 1130 -
6179 Angle when the tool axis direction is tilted (reference angle RA)
6180 Angle when the tool axis direction is tilted (reference angle RB)

[Data type] Real
table (A))
When the tool axis is in the X-axis direction, the tool axis is set up by
tilting it through RA degrees from the positive X-axis to the positive
Y-axis in the X-Y plane and then tilting it through RB degrees from the
positive Y-axis to the positive Z-axis in the Y-Z plane.
When the tool axis is in the Y-axis direction, the tool axis is set up by
tilting it through RA degrees from the positive Y-axis to the positive
Z-axis in the Y-Z plane and then tilting it through RB degrees from the
positive Z-axis to the positive X-axis in the Z-X plane.
When the tool axis is in the Z-axis direction, the tool axis is set up by
tilting it through RA degrees from the positive Z-axis to the positive
X-axis in the Z-X plane and then tilting it through RB degrees from the
positive X-axis to the positive Y-axis in the X-Y plane.
Tool axis direction when the tool axis is in the Z-axis direction
Z Z Z
Y Y Y
X X X
R R
Parameter No.6179 Parameter No.6180
Tool length offset
Tool holder offset
- 1131 -
6184 Intersection offset vector between the first and second rotary axes of the
table (X-axis, one of the basic three axes)
table (Y-axis, one of the basic three axes)
table (Z-axis, one of the basic three axes)

[Data type] Real
[Valid data range] mm, inch (machine unit)
table (A))
Set this parameter if the first and second rotary axes of the table do not
cross each other. The setting becomes effective if parameter No. 6161
= 12 or 13. If all the rotary axes for controlling the table are at 0 degrees,
specify the vector from point A to point B on the second rotary axis of
the table as the intersection offset vector in the machine coordinate
system.
(Caution)
Select, as point B, a position on the second rotary axis of the table
where measurement is easy.
If the table rotary axes do not cross each other
Second rotary axis of the table X
Machine
Z coordinate
B system
First rotary axis of

A the table
Intersection vector between the first and Position of the rotary table
second rotary axes of the table
- 1132 -
6190 Intersection offset vector between the tool axis and the first rotary axis of the
tool (X-axis, one of the basic three axes)
tool (Y-axis, one of the basic three axes)
tool (Z-axis, one of the basic three axes)

[Data type] Real
Set this parameter if the tool axis and the rotary axis of the tool do not
= 1, 2, or 21.
If parameter No. 6161 = 1 or 21, when all the rotary axes for controlling
the tool are at 0 degrees, specify the vector from point D on the tool axis
to point E on the first rotary axis of the tool as the intersection offset
vector in the machine coordinate system.
If parameter No. 6161 = 2, when all the rotary axes for controlling the
tool are at 0 degrees, specify the vector from point D on the tool axis to
point E on the second rotary axis of the tool as the intersection offset
(Caution)
Point D is a point from the tool center point obtained by taking the tool
length offset and tool holder offset (parameter No. 7548) into account.
Select, as point E, a position where measurement is easy.
If the tool axis and the tool rotary axis do

not cross each other Controlled point

E
the tool axis and the first rotary
axis of the tool
D Tool holder offset
Tool length offset
Tool center point
- 1133 -
6193 Intersection offset vector between the first and second rotary axes of the tool
(X-axis, one of the basic three axes)
(Y-axis, one of the basic three axes)
(Z-axis, one of the basic three axes)

[Data type] Real
table (A))
Set this parameter if the tool rotary axes do not cross each other. The
setting becomes effective if parameter No. 6161 = 2.
If all the rotary axes for controlling the tool are at 0 degrees, specify the
vector from point E on the second rotary axis of the tool to point F on
the first rotary axis of the tool as the intersection offset vector in the
(Caution)
Select, as point F, a position where measurement is easy.
If the toll rotary axes

do not cross each First rotary axis of the tool
other

the second rotary axis and the first
Controlled point rotary axis of the tool
F

E first rotary axis of the tool
Second rotary axis of the tool Tool holder offset

D
Tool length offset
Tool center point
- 1134 -
#7 #6 #5 #4 #3 #2 #1 #0
7540 SVC SBP

[Data type] Bit
#4 SBP Specify a method for shifting a controlled point as follows:
0: Automatic calculation
#5 SVC Specify whether the controlled point is to shift as follows:
0: Not to shift
1: To shift
To specify a method for shifting a controlled point , use parameter SBP
- 1135 -
7745 Shift vector for tool length compensation in the tool axis direction

table (A))
Specify a shift vector for the controlled point. The setting becomes
effective when parameter SVC (bit 5 of parameter No. 7540) =1 and
parameter SBP (bit 4 of parameter No. 7540) = 1.
Parameter SVC Parameter SBP Controlled point shift

(No.7540#5) (No.7540#4)
0 - The controlled point does not shift as usual.
1 0 The controlled point shifts according to the result of automatic
calculation as follows.
- (Intersection offset vector between the tool axis and the first rotary axis
of the tool + intersection offset vector between the second and first
rotary axes of the tool + tool holder offset (parameter No. 7548))
1 1 The controlled point shifts.
The shift vector is the one set in parameter No. 7745.
Controlled-point shift
Controlled point
F Controlled-point shift vector

D
Tool center point
- 1136 -
7548 Tool holder offset value

[Data type] Real
table (A))
Specify the tool axis direction tool length compensation function, tool
tip center rotation handle feed/interruption and tool tip position display,
tool center point control, tool center point control for 5-axis machining,
and offset of the machine-specific section between the rotation center
of the rotation axis and the tool mounting position (tool holder offset)
in the tilted working plane command. For the tool axis direction tool
length compensation function, however, this parameter is valid when
the FTH (No.7540#7) parameter is set to make the tool holder offset
function valid.
#7 #6 #5 #4 #3 #2 #1 #0
2219 DET

[Data type] Bit
#6 DET In the function corresponding to the rotary table under tool center point
control, the relative and absolute positions of a specified path are
displayed in:
0: Programming coordinate system
1: Machine coordinate system
Alarm And message

PS0217 ILLEGAL OFFSET VALUE The offset number is incorrect.
PS1100 ILLEGAL PARAMETER OF MACHINE A parameter (No. 6161 to No. 6195 or No. 7540 to No.
COMPONENT 7548) for configuring the machine is incorrect.
OT553 EXCESS VELOCITY IN G43.4/G43.5 Tool center point control resulted in an axis trying to move
faster than the maximum cutting feed rate.
- 1137 -
10.4.15 Three-dimensional Cutter Compensation for Rotary Table
Overview
This function allows three-dimensional cutter compensation to be
performed on a 5-axis machine having a rotary table and a rotation tool
axis, such as that shown in the figure below.
The machine example shown in the figure below is a 5-axis machine
having the tool axis A about the X-axis (the orientation of the tool axis
being on the Z-axis) and the table rotation axis C about the Z-axis.
Three-dimensional cutter compensation can be performed on such a
machine.
Z
B
A
-
+ -
Y
Z
- X
Y
Workpiece coordinate system
Workpiece coordinate system:

Coordinate system with which a program is to be created
Fig. 10.4.15 (a) Machine having tool rotation axis and table rotation axis
- 1138 -
Example
- Parameters
When specifying the parameters related to a machine configuration, see
the table below.
For the machine shown in Fig. 10.4.15 (a), set the parameters to the
settings listed in the table.
Axis numbers is supposed to be as follows: X = 1, Y = 2, Z = 3, A = 4,
and C = 5
Parameter No. Setting Description
6140 1 (X) Axis number of linear axis 1 (first axis of the workpiece coordinate
system)
6141 2 (Y) Axis number of linear axis 2 (second axis of the workpiece coordinate
system)
6142 3 (Z) Axis number of linear axis 3 (third axis of the workpiece coordinate
system)
6143 5 (C) Axis number of the table rotation axis (first set)
6144 3(Z) Axis number of the linear axis corresponding to the table rotation axis
(first set)
6145 0 Axis number of the table rotation axis (second set)
6146 0 Axis number of the linear axis corresponding to the table rotation axis
(second set)
6150 0.0 Reference angle of the table rotation axis (first set)
6151 0.0 Reference angle of the table rotation axis (second set)
6080 4 (A) Axis number of the tool rotation axis (first set)
6081 2 (Y) Axis number of linear axis 1 of the tool rotation axis (first set)
6082 3 (Z) Axis number of linear axis 2 of the tool rotation axis (first set)
6083 1 (X) Axis number of linear axis 3 of the tool rotation axis (first set)
6084 0.0 Angle of the tool rotation axis (first set)
6085 0 Axis number of the tool rotation axis (second set)
6086 0 Axis number of linear axis 1 of the tool rotation axis (second set)
6089 0.0 Angle of the tool rotation axis (second set)
6104 0.0 Reference angle of the tool rotation axis (first set)
6105 0.0 Reference angle of the tool rotation axis (second set)
6106 -90.0 Reference angle of the tool axis on the plane of linear axes 2 and 3 (RA)
6107 0.0 Reference angle of the tool axis on the plane of linear axes 3 and 1 (RB)
NOTE
1 Set 0 for the table rotation axis of the second set and for the tool
rotation axis of the second set.
2 The three basic axes to make up the workpiece coordinate system of
parameters Nos. 6140 to 6142 must be used to make up that of
parameters Nos. 6081 to 6083.
3 The axis number of the table rotation axis (first set) must not be the
same as the axis number of the tool rotation axis (first set).
The table rotation axis (first set) and the tool rotation axis (first set)
must not rotate about the same axis.
- 1139 -
- Formulas
The three-dimensional cutter compensation vector at the N2 end point
in the following program can be calculated as follows:
1. Part program
A part program may be created with a workpiece coordinate
system.
G42.5 D1 ;
N1 Xx1 Yy1 Zz1 Aa1 Cc1 ;
2. Definition of symbols
P = (x1, y1, z1)
Q = (x2, y2, z2)
R = (x3, y3, z3)
P0: Origin of the table coordinate system (parameter No. 6154)
A: Tool rotation axis
C: Table rotation axis
3. Definition of coordinate system C1 (workpiece coordinate system)

Coordinate system C1 {O; X,Y,Z} is a Cartesian coordinate
system having
O = (0,0,0) as its origin and the following unit vectors as its basic
vectors:
I = (1,0,0) (X-axis unit vector)
J = (0,1,0) (Y-axis unit vector)
K = (0,0,1) (Z-axis unit vector)
4. Conversion of program coordinates using the table rotation axis

(1) Conversion from the workpiece coordinate system to the
table coordinate system using the table rotation axis
The table coordinate system is the one that is fixed to the
table.
The table coordinate system will move with the rotation of
the table coordinate system.
Determining the vector at Q requires that P and R in the same
state as that of Q (state at the N2 end point) be determined.
The matrixes for conversion from the workpiece coordinate
system to the table coordinate system are as follows:
The conversion matrix for P is M1−1 = Rc (c1 )−1
The conversion matrix for Q is M 2−1 = Rc (c2 )−1
The conversion matrix for R is M 3−1 = Rc (c3 )−1
écos c − sin c 0ù
where R (c) = ê sin c cos c 0úú
c ê
êë 0 0 1 úû
- 1140 -
(2) Calculation of the three points P', Q', and R' used for the
calculation of three-dimensional cutter compensation
The conversion matrix for the reference angle is given as
follows:
M 0 = Rc (c0 ) ( c0 : parameter No. 6150)
Conversion from the table coordinate system to the
workpiece coordinate system in the state of the N2 end point
is given by M 2 .
Let the values of the three points P, Q, and R in the state of
the N2 end point be P', Q', and R', then
P’ = M 2 M 1 −1 M 0 −1 (P-P0) + P0
Q’ = M 2 M 2 −1 M 0 −1 (Q-P0) + P0 = M 0 −1 (Q-P0) + P0
R’ = M 2 M 3 −1 M 0 −1 (R-P0) + P0
Using these three points P', Q', and R', three-dimensional

cutter compensation may be calculated.
If the reference angle is 0
Q' = Q
R
Y
P'
R'
X
Z
P Workpiece
coordinate system
5. Calculation of three-dimensional cutter compensation

(1) Conversion matrix for the tool rotation axis
Conversion due to the rotation of the tool rotation axis about
the tool axis having an angle of α (parameter No. 6084) is
represented by the following formula:
é 1 − (sin 2 α )(1 − cos a ) (cos α )(sin α )(1 − cos a ) (sin α )(sin a ) ù
ê ú
ROTα (a) = ê(cos α )(sin α )(1 − cos a ) 1 − (cos 2 α )(1 − cos a ) − (cos α )(sin a) ú
ê − (sin α )(sin a ) (cos α )(sin a) cos a ú
ë û
The conversion matrix for the reference angle is given by the
following:
N 0 = ROTα ( a0 ) ( a0 : parameter No. 6104)
(2) Creation of the basic vector of coordinate system C2 for
applying two-dimensional cutter compensation
Let the tool direction vector in the state of the N2 end point
be VT .
é(cos RA )(cos RB )ù
VT = ROTα (a2 ) N 0
−1 ê (cos R )(sin R ) ú
ê A B ú
êë − sin R A úû
- 1141 -
e2 is defined as follows. Note that e2 ⊥VT .

é − sin RB ù
e2 = ROTα (a2 ) N 0
−1 ê cos R ú
ê B ú
ëê 0 ûú
where RA : reference angle of the tool axis (RA) (parameter
No. 6106) and
RB : reference angle of the tool axis (RB) (parameter No.
6107)
The unit vector e3 satisfying e3⊥VT and e3⊥e2 may be given by
the following outer product calculation:
e3 = VT × e2
(3) Definition of coordinate system C2
Coordinate system C2 {O; e2 , e3 , e1 } is an Cartesian
coordinate system having
O = (0,0,0) as its origin and the following unit vectors as its
basic vectors:
e2
e3
e1 = VT
e3
Q’ R''
e1=VT
VD
P’ e3
e2
VD'
R’ P''
Z
Q''
e2
Y
X
Coordinate system C1 Coordinate system C2
(4) Coordinate system conversion matrix for conversion from

coordinate system C1 to coordinate system C2
The coordinate system conversion matrix for conversion
from coordinate system C1 to coordinate system C2 is
represented by the following formula:
ée 2 ù
N = êêe 3 úú
êë e1 úû
On the other hand, the coordinate system conversion matrix
for conversion from coordinate system C2 to coordinate
system C1 is represented by the following formula, using an
inversion matrix:
- 1142 -
[
N −1 = t e 2 t
e3 t
e1 ]
(5) Calculation of the coordinates P'', Q'', and R'' of P', Q', and R'
in coordinate system C2
P’’ = N P’
Q’’ = N Q’
R’’ = N R’
(6) Calculation of the intersection vector VD' on the

compensation plane {O; e2 , e3 } in coordinate system C2
The intersection vector VD' may be calculated using two
components of each of P'', Q'', and R'', omitting the e1
component (component in the tool direction).
The e1 component of VD' is regarded always 0.
The calculation method conforms to that used in two-
dimensional cutter compensation.
(7) Conversion of the intersection vector VD' from coordinate

system C2 to coordinate system C1
The vector VD' in coordinate system C2 may be converted to
vector VD in coordinate system C1.
VD = N −1 VD’
This vector, VD, is the three-dimensional cutter
compensation vector in the workpiece coordinate system in
the state of the N2 end point.
Parameters
- Parameters related to table rotation axes
6140 Axis number of linear axis 1 in cutter compensation for rotary table and in
three-dimensional cutter compensation for rotary table
[Input classification] Parameter input
[Data type] Integer type
[Valid data range] 1 to number of controlled axes
Set the axis numbers of the three linear axes used to execute cutter compensation
for rotary table and three-dimensional cutter compensation for rotary table.
(The linear axes correspond to the coordinate axes of the workpiece coordinate
system.)
- 1143 -
6143 Axis number of the rotation axis in cutter compensation for rotary table and
in three-dimensional cutter compensation for rotary table (first set)
6144 Axis number of the linear axis corresponding to the rotation axis in cutter
compensation for rotary table and in three-dimensional cutter compensation
for rotary table (first set)
6145 Axis number of the rotation axis in cutter compensation for rotary table and
in three-dimensional cutter compensation for rotary table (second set)
6146 Axis number of the linear axis corresponding to the rotation axis in cutter
for rotary table (second set)
Set the axis numbers of the rotation axes used to execute cutter compensation for
rotary table and three-dimensional cutter compensation for rotary table, as well as
the axis numbers of the linear axes corresponding to the rotations axes. For the
rotary table support of cutter compensation, up to two sets may be set. The
orientation of the rotation axis of the first set will vary with the angle of the rotation
axis of the second set. For a single rotation axis and for three-dimensional cutter
compensation for rotary table, set 0 in parameter No. 6145.
The axis number of the linear axis corresponding to the rotation axis refers to the
axis number of the linear axis about which the rotation axis is to rotate. See the
table below for details.
Linear axis about Setting of parameter No. Rotation direction of Direction of an angular
which the rotation axis 6144 or 6146 rotation axis displacement of 0
is to rotate degrees
Linear axis 1 Axis number of linear axis 1 Plus direction of linear axis Plus direction of linear axis
2 to the plus direction of 2
linear axis 3
linear axis 1
linear axis 2
If the rotation direction of the rotation axis is the opposite of that in the table above,
specify parameter No. 6143 or 6145 together with a minus sign.
If the direction of an angular displacement of 0 degrees differs from that in the
table above, specify parameters Nos. 6150 and 6151, using the angle of the
rotation axis in the direction in the table above as a reference angle.
- 1144 -
6150 Reference angle of the rotation axis in cutter compensation for rotary table
and in three-dimensional cutter compensation for rotary table (first set)
6151 Reference angle of the rotation axis cutter compensation for rotary table and
in three-dimensional cutter compensation for rotary table (second set)
setting table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the angles of the reference positions of the rotation axes used to execute cutter
compensation for rotary table and three-dimensional cutter compensation for rotary
table.
6154 Workpiece coordinates of origin of table coordinate system in cutter

for rotary table
[Minimum unit of data] Follows the increment system of the axis.
setting table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the workpiece coordinates of the origin of the table coordinate system used to
execute cutter compensation for rotary table and three-dimensional cutter
compensation for rotary table. Specify this parameter for each of the three axes
specified with parameters Nos. 6140 to 6142. The origin of the table coordinate
system must be the intersection of the two rotation axes.
- 1145 -
- Parameters related to tool rotation axes
6080 Rotation axis used to execute three-dimensional cutter compensation (first

set)
6081 Linear axis 1 used to execute three-dimensional cutter compensation (first set)
6082 Linear axis 2 used to execute three-dimensional cutter compensation (first set)
6083 Linear axis 3 used to execute three-dimensional cutter compensation (first

set)
Set the rotation axis and the linear axes used to execute three-dimensional cutter
compensation for rotary table, thermal growth compensation along tool vector , and
three-dimensional cutter compensation (first set).
6084 Angle of rotation axis used to execute three-dimensional cutter

compensation (first set)
setting table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the angle of the rotation axis used to execute three-dimensional cutter
compensation for rotary table, thermal growth compensation along tool vector, and
three-dimensional cutter compensation (first set).
- 1146 -
6085 Rotation axis used to execute three-dimensional cutter compensation

(second set)
6086 Linear axis 1 used to execute three-dimensional cutter compensation (second

set)
6087 Linear axis 2 used to execute three-dimensional cutter compensation (second

set)
6088 Linear axis 3 used to execute three-dimensional cutter compensation

(second set)
Set the rotation axis and the linear axes used to execute three-dimensional cutter
three-dimensional cutter compensation (second set).
6089 Angle of rotation axis used to execute three-dimensional cutter

compensation (second set)
setting table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the angle of the rotation axis used to execute three-dimensional cutter
three-dimensional cutter compensation (second set).
Parameters Nos. 6080 to 6089
First set Second set

Angle 6084 6089
- 1147 -
- Set the relationship between the rotation axis and the rotation plane.
- The relationship may be set for each of two sets. This enables setup of a
machine controlled with two rotation axes.
- The tool direction of the rotation axis of the first set is calculated first. Then,
using the result of the calculation, the tool direction of the rotation axis of the
second is calculated.
- If two rotation axes are used and the rotation of the other rotation axis causes
the rotation plane to vary, set the rotation plane assumed when the position of
the rotation axis is at 0 degrees.
- If only one rotation axis is used, set 0 for the rotation axis of the second set.
- Generally, the direction vector of a rotation axis has components in three
directions. This function supports vectors with components in a single
direction and those with components in two directions. See the following for
details:
A) If the components of the direction vector of a rotation axis are in a single
direction (type A)
This is a case in which the rotation axis rotates about any one of the three
basic axes.
1) Set the axis numbers for the rotation axis, linear axis 1, and linear
axis 2.
2) Set 0 for both linear axis 3 and the angle.
3) The rotation axis must satisfy the following:
- The rotation axis rotates about an axis orthogonal to the plane of
linear axes 1 and 2.
- The rotation of the rotation axis in the plus direction is its rotation
from the plus direction of linear axis 1 to the plus direction of
linear axis 2.
Z
C Y
- 1148 -
B) If the components of the direction vector of the rotation axis are in two
directions (type B)
This is a case in which the rotation axis rotates about an axis on the plane
formed by any two of the basic three axes.
1) Set the axis number for the rotation axis and linear axes 1, 2, and 3.
2) Linear axes 1, 2, and 3 are supposed to form a right-handed system in
that order.
3) The angle must satisfy the following:
- Rotation is on the plane of linear axes 3 and 1.
- The rotation of the angle in the plus direction is its rotation from the
plus direction of linear axis 3 to the plus direction of linear axis 1.
- The angle assumed at the time of a match with the direction of
linear axis 3 is 0 degrees.
4) The rotation axis must satisfy the following when the angle is 0
degrees:
- The rotation axis rotates about an axis orthogonal to the plane of
linear axes 1 and 2.
- The rotation of the rotation axis in the plus direction is its rotation
from the plus direction of linear axis 1 to the plus direction of
linear axis 2.
Z
B
Y
α
α : Angle
- 1149 -
6104 Reference angle of rotation axis used to execute three-dimensional cutter

compensation (first set)
6105 Reference angle of rotation axis used to execute three-dimensional cutter

compensation (second set)
[Valid data range] 9 digits of the minimum input increment. (See the standard parameter
setting table (A).)
(For IS-B, -999999.999 to +999999.999)
Set the reference angles of the rotation axes used to execute three-dimensional
cutter compensation for rotary table, thermal growth compensation along tool
vector, and three-dimensional tool compensation.
Set the angles of the rotation axes assumed when the tool direction (parameters Nos.
6106 to 6107).
Usually, set a value of 0.0.
6106 Reference angle of tool axis of plane of liner axes 2 and 3 (RA)
6107 Reference angle of tool axis of plane of liner axes 3 and 1 (RB)
setting table (A).
(For IS-B, -999999.999 to +999999.999)
Set the two angles RA and RB to specify the direction of the tool axis used to
execute three-dimensional cutter compensation for rotary table, thermal growth
compensation along tool vector, and three-dimensional cutter compensation.
Parameters Nos. 6106 and 6107
As the directions of compensation vectors, using the direction of linear axis 3 as a
reference, set the rotation angles (RA and RB) from that reference.
RA : Rotation in the plus direction is rotation from the plus direction of linear axis 2
to the plus direction of linear axis 3, assuming that the rotation is on the plane
of linear axes 2 and 3.
RB : Rotation in the plus direction is rotation from the plus direction of linear axis 3
to the plus direction of linear axis 1, assuming that the rotation is on the plane
of linear axes 3 and 1.
Linear axes 1, 2, and 3 are those axes that have been specified with parameters Nos.
6081 to 6083.
- 1150 -
If the tool axis is in the direction of linear axis 3

Linear axis 3
RA = 0.0
Linear axis 2
RB = 0.0
Linear axis 1
If the tool axis is in the direction of linear axis 1

Linear axis 3
RA = 0.0
Linear axis 2
RB = 90.0
Linear axis 1
Alarm and message

PS1070 ILLEGAL USE OF G41.5/G42.5 (1) The parameters related to three-dimensional cutter
compensation for rotary table are not specified properly.
(2) An attempt was made to issue the G39 command in the
mode of three-dimensional cutter compensation for
rotary table(G41.5/G42.5).
(3) An attempt was made to issue a move command other
than G00 and G01, such as G02, at the startup of
three-dimensional cutter compensation for rotary
table(G41.5/G42.5).
Reference
FANUC Series OPERATOR’S MANUAL II.14.14 Three-dimensional
15i/150i-MB (PROGRAMMING) Cutter Compensation
(B-63784EN)
- 1151 -
11.PROGRAM COMMAND B-63783EN-1/01
11 PROGRAM COMMAND
- 1152 -
B-63783EN-1/01 11.PROGRAM COMMAND
11.1 DECIMAL POINT PROGRAMMING/POCKET CALCULATOR

TYPE DECIMAL POINT PROGRAMMING
General
Numerical values can be entered with a decimal point. A decimal point
can be used when entering a distance, time, or speed. Decimal points
can be specified with the following addresses:
X, Y, Z, U, V, W, A, B, C, I, J, K, Q, R, F, S
There are two types of decimal point notation: calculator-type notation

and standard notation.
When calculator-type decimal point notation is used, a value without
decimal point is considered to be specified in millimeters, inches or
degree. When standard decimal point notation is used, such a value is
considered to be specified in least input increments. Select either
calculator-type or standard decimal point notation by using the DPI bit
(bit 0 of parameter 2400). Values can
be specified both with and without decimal point in a single program.
Program command Pocket calculator type Standard type decimal

decimal point point programming
programming
X1000 1000mm 1mm
Command value without Unit : mm Unit : Least input
decimal point increment (0.001 mm)
X1000.0 1000mm 1000mm
Command value without Unit : mm Unit : mm
decimal point
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2400 DPI

[Data type] Bit
#0 DPI If the decimal point is omitted in an address in which the decimal point
can be used:
0: The least input increment is assumed. (Ordinary decimal point
input)
1: The mm, inch, degree, and sec units are assumed. (Fixed decimal
point input)
- 1153 -
Alarm And message

PS0007 ILLEGAL USE OF DECIMAL POINT A decimal point (.) was specified at an address where no
decimal point may be specified, or two decimal points were
specified.
Reference item
Series15i/150i-MB Operator’s Manual II-8.4 Decimal point
(Programming) programming/pocket
(B-63784EN) calculator type decimal
point programming
- 1154 -
11.2 PROGRAM CONFIGURATION
General
A program consists of the following components:
Table. 11.2 Program components

Components Descriptions
Tape start Symbol indicating the start of a program file
Leader section Used for the title of a program file, etc.
Program start Symbol indicating the start of a program
Program section Commands for machining
Comment section Comments or directions for the operator
Tape end Symbol indicating the end of a program file
Leader section
Tape start % TITLE ; Program start
O0001 ;
Program section (COMMENT) Comment section
M30 ;
% Tape end
Fig. 11.2 Program components
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0000 CTV TVC

[Data type] Bit
#0 TVC Specifies whether TV check is performed.

0: Do not perform.
1: Perform.
#1 CTV Specifies whether characters are counted for TV check during control out.
0: Count.
1: Do not count.
- 1155 -
#7 #6 #5 #4 #3 #2 #1 #0
2200 NM9 NPE

[Data type] Bit
#3 NPE While a program is loaded, M02, M30, or M99 is:

0: Assumed to be a program end.
1: Not assumed to be a program end. In this case, the first block of the
program must contain the program number.
#4 NM9 While a program is loaded, M99 is:

0: Assumed to be a program end.
1: Not assumed to be a program end.
The setting of this parameter is valid only when NPE = 0. Namely, to
specify the parameter so that not M99, but M02 or M30 is assumed to be a
program end during program loading, set NPE to 0 and NM9 to 1.
#7 #6 #5 #4 #3 #2 #1 #0
7616 EXT

[Data type] Bit
#3 EXT Specifies whether to perform external device subprogram calls.

0: Do not perform.
1: Perform.
When a setting is made so that external device subprogram calls are not
performed, M198 is handled as an ordinary M code.
#7 #6 #5 #4 #3 #2 #1 #0
2404 SFL

[Data type] Bit
#5 SFL Specifies whether to specify a program number or file number for the
address P format in an external device subprogram call.
0: Specify a program number.
1: Specify a file number.
- 1156 -
2431 M code to execute external device subprogram calls

[Data type] Integer
Set the M code to execute external device subprogram calls. When 0 is
set, M198 is used. M01, M02, M30, M98, and M99 cannot be used to
execute external device subprogram calls. When a negative number, 1,
2, 30, 98, or 99 is set for this parameter, M198 is used to execute external
device subprogram calls.
Alarm And message

PS0590 TH ERROR A TH error was detected during reading from an input
device.
The read code that caused the TH error and how many
statements it is from the block can be verified in the
diagnostics screen.
PS0591 TV ERROR An error was detected during the single-block TV error.
The TV check can be suppressed by setting TVC
PS0592 END OF RECORD The EOR (End of Record) code is specified in the middle of
a block.
This alarm is also generated when the percentage at the
end of the NC program is read.
Reference item
Series15i/150i-MB Operator’s Manual II-12 Program configuration
(Programming)
(B-63784EN)
- 1157 -
11.3 INCH/METRIC CONVERSION
General
Either inch or metric input can be selected by G code.
Signal
Inch input signal INCH<F001#3>

[Function] This signal indicates that inch input mode is in progress.
[Output condition] "1"indicates that the inch input mode (G20) is in progress, and "0"
indicates that metric input mode (G21) is in progress.
This signal changes to the corresponding state when modes are
switched using the setting data display on the MDI panel.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 INCH
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 INI

[Data type] Bit
#0 INI Specifies whether the increment system is metric or in inches.

0: Metric input
1: Inch input
#7 #6 #5 #4 #3 #2 #1 #0
1002 INM

[Data type] Bit
NOTE
#1 INM Specifies whether the least command increment for the linear axis is
metric or in inches.
0: Metric. (The machine is a millimeter machine.)
1: Inches. (The machine is an inch machine.)
- 1158 -
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROP ROS ROT

[Data type] Bitaxis
NOTE

parameter No. 1260.
parameter No. 5425.
- 1159 -
#7 #6 #5 #4 #3 #2 #1 #0
2400 G70 F41

[Data type] Bit
#1 F41 If the feed per minute of F code (G94 mode) is entered in metric without
the decimal point, the unit is:
0: 1 mm/min
1: 0.1 mm/min
If it is entered with the decimal point, the unit is always mm/min.
NOTE
It is not effective if the increment system is IS-A.
#2 G70 Inch input and metric input are specified as shown below:
0: G20 (inch input) and G21 (metric input)
1: G70 (inch input) and G71 (metric input)
#7 #6 #5 #4 #3 #2 #1 #0
2203 MCN

[Data type] Bit

Note
NOTE
1 When the least input increment and the least
command increment systems are different, the
maximum error is half of the least command
increment. This error is not accumulated.
2 For the first G28 command after switching from inch
input to metric input or vice versa, low-speed
reference position return is performed.
3 Inch input and metric input can also be switched
using bit 0 (INI) of parameter No. 0010.
Reference item
Series15i/150i-MB Operator’s Manual II-8.3 Inch/metric system
(Programming) conversion
(B-63784EN)
- 1160 -
11.4 DIAMETER SPECIFICATION AND RADIUS SPECIFICATION
If the CNC is programmed to control a lathe, the dimension of the

workpiece, which generally has a round cross section, can be specified
by a diameter or radius.
A X
B R2
D1 D2 R1
D1 , D2 - - - - Diameter Specification
R1 , R2 - - - - Radius Specification
Diameter specification involves specifying the dimension with a

diameter while radius specification involves specifying the dimension
with a radius. Radius specification or diameter specification is
specified for each axis in the DIA bit (bit 3 of parameter 1006).
When selecting diameter specification for the X-axis, for instance, note
the conditions listed in the table below:
Item Description
X-axis command Specified by diameter
Incremental X-axis command Specified by diameter.
B and A in the figure shown above
are specified by D1 and D2.
Coordinate system specification (G92) The X-axis coordinate is specified
with a diameter.
Radius of circular interpolation (R, I, J, K) Specified with a radius
Feedrate in X-axis direction Change in radius per revolution
Change in radius per minute
X-axis position display Displayed by diameter
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA

[Data type] Bitaxis

Reference item
Series15i/150i-MB Operator’s Manual II-8.5 Diameter specification
(Programming) and radius specification
(B-63784EN)
- 1161 -
11. PROGRAM COMMAND B-63783EN-1/01
11.5 CUSTOM MACRO
11.5.1 Custom Macro
General
Although subprograms are useful for repeating the same operation, the
custom macro function also allows use of variables, arithmetic and
logic operations, and conditional branches for easy development of
general programs such as pocketing and user-defined canned cycles. A
machining program can call a custom macro with a simple command,
just like a subprogram.
Machining program Custom macro
O0001 ; O9010 ;
: #1=#18/2 ;
: G01 G42 X#1 Y#1 F300 ;
:
G65P9010 R50.0 L2 ; G02 X#1 Y-#1 R#1 ;
: :
: :
:
M30 ;
M99 ;
This means that a function of general use can be formed when

programming a certain function as a custom macro. That is, programs
can be written using variables for data that might change or be
unknown. This can be further applied to group technology.
Similar workpieces can be collected as a group and a universal custom
macro
body can be programmed using variables applicable to each group. In
this way,
programming is not required for the workpieces in the group.
The programmer only need to assign actual values to the variables.
γ β
α
- 1162 -
B-63783EN-1/01 11. PROGRAM COMMAND
Bolt hole circles as shown in the above figure can be made easily.
Once a custom macro body for the bolt hole circle is programmed and
registered, the CNC can operate as if it has the bolt hole circle cutting
function.
Programmers can use the bolt hole circle function by using the
following command only:
G65 Pp Rr Aα Bβ Kk ;
P : Macro number of bolt hole circle
r : Radius
α : Start angle
β : Angle between circles
k : Number of circles
Signal
Custom Macro Input Signal

UI000 to UI031<G048 to G051>, UI100 to UI131<G052 to G055>
UI200 to UI231<G056 to G059>, UI300 to UI331<G060 to G063>

[Function] No function is provided for the control unit. These signals can be read
by a custom macro as a type of system variable, and are used for
interface signals between custom macros and the PMC.
These signals correspond to system variables as indicated below.
Signals Q'ty Variables Correspondence of values
UI000 1 #1000
UI001 1 #1001
UI002 1 #1002
UI003 1 #1003 "0" at "0" and "1" at "1"
: : :
UI030 1 #1030
U031 1 #1031
*1
UI000 to UI031 32 #1032 32-bit binary code
*1
*1
*1
30
*1
Variable value #(1032+n) = å {2 ×V }− 2
i =0
i
i
31
× V31
Where Vi=0 when UIni is 0

and Vi=1 when UIni is 1
n : 0 to 3
These system variables cannot be used on the left-hand side of the

assignment statement.
- 1163 -
Custom Macro Output Signal

UO000 to UO031<F048 to F051>, UO000 to UO031<F052 to F055>
UO200 to UO231<F056 to F059>, UO300 to UO331<F060 to F063>

[Function] No function is provided for the control unit. These signals can be read
or written by a custom macro as a type of system variable, and are used
for interface signals between custom macros and the PMC.
These signals correspond to system variables as indicated below.
Signals Q'ty Variables Correspondence of values

UO000 1 #1100
UO001 1 #1101
UO002 1 #1102
UO003 1 #1103 "0" at "0" and "1" at "1"
: : :
UO014 1 #1114
UO015 1 #1115
*1
UO000 to UO031 32 #1132 32-bit binary code
*1
*1
*1
30
*1
Variable value #(1132+n) = å {2 ×V }− 2
i =0
i
i
31
× V31
Where Vi=0 when UOni is 0

and Vi=1 when UOni is 1
n : 0 to 3
These system variables can be used on the left side of an assignment
statement as well as on the right side.
The value assigned to the system variable used on the left side last is
used for the value of the system variable to be assigned on the right
side.
Cumulative cutting time count request signal CCT<G045#6>

[Function] This signal requests to count the cumulative cutting time during
[Operation] When this signal is "1" and parameter CTM (bit 4 of parameter No.
7710) is 1, the cumulative cutting time set in parameters (Nos. 103 and
104) are counted unconditionally.
- 1164 -
Signal address
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G045 CCT
G048 UI007 UI006 UI005 UI004 UI003 UI002 UI001 UI000
- 1165 -
#7 #6 #5 #4 #3 #2 #1 #0
F048 UO007 UO006 UO005 UO004 UO003 UO002 UO001 UO000
- 1166 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 SBM SB8 SB7

[Data type] Bit
macro statements.
macro statements.
#5 SBM Specifies whether to stop after each block of custom macro statements in
any program.
0: Do not stop after each block. However, when stopping is specified in
SB7 or SB8, stopping will occur in programs affected by these
parameters.
This bit is used to check programs containing custom macro statements.
#7 #6 #5 #4 #3 #2 #1 #0
0011 ND8 NE8

[Data type] Bit
#0 NE8 Specifies whether to permit editing of O8000 to O8999 programs.

0: Permit editing.
1: Do not permit editing.
- 1167 -
#1 ND8 Specifies whether to display the program being executed on the screen for
0: Display program being executed.
1: Do not display program being executed.
When there is no need to display custom macros or other programs being
executed, set this parameter to 1.
#7 #6 #5 #4 #3 #2 #1 #0
2201 SB9 ND9 NE9

[Data type] Bit
#0 NE9 Specifies whether editing programs 09000 to 09999 is prohibited.

0: Not prohibited
1: Prohibited
#1 ND9 Specifies whether programs 09000 to 09999 are displayed while they are
executed.
0: Displayed
1: Not displayed
#2 SB9 Specifies whether a single block stop is valid for the macro statements of
programs 09000 to 09999.
0: Not valid
1: Valid
NOTE
Specify 1 when you want to check programs 09000 to 09999
containing custom macro statements.
#7 #6 #5 #4 #3 #2 #1 #0
7000 PRT CLV GMP CVA MGE BCS SCS TCS

[Data type] Bit
#0 TCS Specifies whether to call subprograms with T codes.

0: Do not call with T codes.
1: Call with T codes.
#1 SCS Specifies whether to call subprograms with S codes.

0: Do not call with S codes.
1: Call with S codes.
- 1168 -
#2 BCS Specifies whether to call subprograms with the second auxiliary function
codes.
0: Do not call with the second auxiliary function codes.
1: Call with the second auxiliary function codes.
#3 MGE Specifies whether a G code modal call is made after movement or for each
block.
0: Make a call after movement (equivalent to G66).
1: Make a call for each block (equivalent to G66.1)
#4 CVA The format for macro call arguments is specified as follows:

0: Arguments are passed in NC format without modifications.
1: Arguments are converted to macro format then passed.
Example: When G65 P_ X10 ; is specified, the value in local variable #24 in
the calling program is set as follows:
Command CVA=0 CVA=1
#24 0.01 0.01
ADP[#24] 10.0 0.01
NOTE
External operations are the same unless the ADP function is used.
#5 GMP Specifies whether to allow M, S, T, and B codes to be called while G codes

are being called, and whether to allow G codes to be called while M, S, T,
and B codes are being called.
0: Allow.
1: Do not allow (executed as ordinary M, S, T, B, and G codes).
#6 CLV Specifies whether to clear custom macro common variables #100 through
#199 (cleared when the power is turned off) upon reset.
0: Do not clear.
1: Clear to null.
#7 PRT Specifies whether to output a space instead of a leading zero with

DPRNT.
0: Output a space.
1: Output nothing.
- 1169 -
#7 #6 #5 #4 #3 #2 #1 #0
7002 DPG

[Data type] Bit
#5 DPG Specifies whether to allow G codes with a decimal point to be called.

0: Do not allow.
1: Allow.
#7 #6 #5 #4 #3 #2 #1 #0
7003 DSM ATN

[Data type] Bit
#1 ATN Specifies the return value of the arctangent function ATAN (with two
arguments).
0: -180°≤ ATAN[y]/[x] ≤ 180°
1: 0°≤ ATAN[y]/[x] ≤ 360°
#2 DSM Specifies whether a system variable that can be specified (written) on the
let side can be rewritten on the custom macro screen through the MDI
unit.
0: Cannot be rewritten.
1: Can be rewritten.
#7 #6 #5 #4 #3 #2 #1 #0
7004 ISO

[Data type] Bit
#1 ISO
0: When EIA codes are used, set in parameter No. 7010 through No.
7018 the bit patterns of codes specified instead of [, ], #, *, =, ?, @, &,
and _.
1: When ISO/ASCII codes are used, set in parameter No. 7010 through
No. 7018 the bit patterns of codes specified instead of [, ], #, *, =, ?, @,
&, and _.
- 1170 -
#7 #6 #5 #4 #3 #2 #1 #0
7010 [7 [6 [5 [4 [3 [2 [1 [0
7011 ]7 ]6 ]5 ]4 ]3 ]2 ]1 ]0
7012 #7 #6 #5 #4 #3 #2 #1 #0
7013 *7 *6 *5 *4 *3 *2 *1 *0
7014 =7 =6 =5 =4 =3 =2 =1 =0
7015 ?7 ?6 ?5 ?4 ?3 ?2 ?1 ?0
7016 @7 @6 @5 @4 @3 @2 @1 @0
7017 &7 &6 &5 &4 &3 &2 &1 &0
7018 _7 _6 _5 _4 _3 _2 _1 _0

[Data type] Bit
[0 to [7 : The bit pattern of the EIA or ISO/ASCII code indicating [ is set.

]0 to ]7 : The bit pattern of the EIA or ISO/ASCII code indicating ] is set.
#0 to #7 : The bit pattern of the EIA or ISO/ASCII code indicating # is set.
*0 to *7 : The bit pattern of the EIA or ISO/ASCII code indicating * is set.
=0 to =7 : The bit pattern of the EIA or ISO/ASCII code indicating = is set.
?0 to ?7 : The bit pattern of the EIA or ISO/ASCII code indicating ? is set.
@0 to @7 : The bit pattern of the EIA or ISO/ASCII code indicating @ is set.
&0 to &7 : The bit pattern of the EIA or ISO/ASCII code indicating & is set.
_0 to _7 : The bit pattern of the EIA or ISO/ASCII code indicating _ is set.
0: A corresponding bit is 0.
1: A corresponding bit is 1.
- 1171 -
7036 Start number of common variables to be protected among the common

variables (#500 to #999)
7037 End number of common variables to be protected among the common


[Data type] Integer
Among the common variables (#500 to #999), the range of common
variables specified by this parameter can be protected (by setting their
attributes to read-only). If a write attempt (on the left side) is made, an
NOTE
Set 0 in both parameter No. 7036 and No. 7037 not to protect
common variables.
7038 Start number of common variables to be protected among the common

7039 End number of common variables to be protected among the common


[Data type] Integer
Among the common variables (#200 to #499), the range of common
variables specified by this parameter can be protected (by setting their
attributes to read-only). If a write attempt (on the left side) is made, an
NOTE
Set 0 in both parameter No. 7036 and No. 7037 not to protect
common variables. This parameter has no effect when the
option for 900 common variables is not selected.
- 1172 -
7050 G code used to call the custom macro of program number 9010

[Data type] Integer
[Valid data range] (From -999 though 999 excluding 0, 5, 65, 66 and 67)
Set the G codes used to call the custom macros of program numbers 9010
through 9019. However, note that when a negative value is set in this
parameter, it becomes a modal call. For example, if this parameter is
set to -11, the modal call mode is entered by G11. Whether the modal
call is equivalent to G66 or G66.1 depends on bit 3 (MGE) of parameter
No. 7000.
- 1173 -
7060 G code with a decimal point used to call the custom macro of program
number 9040
number 9041
number 9042
number 9043
number 9044
number 9045
number 9046
number 9047
number 9048
number 9049

[Data type] Integer
Set the G codes used to call the custom macros of program numbers 9040 through
9049. However, note that when a negative value is set in this parameter, it
becomes a modal call. For example, if this parameter is set to -11, the modal call
mode is entered by G1.1. Whether the modal call is equivalent to G66 or G66.1
depends on bit 3 (MGE) of parameter No. 7000. Set G codes in the format Gm.n.
The value expressed by (m*10+n) is set in the parameter. The values m and n
must satisfy the following relationships: 0 ≤ m ≤ 99, 0 ≤ n ≤ 9.
- 1174 -
7071 M code used to call the subprogram of program number 9001

[Data type] Integer
[Valid data range] (From 3 through 99999999 excluding 30, 98 and 99)
Set the M codes used to call the subprograms of program numbers 9001
through 9009.
NOTE
If the same M code is set in these parameters, the younger
number is called preferentially. For example, if 100 is set in
parameter No. 7071 and 7072, and programs O9001 and O9002
both exist, O9001 is called when M100 is specified.
- 1175 -
7080 M code used to call the custom macro of program number 9020

[Data type] Integer
[Valid data range] (From 3 through 99999999 excluding 30, 98 and 99)
Set the M codes used to call the custom macros of program numbers 9020 through
9029. The simple call mode is set.
NOTE
1 If the same M code is set in these parameters, the younger
number is called preferentially. For example, if 200 is set in
parameter No. 7081 and No. 7082, and programs O9021 and
O9022 both exist, O9021 is called when M200 is specified.
2 If the same M code is set in a parameter (No. 7071 to No. 7079)
used to call subprograms and in a parameter (No. 7080 to No.
7089) used to call custom macros, a custom macro is called
preferentially. For example, if 300 is set in parameter No. 7071
and No. 7081, and programs O9001 and O9021 both exist,
O9021 is called when M300 is specified.
- 1176 -
7090 Start G code used to call a custom macro
7091 Start program number of a custom macro called by G code
7092 Number of G codes used to call custom macros

[Data type] Integer
[Valid data range] No.7090 : -999 to 999
No.7091 : 1 to 99999999
No.7092 : 0 to 255
Set this parameter to define multiple custom macro calls using G codes at a time.
With G codes as many as the value set in parameter No. 7092 starting with the G
code set in parameter No. 7090, the custom macros of program numbers as many as
the value set in parameter No. 7092 starting with the program number set in 7091
can be called. Set 0 in parameter No. 7092 to disable this mode of calling.
If a negative value is set in parameter No. 7090, the modal call mode is entered.
Whether the modal call is equivalent to G66 or G66.1 depends on bit 3 (MGE) of
parameter No. 7000.
Example 1:
When parameter No. 7090 = 900, parameter No. 7091 = 10000000, and
parameter No. 7092 = 100 are set, a set of 100 custom macro calls (simple calls)
is defined as follows:
G900 -> O10000000
G901 -> O10000001
G902 -> O10000002
:
G999 -> O10000099
When the setting of parameter No. 7090 is changed to -900, the same set of custom
macro calls (modal calls) is defined.
NOTE
1 When the following conditions are satisfied, all calls using these
parameters are disabled:
(1) When a value not within the specifiable range is set in each
parameter
(2) (Value of parameter No. 7091 + value of parameter No.
97092 - 1) > 99999999
2 The specification of a mixture of simple calls and modal calls is
not allowed.
3 If a range of G codes set by these parameters duplicate G codes
specified in parameter No. 7050 through No. 7059, the calls
specified by parameter No. 7050 through 7059 are made
preferentially.
- 1177 -
7093 Start G code with a decimal point used to call a custom macro
7094 Start program number of a custom macro called by G code with a decimal point
7095 Number of G codes with a decimal point used to call custom macros

[Data type] Integer
[Valid data range] No.7093 : -999 to 999
No.7094 : 1 to 99999999
No.7095 : 0 to 255
Set this parameter to define multiple custom macro calls using G codes with a
decimal point at a time. With G codes with a decimal point as many as the value
set in parameter No. 7095 starting with the G code with a decimal point set in
parameter No. 7093, the custom macros of program numbers as many as the value
set in parameter No. 7095 starting with the program number set in 7094 can be
called. Set 0 in parameter No. 7095 to disable this mode of calling.
If a negative value is set in parameter No. 7093, the modal call mode is entered.
Whether the modal call is equivalent to G66 or G66.1 depends on bit 3 (MGE) of
parameter No. 7000.
Example:
parameter No. 7095 = 100 are set, a set of 100 custom macro calls (simple calls)
is defined as follows:
G90.0 -> O20000000
G90.1 -> O20000001
G90.2 -> O20000002
:
G99.9 -> O20000099
When the setting of parameter No. 7093 is changed to -900, the same set of custom
macro calls (modal calls) is defined.
NOTE
parameter
7095 - 1) > 99999999
(3) When bit 5 (DPG) of parameter No. 7002 = 0 (to disable
calls using G codes with a decimal point)
2 The specification of a mixture of simple calls and modal calls is
not allowed.
3 If a range of G codes set by these parameters duplicate G codes
preferentially.
- 1178 -
7096 Start M code used to call a subprogram
7097 Start program number of a subprogram called by M code
7098 Number of M codes used to call subprograms (number of subprograms

called by M codes)

[Data type] Integer
[Valid data range] No.7096 : 3 - 99999999
No.7097 : 1 - 99999999
No.7098 : 0 - 32767
Set this parameter to define multiple subprogram calls using M codes at a time.
With M codes as many as the value set in parameter No. 7098 starting with the M
code set in parameter No. 7096, the subprograms of program numbers as many as
Example 1:
parameter No. 7098 = 100 are set, a set of 100 subprogram calls is defined as
follows:
M80000000 -> O30000000
M80000001 -> O30000001
M80000002 -> O30000002
:
M80000099 -> O30000099
NOTE
parameter
7098 - 1) > 99999999
2 If a range of M codes set by these parameters duplicate M codes
preferentially.
- 1179 -
7099 Start M code used to call a custom macro
7100 Start program number of a custom macro called by M code
7101 Number of M codes used to call custom macros (number of custom macros
called by M codes)

[Data type] Integer
[Valid data range] No.7099 : 3 - 99999999
No.7100 : 1 - 99999999
No.7101 : 0 - 32767
Set this parameter to define multiple custom macro calls using M codes at a time.
With M codes as many as the value set in parameter No. 7101 starting with the M
code set in parameter No. 7099, the custom macros of program numbers as many as
Example:
parameter No. 7101 = 100 are set, a set of 100 custom macro calls (simple calls) is
defined as follows:
M90000000 -> O40000000
M90000001 -> O40000001
M90000002 -> O40000002
:
M90000099 -> O40000099
NOTE
parameter
7101 - 1) > 99999999
2 If a range of M codes set by these parameters duplicate M codes
preferentially.
- 1180 -
#7 #6 #5 #4 #3 #2 #1 #0
7710 CTM

[Data type] Bit
#4 CTM Specifies the count condition for cumulative cutting time parameters (Nos.
103 and 104) during automatic operation, as follows:
0: Condition a
1: Condition b
Condition a (CTM = 0) Condition b (CTM = 1)
CCT<G045#6>=”0” CCT<G045#6>=”1”
G01/G02/G03 command block G01/G02/G03 command block Unconditional
being executed being executed
Dry run not specified Dry run not specified
(Signal DRN<G004#1> = "0") (Signal DRN<G004#1> = "0")
Machine lock not specified Machine lock not specified
(Signal MLK<G004#7> = "0") (Signal MLK<G004#7> = "0")
Interlock state not specified Interlock state not specified
(Signals *IT<G000#0>, (Signals *IT<G000#0>,
*AIT<G001#0>, *IT1<G64#4>, *AIT<G001#0>, *IT1<G64#4>,
*IT2<G68#4>, ..., *IT2<G68#4>, ...,
*BSL<G001#1>, and *BSL<G001#1>, and
*CSL<G000#1> are all "1", *CSL<G000#1> are all "1",
where *IT1, *IT2, ... represent where *IT1, *IT2, ... represent
the axes of interest.) the axes of interest.)
A feedrate override value is not
0%.
(Signals *FV0 to *FV<G012>)
The second feedrate override
value is not 0%.
(Signals *AFV0 to
*AFV7<G013>/*AFV0B to
*AFV15B<G146 to G147>)
One of the spindle stop
confirmation signals (SPSTPA
to SPSTPD<G026#0, G272#0,
G273#0, and G274#0>) for all
spindles is "0".
If CTM = 1 (condition b), setting the cumulative cutting time count request signal CCT<G045#6> to
"1" nullifies the count conditions for the cumulative cutting time parameters (Nos. 103 and 104).
- 1181 -
Alarm And message

PS0090 DUPLICATE NC,MACRO An NC statement and macro statement were specified in
STATEMENT the same block.
PS0091 DUPLICATE SUB-CALL WORD More than one subprogram call instruction was specified in
the same block.
PS0092 DUPLICATE MACRO-CALL WORD More than one macro call instruction was specified in the
same block.
PS0093 DUPLICATE NC-WORD & M99 An address other than O, N, P or L was specified in the
same block as M99 during the macro modal call state.
PS0094 USE 'G' AS ARGUMENT Address G was used as the argument of a custom macro
call. Address G can be used as the argument in individual
block call (G66.1).
PS0095 TOO MANY TYPE-2 ARGUMENT More than ten sets of I, J and K arguments were specified in
the type-II arguments (A, B, C, I, J, K, I, J, K, ...) for custom
macros.
PS0096 ILLEGAL VARIABLE NAME An illegal variable name was specified.
A code that cannot be specified as a variable name was
specified.
[#_OFSxx] does not match the tool offset memory option
configuration.
PS0097 TOO LONG VARIABLE NAME The specified variable name is too long.
PS0098 NO VARIABLE NAME The specified variable name cannot be used as it is not
registered.
PS0099 ILLLEGAL SUFFIX [ ] A suffix was not specified to a variable name that required a
suffix enclosed by [ ].
A suffix was specified to a variable name that did not
require a suffix enclosed by [ ].
The value enclosed by the specified [ ] was out of range.
PS0100 CANCEL WITHOUT MODAL CALL Call mode cancel (G67) was specified even though macro
continuous-state call mode (G66) was not in effect.
PS0110 OVERFLOW :INTEGER An integer went out of range during arithmetic calculations.
PS0111 OVERFLOW :FLOATING A decimal point (floating point number format data) went
out of range during arithmetic calculations.
PS0112 ZERO DIVIDE An attempt was made to divide by zero in a custom macro.
PS0114 VARIABLE NO. OUT OF RANGE An illegal No. was specified in a local variable, common
variable or a system variable in a custom macro.
A non-existent custom macro variable No. was specified in
the EGB axis skip function (G31.8), or there are not enough
custom macro variables for storing the skip position.
PS0115 READ PROTECTED VARIABLE An attempt was made in a custom macro to use on the right
side of an expression a variable that can only be used on
the left side of an expression.
PS0116 WRITE PROTECTED VARIABLE An attempt was made in a custom macro to use on the left
side of an expression a variable that can only be used on
the right side of an expression.
PS0118 TOO MANY BRACKET NESTING Too many brackets "[]" were nested in a custom macro.
The nesting level including function brackets is 5.
PS0119 ARGUMENT VALUE OUT OF RANGE The value of an argument in a custom macro function is out
of range.
PS0121 OO MANY SUB,MACRO NESTING The total number of subprogram and macro calls exceeds
the permissible range.
Another subprogram call was executed during an external
memory subprogram call.
- 1182 -

PS0122 TOO MANY MACRO NESTING Too many macro calls were nested in a custom macro. The
nesting level is 5.
PS0123 MISSING END STATEMENT The END instruction corresponding to the DO instruction
was missing in a custom macro.
PS0124 MISSING DO STATEMENT The DO instruction corresponding to the END instruction
was missing in a custom macro.
PS0125 ILLEGAL EXPRESSION FORMAT The format used in an expression in a custom macro
statement is in error. The parameter tape format is in error.
PS0126 ILLEGAL LOOP NUMBER DO and END Nos. in a custom macro are in error, or
exceed the permissible range (valid range: 1 to 3).
PS0128 SEQUENCE NUMBER OUT OF The jump destination sequence No. in a custom macro
RANGE statement GOTO instruction was out of range (valid range:
1 to 99999999).
PS0131 MISSING OPEN BRACKET The number of left brackets ([) is less than the number of
right brackets (]) in a custom macro statement.
PS0132 MISSING CLOSE BRACKET The number of right brackets (]) is less than the number of
left brackets ([) in a custom macro statement.
PS0133 MISSING '=' An equal sign (=) is missing in the arithmetic calculation
instruction in a custom macro statement.
PS0134 MISSING ',' A delimiter (,) is missing in a custom macro statement.
PS0135 MACRO STATEMENT FORMAT The format used in a macro statement in a custom macro is
ERROR in error.
PS0137 IF STATEMENT FORMAT ERROR The format used in the IF statement in a custom macro is in
error.
PS0138 WHILE STATEMENT FORMAT The format used in the WHILE statement in a custom
ERROR macro is in error.
PS0139 SETVN STATEMENT FORMAT The format used in the SETVN statement in a custom
ERROR macro is in error.
PS0141 ILLEGAL CHARACTER IN VAR. The SETVN statement in a custom macro contacts a
NAME character that cannot be used in a variable name.
PS0142 TOO LONG V-NAME (SETVN) The variable name used in a SETVN statement in a custom
macro exceeds 8 characters.
PS0143 BPRNT/DPRNT STATEMENT The format used in the BPRINT statement or DPRINT
FORMAT ERROR statement is in error.
Caution
CAUTION
Machine tool builders: You are requested to attach
your custom macro program tape or program list to
the CNC unit without fail.
If it is necessary to replace part program storage
memory due to a failure, FANUC servicemen or end
user in charge of maintenance should know the
contents of your custom macro for the purpose of
repairing the trouble immediately.
Reference item
Series15i/150i-MB Operator’s Manual II-17 Custom macro
(Programming)
(B-63784EN)
- 1183 -
11.5.2 Interruption Type Custom Macro
General
When a program is being executed, another program can be called by
inputting an interrupt signal (UINT) from the machine. This function is
referred to as an interruption type custom macro function. Program an
interrupt command in the following format:
M96Pxxxxxxxx ; Enables custom macro interrupt

M97; Disables custom macro interrupt
Use of the interruption type custom macro function allows the user to
call a program during execution of an arbitrary block of another
program. This allows programs to be operated to match situations
which vary from time to time.
(1) When a tool abnormality is detected, processing to handle the
abnormality is started by an external signal.
(2) A sequence of machining operations is interrupted by another
machining operation without the cancellation of the current
operation.
(3) At regular intervals, information on current machining is read.
Listed above are examples like adaptive control applications of
the interruption type custom macro function.
M96 Pxxxxxxxx;
Interrupt signal
(UINT) O xxxxxxxx;
Interrupt signal
(UINT) *
M99 (Qxxxxxxxx) ;
Nxxxxxxxx ;
M97 ; Interrupt signal

(UINT) *
Fig. 11.5.2 Interruption type custom macro function
When M96Pxxxx is specified in a program, subsequent program

operation can be interrupted by an interrupt signal (UINT) input to
execute the program specified by Pxxxx.
When the interrupt signal (UINT, marked by * in Fig. 11.5.2 is input
during execution of the interrupt program or after M97 is specified, it is
ignored.
- 1184 -
Additional functions for Interruption type custom macro
- Function that makes an interrupt custom macro valid when the

power is turned on (if bit 2 of parameter No. 7004 is 1).
- Function that prevents an interrupt custom macro from being
made invalid (if bit 2 of parameter No. 7004 is 1).
- Function that ensures that the modal information in an interrupt
custom macro program is inherited even if control returns from
the last M99 in that interrupt custom macro program to the
original program (if bit 3 of parameter No. 7004 is 1).
- Function that, when a programmable mirror image is effective,
allows execution to continue without issuing an alarm if an
interrupt custom macro is called and the custom macro program
contains an NC statement (if bit 4 of parameter No. 7004 is 1).
Signal
Interrupt Signal for Custom Macro UINT<G000#2>

[Function] This signal calls and executes a program in memory.
During execution, a program in automatic operation is suspended.
To enable this signal to be accepted, a particular miscellaneous
function must be specified in a command program for automatic
operation. In addition, automatic operation must already be started to
accept this signal.
The particular miscellaneous function code is set by parameter 7033.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 UINT
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7002 MIN TSE MPR MSB MUS

[Data type] Bit
#0 MUS Specifies whether to use interrupt-type custom macros.

0: Do not use.
1: Use.
- 1185 -
#1 MSB Specifies whether local variables used in the interrupt program are the
same as those in the main program.
0: Local variables are different from those in the main program (macro
type).
1: Local variables are the same as those in the main program
(subprogram type).
#2 MPR Specifies M codes that are used to enable or disable interrupt-type custom
macros.
0: M96/M97
1: M code set in a parameter (parameter No. 7033 or No. 7034)
#3 TSE Specifies whether to use an edge trigger or status trigger to accept the
custom macro interrupt signal.
0: Use an edge trigger (rising edge).
1: Use a status trigger.
#4 MIN Specifies when to execute CNC statements in the interrupt program.

0: Execute CNC statements by interrupting the block being executed of
the interrupted program (type 1).
1: Execute CNC statements after the current block of the interrupted
program has been executed (type 2).
#7 #6 #5 #4 #3 #2 #1 #0
7004 NAM MIM MIP

#2 MIP When the power is turned on, an interrupt custom macro:

0: Remains invalid. (An interrupt custom macro is made invalid with a
reset.)
1: Is made valid. (The validity of an interrupt custom macro remains
unchanged with a reset.)
Note) If the setting is changed, the change will take effect the next time
- 1186 -
#3 MIM When control returns from the last M99 in an interrupt custom macro
program to the original program, the modal information is:
0: Not inherited.
1: Inherited.
#4 NAM When a programmable mirror image is effective, if an interrupt custom

macro is executed but the custom macro program contains an NC
statement,
0: An alarm is issued.
1: An alarm is not issued, but execution continues.
7033 M code for turning on custom macro interrupt
7034 M code for turning off custom macro interrupt

[Data type] Integer
[Valid data range] From 3 through 99999999 (excluding 30, 98 and 99)
When bit 2 (MPR) of parameter No. 7002 is set to 1, that is, when a
parameter is used to set an M code for enabling/disabling interrupt-type
custom macros, set such an M code in this parameter.
7102 Interrrupt custom macro program number

[Unit of data] None
Specify the number of the interrupt custom macro program to be made valid if bit 2
of parameter No. 7004 is 1 when the power is turned on.
If the setting of this parameter is changed, the change will take effect the next time
Caution
CAUTION
1 If the setting of bit 3 of parameter No. 7004 and the
settings of parameter No. 7102 are changed, the
changes will take effect the next time the power is
turned on.
2 To perform programmable mirror image using these
functions, set bits 3 and 4 of parameter No. 7004 to 1.
- 1187 -
Alarm And message

PS0101 ILLEGAL CNC STATEMENT IRT. An interrupt was made in a state where a custom macro
interrupt containing a move instruction could not be
executed.
Reference item
Series15i/150i-MB Operator’s Manual II-17.14 Interruption type custom
(Programming) macro
(B-63784EN)
- 1188 -
11.6 CANNED CYCLE SPINDLE CONTROL
General
Canned cycles make it easier for the programmer to create programs.
With a canned cycle, a frequently-used machining operation can be
specified in a single block with a G function; without canned cycles,
normally more than one block is required. In addition, the use of
canned cycles can shorten the program to save memory.
For operation in a canned cycle, refer to the operator's manual. This
section explains those functions requiring spindle control.
- Types of spindle control

There are two types of canned cycles, as follows, depending on the
signals used for spindle control in a canned cycle:
Canned cycle I : Dedicated signals (such as SSP and SRV) are used.
Canned cycle II : Ordinary miscellaneous functions (such as M03 and
M05) are used.
The canned cycle type to be used is selected by bit 0 (FXB) of
parameter No. 6201.
Canned cycle
- Functions require spindle control

The following four functions require spindle control:
Table. 11.6 (a) Functions require spindle control for canned cycle I
G code Operation on the hole bottom Use
G74 Spindle CW Left-hand tapping
G84 Spindle CCW Tapping
G86 Spindle stop Boring
G88 Dwell → spindle stop Boring
NOTE
1 The fine boring cycle (G76) requires spindle
orientation. Since no special signals are provided
for spindle orientation, this cycle cannot be used in
canned cycle I.
2 G87 is used as an ordinary boring cycle; it is not
used as the back boring cycle that requires spindle
orientation. Therefore, spindle control is not
required in canned cycle I.
- 1189 -
- Basic transmission procedure

The following four functions require spindle control:
Table. 11.6 (b) Dedicated Signals for Spindle Control

Function Input signal Output signal
Spindle stop SSP
Reverse spindle rotation SRV
Canned cycle auxiliary signal read FMF
Canned cycle auxiliary signal FFIN
completion
Procedure when the SSP or SRV signal is set to 1

1. The CNC sets SSP or SRV to 1 at the necessary positions in a
canned cycle.
2. When SSP or SRV is set to 1, the PMC must perform the
following:
- When SSP is set to 1, stops the spindle.
- When SRV is set to 1, rotates the spindle in the reverse direction.
3. At the same time as when setting SSP or SRV to 1, the CNC sets
the canned cycle auxiliary signal FMF to 1.
4. After completing an appropriate operation, the PMC must set the
canned cycle auxiliary signal completion signal FFIN to 1.
5. When the FFIN signal is set to 1, the CNC sets the auxiliary
function read signal FMF to 0 to notify the PMC of the reception
of the FFIN signal.
6. When the FMF signal is set to 0, the PMC must set the completion
signal FFIN to 0.
7. When the FFIN signal is set to 0, the CNC proceeds to the next
operation.
The above procedure is usually used. When bit 6 (NFM) of parameter

No. 6201 is set to 1, confirmation steps 3 to 7 are omitted.
Procedure when the SSP or SRV signal is set to 0

Generally, the SSP and SRV signals can just be set to 0; no
confirmation steps are performed. By setting bit 5 (FM2) of parameter
No. 6201 to 1, however, confirmation steps 3 to 7, mentioned above,
can also be performed.
When many holes spaced at short intervals are to be machined, the
spindle speed may not reach the required level before the start of
machining for the next hole. In such cases, the above parameter is set.
In this case, both the SSP and SRV signals are in the 0 state. Check that
the operation corresponding to the signal state is completed, then set
the FFIN signal to 1.
- 1190 -
Using the FIN signal instead of the FFIN signal

When bit 4 (FIN) of parameter No. 6201 is set to 1, completion signal
FIN, normally used for ordinary auxiliary functions, can be used
instead of the FFIN signal. In this case, the FIN signal is also used as
the completion signal for functions such as miscellaneous functions
and tool functions. So, some conditions need to be established on the
PMC.
The following shows the timing charts for canned cycles:
- Canned cycle I (G74 : Left-hand tapping cycle)
X,Y
X,Y
+Z +R
Z
-R -Z
SRV
FMF
FFIN
Spindle CCW CW CCW

rotation
SRV is set to 1 when distribution for -Z cutting feed has terminated.

SRV is set to 1 before the delay incurred in acceleration/deceleration
and that incurred by the servo are eliminated. (The in-position check is
not performed.)
- Canned cycle I (G84 : Tapping cycle)

This cycle is the same as the G74 cycle except that the direction of
spindle rotation is reversed.
- 1191 -
- Canned cycle I (G86 : Boring cycle)
X,Y
X,Y
+Z +R
Z
-R -Z
SSP
FMF
FFIN
Stop
Spindle CW CW
rotation
- Canned cycle I (G88 : Boring cycle)

This cycle is the same as the G86 cycle except that dwell is inserted
after -Z cutting.
Canned cycle II
- Functions requiring spindle control

The following six functions require spindle control:
Table. 11.6 (c) Functions Requiring Spindle Control in Canned Cycle II

G code Operation at hole bottom Use
G74 Forward spindle rotation Reverse tapping
G76 Spindle orientation Fine boring
G84 Reverse spindle rotation Tapping
G86 Spindle stop Boring
G87 Forward spindle rotation Back boring
G88 Dwell -> spindle stop Boring
- Miscellaneous functions used

To control the spindle, the following ordinary miscellaneous functions
are used:
Table. 11.6 (d) Miscellaneous Functions for Spindle Control

M code Function
M03 Forward spindle rotation
M04 Reverse spindle rotation
M05 Spindle stop
M19 Spindle orientation
Other miscellaneous functions cannot be used to implement the

functions listed above.
- 1192 -
- Sending M05 when rotating the spindle in the reverse direction

When the spindle is rotated in the reverse direction (from M03 to M04
or vice versa), whether to send M05 can be selected by setting bit 1
(NM5) of parameter No. 6201.
- Canned cycle II (G84 : Tapping cycle)
X,Y
X,Y
+Z +R
Z
-R -Z
DEN
M05 M04 M05 M03

M code
MF
FIN
FMF
- Canned cycle II (G74 : Reverse tapping cycle)

This cycle is the same as the G84 cycle except that M03 and M04 are
switched.
- Canned cycle II (G86, G88 : Boring cycle)
X,Y
X,Y
+Z,+R
Z
-R -Z
DEN
M05 M03
M code
MF
FIN
- 1193 -
- Canned cycle II (G87 : Back boring cycle)
Shift Shift
X,Y Reverse shift Reverse shift
X,Y
+Z
Z
-R Initial point
DEN
M05 M19 M03 M05 M19 M03

M code
MF
FIN
- Canned cycle II (G76 : Fine boring cycle)
Shift
X,Y Reverse shift
X,Y
+Z,+R
Z
-R -Z
DEN
M05 M19 M03

M code
MF
FIN
Signal
Canned cycle spindle stop command signal SSP<F008#7>

[Function] Specifies stopping of the spindle.
While this signal is 1, the spindle stopped state must be maintained and,
when the signal is set to 0, the previous state must be restored.
[Output condition] See the basic transmission procedure for canned cycle I.
Canned cycle spindle reverse command signal SRV<F008#6>

[Function] Specifies reversal of the spindle rotation direction.
While this signal is 1, the reversed spindle rotation state must be
maintained and, when the signal is set to 0, the previous state must be
restored.
- 1194 -
Canned cycle auxiliary signal read signal FMF<F008#5>

[Function] Enables read of the spindle stop command signal and spindle reverse
command signal.
By means of handshaking using this signal and the FFIN signal, the
completion of spindle stop or reverse spindle rotation is posted.
Canned cycle auxiliary signal completion signal FFIN<G005#2>

[Function] Posts that execution of the spindle stop signal or reverse spindle
rotation signal has been completed.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 FFIN
#7 #6 #5 #4 #3 #2 #1 #0
F008 SSP SRV FMF
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 TDR

[Data type] Bit
#1 TDR Specifies whether dry runs can be performed for the threading and
tapping commands.
#7 #6 #5 #4 #3 #2 #1 #0
6200 EXC UIL FCU SIJ DWL FXY

[Data type] Bit
#0 FXY Specifies whether the drilling axis in a canned cycle is the Z-axis at all
times or an axis selected by the program.
0: Z-axis at all times
1: Axis selected by the program
- 1195 -
#1 DWL Specifies whether a P-based dwell command in a tapping canned cycle is

valid.
0: Not valid.
1: Valid.
#2 SIJ Specifies how to set the tool retraction direction and distance after
spindle orientation in a fine boring or back boring canned cycle.
0: Set the tool retraction direction by parameter No. 6240, and set the
distance in the program (Q).
1: Set the tool retraction direction and distance in the program (I, J, K).
#3 FCU Specifies how to make a movement to a drilling position in a canned cycle.

0: Always use rapid traverse.
1: Use rapid traverse in the positioning mode (G00), and use linear
interpolation in other modes (G01, G02, G03).
#4 UIL Specifies whether to change the initial level position when the origin is
set through the MDI unit in a canned cycle.
0: Do not change.
1: Change. The position set through the MDI unit becomes the initial
level position.
#5 EXC Specifies whether G81 is used to specify a canned cycle or external

operation command.
0: G81 specifies a canned cycle.
1: G81 specifies an external operation command.
#7 #6 #5 #4 #3 #2 #1 #0
6201 NFM FM2 FIN NM5 FXB

[Data type] Bit
#0 FXB Specifies how to control the spindle in a canned cycle.

0: Control the spindle by using the spindle stop command signal (SSP)
and the spindle reverse rotation command signal (SRV) (canned cycle
I) instead of using M codes.
1: Control the spindle by using M codes (M03, M04, M05) (canned cycle
II).
- 1196 -
#1 NM5 Specifies whether to output M05 when the direction of rotation of the
spindle is changed from forward (M03) to reverse (M04) or vice versa in a
canned cycle.
0: Output M05. That is, M05 is output before M03 or M04 is output.
(M05-M04 or M05-M03)
1: Do not output M05. That is, M05 is not output before M03 or M04 is
output.
This parameter is valid when bit 0 (FXB) of parameter No. 6201 is set to
1.
#4 FIN Specifies the signal to be entered to indicate when operation for the
spindle stop command signal (SSP) or the spindle reverse rotation
command signal (SRV) has been completed.
0: FFIN signal (completion signal dedicated to the SSP and SRV
signals)
1: FIN signal (completion signal for M, S, T, and B codes)
This parameter is valid when bit 0 (FXB) of parameter No. 6201 is set to
0.
#5 FM2 Specifies whether to send the FMF signal after return to point R or the
initial position when the spindle stop command signal (SSP) or spindle
reverse rotation command signal (SRV) is output.
0: Do not send the FMF signal (command for reading the SSP and SRV
signals).
1: Send the FMF signal.
This parameter is valid when bit 6 (NFM) of parameter No. 6201 is set to
0.
#6 NFM Specifies whether to send the FMF signal when the spindle stop
command signal (SSP) or spindle reverse rotation command signal (SRV)
is output.
0: Send the FMF signal (command for reading the SSP and SRV signals).
1: Do not send the FMF signal.
Bit 6(NFM) of the parameter No.6201 is valid, when bit 0(FXB) of the
parameter No.6201 is set to 0.
6210 Return distance in canned cycle G73

[Data type] Real
table(A))
Set a return distance in canned cycle G73.
- 1197 -
6211 Clearance in canned cycle G83

[Data type] Real
table(A))
Set a clearance in canned cycle G83.
6240 Tool retraction direction after G86.1 and G87 orientation

Set the tool retraction axis and direction used after spindle orientation in canned
cycle G76 or G87 (canned cycle II). For each drilling axis, the tool retraction axis
and direction after orientation can be set. Specify an axis number along with a sign
(+ or - ) to specify a direction.
Example: Suppose the following:

When the drilling axis is the X-axis, the tool retraction direction after orientation is
-Y.
When the drilling axis is the Y-axis, the tool retraction direction after orientation is
+Z.
When the drilling axis is the Z-axis, the tool retraction direction after orientation is
-X.
Then, set the parameters as follows (assuming that the first axis, second axis, and
third axis are the X-axis, Y-axis, and Z-axis):
Set the parameter for the first axis to -2 (the tool retraction direction is -Y).
Set the parameter for the second axis to 3 (the tool retraction direction is +Z).
Set the parameter for the third axis to -1 (the tool retraction direction is -X).
Set 0 for other axes.
- 1198 -
Alarm And message

PS0196 ILLEGAL DRILLING AXIS SELECTED An illegal axis was specified for drilling in a canned cycle for
drilling.
If the zero point of the drilling axis is not specified or parallel
axes are specified in a block containing a G code in a
canned cycle, simultaneously specify the parallel axes for
the drilling axis.
Caution
CAUTION
During tapping in a tapping cycle (G84) or reverse
tapping cycle (G74), the feedrate override is ignored.
The machine does not stop even with feed hold until
return operation is complete.
Reference item
Series15i/150i-MB Operator’s Manual II-13.1 Canned cycle
(Programming)
(B-63784EN)
- 1199 -
11.7 EXTERNAL MOTION FUNCTION
General
Upon completion of positioning in each block in the program, an
external operation function signal can be output to allow the machine to
perform specific operation.
G81 IP ; (The IP_ is axis move command )
Every time positioning for the IP_ move command is completed, the
CNC sends an external operation signal to the machine. An external
operation signal is output for each positioning operation until canceled
by G80 or a group 01 G code.
- Basic procedure
1. Once positioning for a move command has been completed, the
CNC sets the external operation signal EF to 1.
2. When the EF signal is set to 1, the PMC executes drilling or
another operation. Once the operation has been completed, the
PMC sets completion signal FIN to 1.
3. The CNC resets the EF signal to 0 upon the elapse of the time
(TFIN) specified in parameter No. 3011 after the FIN signal is set
to 1.
4. When the EF signal is set to 0, the PMC resets the FIN signal to 0.
5. The CNC starts executing the next block.
G81 command
Next block
Positioning EF
Machine operation FIN
TFIN
Signal
External Operation Signal EF<F008#4>
[Function] Reports that the positioning of G81 has been completed in the external
motion function, and that a special external operation is required.
[Output condition] For details of the output condition and procedure, see the "basic
procedure", described previously.
- 1200 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F008 EF
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6200 EXC

[Data type] Bit
#5 EXC Specifies whether G81 is used to specify a canned cycle or external

operation command.
0: G81 specifies a canned cycle.
1: G81 specifies an external operation command.
Caution
CAUTION
1 When this function is used, canned cycles (G73, G74,
G76, and G82 to G89) cannot be used.
2 When the canned cycle II (bit 0 (FXB) of parameter
No. 6201 is set to 1) is selected, FIN signal is used.
While, when the canned cycle I (bit 0 (FXB) of
parameter No. 6201 is set to 0) is selected, it is
decided which signal FIN or FFIN to use by setting the
bit 4 (FIN) of parameter No. 6201.
Reference item
Series15i/150i-MB Operator’s Manual II-13.3 External motion function
(Programming)
(B-63784EN)
- 1201 -
11.8 INDEX TABLE INDEXING FUNCTION
General
By specifying indexing positions (angles) for the indexing axis (one
rotation axis, A, B, or C), the index table of the machining center can be
indexed.
Before and after indexing, the index table is automatically unclamped
or clamped.
- Basic Procedure
The positioning angle for the index table is commanded by the numeric
following "B" in the program command, which is an independent block.
Both absolute and incremental commands are possible, but the value
after "B" is the integer times the numeric set by the parameter:
(Example) G00G90B100000; Absolute command
(Positioning angle 10 degrees)
G00G91B20.0; Incremental command
(Move distance 20 degrees)
There are two variations of the procedure (type A and type B) to set the
index table position; the difference is in the ON/OFF timing of the
position control servo. The sequence of events and the difference
between the variations are described below, followed by time charts
showing them graphically.
(1) Assume Bbbbb is ordered by the command program.
(2) The CNC turns the B axis unclamp signal BUCLP to "1". (Type B
-- When BUCLP is turned to " 1 ", the position control servo for
the B axis is turned ON.)
(3) On the PMC side, the clamp of the B axis is released; when
completed, the B axis unclamp completion signal *BEUCL turns
to "0".
(4) The CNC then turns the B axis unclamp signal BUCLP to "0", to
indicate it received the *BEUCL signal.
(5) When the PMC is notified that BUCLP has been turned to "0", the
PMC should turn *BEUCL to "1".
In type B, B-axis unclamp signal BUCLP is turned to "0", B-axis
position control is made in servo-on state, B-axis is rotated, and
the B axis is stopped at the specified position. B axis always
moves at rapid traverse.
(6) When the B axis stops at the specified position, CNC turns B-axis
clamp signal BCLP to 1. In type A, signal BCLP is set to "1" and
B-axis position control is made in servo-off state.
(7) When BCLP is turned to "1" on the PMC side, the B axis is
clamped mechanically (with a clutch or shot pin, for example).
When the clamp is completed, the B axis clamp completion signal
*BECLP is turned to "0".
(8) When *BECLP is turned to "0", the CNC then turns BCLP to "0",
informing it received the *BECLP signal. (Type B -- When BCLP
turns to "0", the B axis position control servo is turned off.)
(9) On the PMC side, when BCLP changes to "0", *BECLP is turned
to "1".
- 1202 -
This completes the sequence.

The time charts for these operations are shown in the figures below.
(1) (2) (3) (4) (5) (6) (7) (8) (9)
B command (independent)
B axis servo on for position control
B axis unclamp signal BUCLP
B axis unclamp completion signal

*BEUCL
B axis rotation
B axis clamp signal BCLP
B axis clamp completion signal *BECLP
Fig. 11.8 (a) Time chart for positioning index table (type A)
(1) (2) (3) (4) (5) (6) (7) (8) (9)
B command (independent)
B axis servo on for position control
B axis unclamp completion signal *BEUCL
B axis rotation
Fig. 11.8 (b) Time chart for positioning index table (type B)
- 1203 -
The figure below shows the timing chart for type-A manual reference
position return of the B axis.
B axis manual feed selection signal +Jα
B axis position control servo ON
B axis unclamp completion signal *BEUCL
B axis rotation
B axis deceleration signal *DECα
B axis return completion signal ZPα
Fig. 11.8 (c) Manual reference position return of B axis time chart (type A)
- Type A and Type B

As described in the basic procedure, type A differs from type B in that
the servo used for B-axis position control is turned on or off at the
different timing.
Type A is suitable for a system in which the B-axis is clamped with
shot pins.
Type B is suitable for a system in which the B-axis is clamped with a
clutch.
- Indexing axis setting

Set a rotation axis as an index table indexing axis. That is, set the
following:
Bit 0 (ROT) of parameter No. 1006 = 1
Bit 1 (ROS) of parameter No. 1006 = 1
Bit 2 (ROP) of parameter No. 1006 = 1
Disable the servo-off signal for an index table indexing axis. That is,
set the following:
Bit 1 (SVF) of parameter No. 1802 = 0
Usually, the servo-off state is set for an index table indexing axis.
- 1204 -
- Absolute/incremental programming
One of the following indexing positions is used, depending on bit 3
(G90) of parameter No. 7602:
0: Value according to an absolute/incremental G code (G90/G91)
1: Absolute value at all times
An indexing position assumes a positive value for the counterclockwise
direction, and a negative value for the clockwise direction.
A Command value from A to B (when parameter

G90 (bit 3 of parameter No. 7602) = 0)
G90 B-45.0; or
G91 B-105.0;
+60°
0°
-45°
Fig. 11.8 (d) Absolute/Incremental Programming
- Indexing direction
If a value other than 0 is set in the M code for specifying negative
direction rotation (parameter No. 7632), movement in the negative
direction is made only when a move command is specified together
with the M code. In this case, movement is performed in the negative
direction, regardless of whether absolute/incremental programming is
used.
If 0 is set in the M code for specifying negative direction rotation
(parameter No. 7632), the rotation direction in G90 mode is determined
by bit 4 (INC) of parameter No. 7602, as described below.
The rotation direction in G90 mode is
0: Not shortcut direction
1: Shortcut direction (The amount of movement is always less
than 180 degrees.)
For information about which is used, refer to the manual provided by
the machine tool builder.
- Minimum indexing angle

The minimum index table indexing angle set in parameter No. 7682 is
used. An integral multiple of a set value can be specified as an
indexing angle. If a value other than an integral multiple is specified,
an alarm (PS0561) is issued.
- Feedrate
The table is always rotated around the indexing axis in rapid traverse
mode.
Dry run cannot be executed for the indexing axis.
- Index table clamping/unclamping

Before or after index table indexing axis movement, the index table is
automatically clamped or unclamped.
- 1205 -
- Reset
If a reset is performed in the clamp or unclamp completion wait state,
the clamp or unclamp signal is cleared, and the CNC exits from the
completion wait state.
- Index table indexing function and other functions
Item Explanation
Relative position display This value can be rounded by setting bit 2 (REL) of parameter No.
7602.
Absolute position display This value is rounded at all times.
Automatic return from the reference Return is impossible.
position (G29)
Second reference position return (G30)
Machine coordinate system selection No movement is allowed.
(G53)
Single direction positioning (G60) Not specifiable
Second auxiliary function Ensure that a second auxiliary function axis name does not duplicate
an indexing axis name.
Operation during index table indexing axis Unless otherwise processed by the machine, feed hold, interlock, and
movement emergency stop can be executed during index table indexing axis
movement.
Machine lock can be executed after indexing has been completed.
Servo-off signal Disable the servo-off signal for the index table indexing axis. That is,
set bit 1 (SVF) of parameter No. 1802 to 0. Usually, the index table
indexing axis is in the servo-off state.
Incremental command for the index table When incremental programming is used for index table indexing (when
indexing axis bit 3 (G90) of parameter No. 7602 is set to 0), the workpiece origin
offset of the index table axis must always be 0. That is, there must
always be a match between the workpiece coordinate system and
machine coordinate system of an index table indexing axis.
Operation for an index table indexing axis Operation in jog/step/handle mode for an index table indexing axis is
disabled. However, manual reference position return is possible. If the
axis selection signal is set to 0 during manual reference position return,
the movement stops immediately, and the clamp command is not
executed.
Limitation
- Simultaneous specification together with other controlled axes

Specify an indexing command singly in a block. If an indexing
command is specified in a block that specifies other controlled axes as
well, an alarm (PS0564) is issued.
- Command specifying zero move amount

When the amount of movement is 0, a clamp/unclamp operation is not
performed. In automatic reference position return based on G28,
clamp/unclamp is performed even if the amount of movement is 0.
- 1206 -
Signal
B axis clamp signal BCLP<F007#1>

[Function] Instructs the PMC side to clamp the B axis mechanically with a clutch
or shot pin.
[Output condition] The output condition and procedure are the same as those described in
the basic procedure for positioning the index table.
B axis clamp completion signal *BECLP<G019#7>

[Function] Notifies the CNC of completion of the B axis clamp operation.
[Operation] The output condition and procedure are the same as those described in
B axis unclamp signal BUCLP<F007#0>

[Function] Instructs the PMC side to release the B axis from the mechanical clamp.
[Output condition] The output condition and procedure are the same as those described in
B axis unclamp completion signal *BEUCL<G019#6>

[Function] Notifies the CNC of completion of the release of the B axis from the
mechanical clamp.
[Operation] The output condition and procedure are the same as those described in
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G019 *BECLP *BEUCL
#7 #6 #5 #4 #3 #2 #1 #0
F007 BCLP BUCLP
- 1207 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7602 DDP INC G90 REL TYB

[Data type] Bit
#0 TYB Specifies whether the operation sequence of the index table indexing axis
is of type A or type B.
0: Type A
1: Type B
#2 REL Specifies whether to round index table indexing axis position display
within one rotation in the relative coordinate system.
0: Do not round.
1: Round.
#3 G90 Specifies whether the specification of an index table indexing axis follows
the absolute mode/incremental mode specification or is assumed to be
specified as an absolute command.
0: Follow the absolute/incremental mode specification.
1: Assumed to be an absolute command at all times.
#4 INC Specifies whether to use the shortcut direction as the direction of rotation
in the G90 mode when the M code for negative direction rotation
specification (parameter No. 7632) is not set.
0: Do not use the shortcut direction.
1: Use the shortcut direction.
#5 DDP Specifies whether to use the conventional format or the fixed-point format
as the method of decimal point input for index table indexing axis
specification.
0: Conventional format
1: Fixed-point format
7631 Controlled axis number of an index table indexing axis

[Data type] Integer
Set the controlled axis number of an index table indexing axis.
When 0 is set, the fourth axis is assumed.
- 1208 -
7632 M code used to specify the negative-direction rotation of an index table

indexing axis

[Data type] Integer
0: The rotation direction of an index table indexing axis is determined
by the setting of the parameter and command.
1 to 127: The rotation direction of an index table indexing axis is
always positive. The rotation direction is negative only when a move
command is specified together with the M code set.
7682 Minimum positioning angle for an index table indexing axis

[Data type] Real
table(A))
Set a minimum positioning angle (angular displacement) for an index
table indexing axis. An angular displacement for positioning
specification must always be an integral multiple of the setting of this
parameter. When 0 is specified, no angular displacement check is
made.
Not only commands but also coordinate system settings and workpiece
origin offsets are checked for a minimum positioning angle.
Alarm And message

PS0560 INDEX TABLE AXIS ERROR A conflict has arisen in the CNC during the execution of an
index table axis command.
PS0561 ILLEGAL INDEXING ANGLE The specified angle of rotation is not an integer multiple of
the minimum indexing angle.
PS0564 INDEX TABLE AXIS - OTHER AXIS The index table indexing axis and another axis have been
SAME TIME specified in the same block.
PS0566 INDEX TABLE AXIS DUPLICATE A move instruction has been issued to an axis that is not an
AXIS MODE index table indexing axis.
PS0567 INDEX TABLE AXIS DUPLICATE Index table indexing was specified during axis movement or
AXIS COMMAND on an axis for which the index table indexing sequence was
not completed.
- 1209 -
Caution
CAUTION
1 While the index table is being positioned, input
signals that reset the CNC, such as emergency stop,
feed hold, and interlock are functional.
If a stop at an any position is not suitable for the
machine, appropriate processing is required on the
machine.
2 If the axis selection signal is set to 0 during manual
reference position return, movement is stopped
immediately, and the clamp command is not
executed. If this proves inconvenient, measures
must be taken on the machine side so that, after the
axis selection signal is set to 1, it is not set to 0 until
reference position return is completed.
3 If a reset is made during indexing of the index table,
a reference position return must be made before the
index table is indexed subsequently.
4 When an incremental command is used for indexing
the index table (when bit 3 (G90) of parameter No.
7602 is 0), the workpiece origin offset for the index
table axis must always be 0. This means that the
workpiece coordinate system and machine
coordinate system of the index table axis must
always match.
Note
NOTE
Dry run cannot be used for positioning the index table
indexing axis.
Reference item
Series15i/150i-MB Operator’s Manual II-13.6 Index table indexing
(Programming) function
(B-63784EN)
- 1210 -
11.9 MULTIPLE ROTARY CONTROL AXIS FUNCTION
General
A rotary axis is specified in the ROT bit (bit 1 of parameter 1008).
When incremental programming is specified for the rotary axis, a
specified value directly determines the travel distance. When absolute
programming is selected, either of the following two operations can be
specified by the RSR bit (bit 2 of parameter 1007).
(1) The NC unit rounds down the value specified in the absolute
command (G90) to a value indicating a full turn or less. The
difference between the rounded value and the current position is
the angular displacement. When the bit 5(INC) in parameter No.
1007 is specified, short-cut control can be executed. When the
difference between the rounded value and the current position
indicates more than a half turn, the short-cut control function
allows reverse rotation up to the specified position.
(2) The sign of the specified value indicates the direction of rotation.
(The plus sign (+) indicates counterclockwise rotation and the
minus sign (-) clockwise rotation). The absolute value of the
specified value indicates the destination.
An absolute value of a position relative to the rotary axis is represented
by an equivalent value within the amount of travel for a single
revolution as specified in parameter 1260.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1007 INC REL G90 RSR

[Data type] Bitaxis
#2 RSR When an absolute command is executed (when INC, bit 5 of parameter No

1007, is set to 0), specifies whether the direction of rotation is determined
by the sign of the value specified by the command.
0: Not determined.
1: Determined by command value (counterclockwise when value is
positive and clockwise when value is negative)
#3 G90 Specifies the type of commands used for the rotary control axes.
0: Either absolute or incremental commands determined by G90 or G91
mode
1: Absolute commands
- 1211 -
#4 REL Specifies whether the current position of rotary control axes in the
relative coordinate system is displayed with the value rounded off within
one rotation.
0: Not performed.
1: Performed.
#5 INC In rotary axis control, when the NC converts the command value to the
corresponding value within one rotation and the current position being
regarded as the angular displacement through which the axis is to be
rotated, this bit specifies whether to turn in whichever direction
minimizes the displacement in G90 mode.
0: Do not turn to closest direction.
1: Turn to closest direction.
#7 #6 #5 #4 #3 #2 #1 #0
1008 ROT

[Data type] Bitaxis
#1 ROT
0: Not multiple rotary control axes.
1: Multiple rotary control axes.

Note
NOTE
This function is effective only for a rotary axis.
Reference item
Series15i/150i-MB Operator’s Manual II-19.8 Multiple rotary control
(Programming) axis function
(B-63784EN)
- 1212 -
11.10 SCALING
General
A programmed figure can be magnified or reduced (scaling).
Two types of scaling are supported. One type applies the same rate of
magnification to all axes (X, Y, and Z). The other type applies a
different rate of magnification to each axis.
Unless specified in the program, the magnification rate specified in the
parameter is applied.
- Scaling along all axes at the same rate of magnification

Set bit 4 (XSC) of parameter No. 7611 to 0. If scaling magnification
rate P is not specified, the magnification specified in parameter No.
6410 is assumed
Scaling up or down along all axes at the same rate of magnification

G51 X_Y_Z_P_ ; Scaling start X_Y_Z_ : Absolute command for center
: Scaling is effective. coordinate value of scaling
: (Scaling mode) P_ : Scaling magnification
G50 ; Scaling cancel
P4
P3
P4’ P3’
P0
P1’ P2’
P1 P2
O X
P0 : Scaling center
P1-P4 : Figures of machining program
P1’-P4’ : Figures after scaling
Fig. 11.10 (a) Scaling
- 1213 -
- Scaling along each axis at a different rate of magnification

Set bit 4 (XSC) of parameter No. 7611 to 1. If scaling magnification
rates I, J, and K are not specified, the magnification set in parameter No.
6421 is used. Set a non-zero value in parameter No. 6421.
Scaling up or down along each axes at a different rate of magnification

G51 X_Y_Z_I_J_K_ ;Scaling start X_Y_Z_ : Absolute command for center
: Scaling is effective. coordinate value of scaling
: (Scaling mode) I_J_K : Scaling magnification for X
G50 ; Scaling cancel axis Y axis and Z axis
respectively
a/b : Scaling magnification of X axis

c/d : Scaling magnification of Y axis
Y axis 0 : Scaling center
Programmed figure
p
Scaled figure
C
a X axis
Fig. 11.10 (b) Scaling of each axis
- Axes for which scaling is enabled

For each axis for which scaling is to be enabled, set bit 1 (SCL) of
parameter No. 0012 to 1.
- Least input increment for specifying rates of magnification

The least input increment for specifying rates of magnification is 0.001
or 0.00001. When bit 1 (SCR) of parameter No. 6400 is set to 0, 0.0001
is used; when the bit is set to 1, 0.001 is used.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0012 SCL

[Data type] Bitaxis
#1 SCL For this axis, specifies whether scaling is used.

0: Do not use scaling.
1: Use scaling.
- 1214 -
#7 #6 #5 #4 #3 #2 #1 #0
6400 SCR

[Data type] Bit
#1 SCR Specifies the unit of magnification used for scaling (G51).
0: 0.00001
1: 0.001
6410 Scaling (G51) magnification

[Data type] Integer
[Unit of data] Multiplied by 0.001 or 0.00001 depending on the parameter SCR
(No.6400#1).
Set a magnification used for scaling. The value set in this parameter is
used as the default scaling magnification when the scaling
magnification (P) is not specified in the program.
6421 Scaling magnification for each axis

[Unit of data] Multiplied by 0.001 or 0.00001 depending on the parameter SCR
(No.6400#1).
Set a scaling magnification for each axis.
#7 #6 #5 #4 #3 #2 #1 #0
7611 XSC

[Data type] Bit
#4 XSC Specifies whether axis-by-axis scaling magnification setting is valid.
0: Not valid.
1: Valid.
Reference item
Series15i/150i-MB Operator’s Manual II-14.9 Scaling
(Programming)
(B-63784EN)
- 1215 -
11.11 COORDINATE SYSTEM ROTATION (G68,G69)
General
A programmed shape can be rotated. By using this function it becomes
possible, for example, to modify a program using a rotation command
when a workpiece has been placed with some angle rotated from the
programmed position on the machine. Further, when there is a pattern
comprising some identical shapes in the positions rotated from a shape,
the time required for programming and the length of the program can
be reduced by preparing a subprogram of the shape and calling it after
rotation.
Y
Angle of rotation
Center of rotation
X
O
Fig. 11.11 Coordinate system rotation
Format
Format
G17
G18 G68 α_ β_ R_ ; Start rotation of a coordinate system.
G19
: Coordinate system rotation mode
:
G69 ; Coordinate system rotation cancel command
Meaning of command
G17(G18 or G19) : Select the plane in which contains the figure to be rotated.
α_ β _ : Absolute command for two of the x_, y_, and Z_ axes that
correspond to the current plane selected by a command
(G17, G18, or G19). The command specifies the
coordinates of the center of rotation for the values specified
subsequent to G68.
R_ : Angular displacement with a positive value indicates counter
clockwise rotation.
- Least input increment for specifying coordinate system rotation angles

The least input increment for specifying coordinate system rotation
angles is 0.001 degree or 0.00001 degree. When bit 2 (RTR) of
parameter No. 6400 is set to 0, 0.00001 degree is used; when the bit is
set to 1, 0.001 degree is used.
- 1216 -
- specify angular displacement (R_)

Bit 0 of parameter 6400 selects whether the specified angular
displacement is always considered an absolute value or is considered
an absolute or incremental value depending on the specified G code
(G90 or G91).
When R_ is not specified, the value specified in parameter 6411 is
assumed as the angular displacement.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6400 RTR RIN

[Data type] Bit
#0 RIN Specifies whether to use an absolute value when setting a rotation angle
(R) for coordinate system rotation (G68).
0: Use an absolute value at all times.
1: Depend on the mode (absolute mode (G90) or incremental mode
(G91)).
#2 RTR Specifies the degree unit used to set the angle for coordinate system
rotation and three-dimensional coordinate conversion (G68).
0: 0.00001 deg
1: 0.001 deg
6411 Rotation angle for coordinate system rotation (G68)

[Data type] Integer
[Unit of data] 0.001 degrees or 0.00001 degrees depending on the parameter RTR
(No.6400#2).
[Valid data range] From -360000 through 360000 or -36000000 through 36000000
depending on the parameter RTR (No.6400#2).
Set a rotation angle for coordinate system rotation. The value set in
this parameter is used as the default rotation angle for coordinate
system rotation when the coordinate system rotation angle (R) is not
specified in the program.
Reference item
Series15i/150i-MB Operator’s Manual II-14.10 Coordinate system
(Programming) rotation
(B-63784EN)
- 1217 -
11.12 THREE-DIMENSIONAL COORDINATE CONVERSION
General
Coordinate conversion about an axis can be carried out if the center of
rotation, direction of the axis of rotation, and angular displacement are
specified. This function is very useful in three-dimensional machining
by a die-sinking machine or similar machine. For example, if a
program specifying machining on the XY plane is converted by the
three-dimensional coordinate conversion function, the identical
machining can be executed on a desired plane in three-dimensional
space.
X Three-dimensional coordinate conversion
Z Y
In three-dimensional coordinate conversion mode (G68), the following

two types of manual operation (jog feed, manual incremental feed, and
manual handle feed) are supported:
(1) Operation in a workpiece coordinate system
(with three-dimensional coordinate conversion not applied)
(2) Operation in a program coordinate system
(with three-dimensional coordinate conversion applied)
- 1218 -
Z
Z'
Y Y
X'
X, Y ,Z : Coordinate system before conversion

(workpiece coordinate system)
X', Y' ,Z' : Coordinate system after conversion
(program coordinate system)
When manual movement is made along the Z-axis:
(1) A movement is made in the Z direction.
(2) A movement is made in the Z' direction.
In three-dimensional coordinate conversion mode, three-dimensional

coordinate conversion manual intervention switch signal NOT3DM
can be used to switch the manual intervention operation between the
following two types:
(1) Operation in the program coordinate system
(Three-dimensional coordinate conversion is applied.)
(2) Operation in the workpiece coordinate system
(Three-dimensional coordinate conversion is not applied.)
Signal
Three-dimensional coordinate conversion manual intervention switch signal M3R<G031#3>

[Function] Specifies whether to perform three-dimensional coordinate conversion
for manual operation (jog feed, manual incremental feed, or manual
handle feed) in three-dimensional coordinate conversion mode.
[Operation] If this signal is set to 0, three-dimensional coordinate conversion is not
performed. (Movement is made in the workpiece coordinate system.)
If this signal is set to 1, three-dimensional coordinate conversion is
performed. (Movement is made in the programmed coordinate system.)
Three-dimensional coordinate conversion mode signal D3ROT<F159#3>

[Function] Posts whether three-dimensional coordinate conversion mode is
currently set.
[Operation] If this signal is set to 1, three-dimensional coordinate conversion mode
is currently set.
- 1219 -
Three-dimensional coordinate conversion manual interrupt switch signal NOT3DM<G157#7>

[Function] Specifies whether to perform three-dimensional coordinate conversion
for manual interrupt in three-dimensional coordinate conversion mode.
[Operation] If this signal is set to 0, three-dimensional coordinate conversion is
performed. (Movement is made in the programmed coordinate system.)
If this signal is set to 1, three-dimensional coordinate conversion is not
performed. (Movement is made in the workpiece coordinate system.)
Three-dimensional coordinate conversion manual interrupt mode signal D3MI<F157#5>

[Function] Posts whether three-dimensional coordinate conversion manual
interrupt mode is currently set.
[Operation] This signal is set to 1 only when the following conditions are all
satisfied:
(1) Manual/automatic simultaneous operation mode is set.
(2) Three-dimensional coordinate conversion mode is set.
(3) Cutting mode is set.
(4) When none of the handle feed and handle interrupt with the tool
axis direction, direction perpendicular to the tool axis, and
rotation about the tool tip specified is selected.
(5) The playback function is not currently being executed.
(6) The three-dimensional coordinate conversion manual interrupt
switch signal NOT3DM is set to 0.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G031 M3R
#7 #6 #5 #4 #3 #2 #1 #0
G157 NOT3DM
#7 #6 #5 #4 #3 #2 #1 #0
F157 D3MI
#7 #6 #5 #4 #3 #2 #1 #0
F159 D3ROT
- 1220 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1200 DSC

[Data type] Bit
#5 DSC Specifies the type of coordinates to be read when the skip signal position
is read using custom macro system variables #5061 to #5080 (ABSKP) in
three-dimensional coordinate conversion mode.
0: Coordinates in the coordinate system for which coordinate conversion is not
performed (workpiece coordinate system)
1: Coordinates in the coordinate system for which coordinate conversion has been
performed (program coordinate system)
NOTE
When the skip signal position is read in a mode other than three-
dimensional coordinate conversion mode (G69 mode),
coordinates in the coordinate system for which coordinate
conversion is not performed (workpiece coordinate system) are
read.
For an explanation of system variables #5041 to #5060 (ABSOT),

see the explanation of D3M (bit 5 of parameter No. 6400).
#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP

[Data type] Bit

traverse feedrate)
- 1221 -
#7 #6 #5 #4 #3 #2 #1 #0
1404 D3E

[Data type] Bit
#0 D3E Specifies which external deceleration signal is effective during cutting

feed or linear interpolation positioning in three-dimensional coordinate
conversion mode.
0: The external deceleration signal of the program command axis is
effective.
1: The external deceleration signal of the travel axis is effective.
#7 #6 #5 #4 #3 #2 #1 #0
2005 D3A

[Data type] Bit
#4 D3A In three-dimensional coordinate conversion mode, axis movement signals

are:
0: Output to the program command axis.
1: Output to the axis of travel.
#7 #6 #5 #4 #3 #2 #1 #0
2202 DCR DTL

[Data type] Bit

#3 DCR Specifies whether the incremental and absolute positions displayed on

the CRT include the distance traveled by cutter compensation.
- 1222 -
#7 #6 #5 #4 #3 #2 #1 #0
2204 DAK

[Data type] Bit
#2 DAK Specifies whether to display coordinates in the program coordinate

system or workpiece coordinate system as absolute coordinates when the
three-dimensional coordinate conversion mode is set.
0: Display coordinates in the program coordinate system.
1: Display coordinates in the workpiece coordinate system.
#7 #6 #5 #4 #3 #2 #1 #0
2208 D3D DMK

[Data type] Bit
#0 DMK Specifies whether the manual overlap screen is displayed with the
program coordinate system or workpiece coordinate system.
0: Program coordinate system (coordinate system after conversion)
1: Workpiece coordinate system (coordinate system before conversion)
#5 D3D For three-dimensional coordinate conversion, the remaining distance the

tool must be moved is displayed
0: About the program coordinate system.
1: About the workpiece coordinate system.
#7 #6 #5 #4 #3 #2 #1 #0
6400 D3M D3R RTR

[Data type] Bit
#2 RTR Specifies the degree unit used to set the angle for coordinate system
rotation and three-dimensional coordinate conversion (G68).
0: 0.00001 deg
1: 0.001 deg
- 1223 -
#4 D3R Specifies how the three-dimensional coordinate conversion mode is

canceled.
0: The three-dimensional coordinate conversion mode is canceled by the
G69 command, a reset, or the ERS, ESP, or RRW input signal from
the PMC.
1: The three-dimensional coordinate conversion mode is canceled only
by the G69 command.
#5 D3M Specifies the type of coordinates to be read when the current tool position
in the workpiece coordinate system is read using custom macro system
variables #5041 to #5060 (ABSOT) in three-dimensional coordinate
conversion mode.
0: Coordinates in the coordinate system for which coordinate conversion is not
performed (workpiece coordinate system)
1: Coordinates in the coordinate system for which coordinate conversion has been
performed (program coordinate system)
NOTE
When the current tool position is read in a mode other than
three-dimensional coordinate conversion mode (G69 mode),
coordinates in the coordinate system for which coordinate
conversion is not performed (workpiece coordinate system) are
read.
For system variables #5061 to #5080 (ABSKP), see the

explanation of DSC (bit 5 of parameter No. 1200).
2052 Rapid traverse rate for a drilling cycle in the three-dimensional coordinate
conversion mode

[Data type] Real
Specify the rapid traverse rate for a drilling cycle in the three-dimensional
coordinate conversion mode.
(1) Rapid traverse to point R
(2) Retraction to point R
(3) Rapid traverse to the initial point
When 0 is specified, a dry run feedrate is used. A cutting override is applied to
motions (1) to (3) because cutting-mode operation is performed in the three-
dimensional coordinate conversion mode.
- 1224 -
Alarm And message

PS0625 TOO MANY G68 NESTING 3-dimensional coordinate conversion was specified more
than twice.
Cancel 3-dimensional coordinate conversion before
executing new coordinate conversion.
PS0626 G68 FORMAT ERROR There is a format error in the 3-dimensional coordinate
conversion block. The alarm occurs in the following cases:
(1) When I, J or K is missing from the block in which 3-
dimensional coordinate conversion is specified (when
the coordinate rotation option is not available)
(2) When I, J and K specified in the block in which 3-
dimensional coordinate conversion is specified are all
"0"
(3) When angle of rotation R is not specified in the block in
which 3-dimensional coordinate conversion is
specified
Reference item
(Programming) coordinate conversion
(B-63784EN)
- 1225 -
11.12.1 Three-dimensional Coordinate Conversion and Parallel Axis

Control
Overview
If three-dimensional coordinate conversion is to be performed on a
machine operating with parallel axis control, this function allows
combinations of parallel axes subject to three-dimensional coordinate
conversion to be specified with parameter No. 1016, so that three-
dimensional coordinate conversion can be used on machines with a
variety of parallel axis configurations.
Parallel axis combinations may be specified with parameter No. 1016.
Up to eight combinations may be specified.
Parking signal
If, in three-dimensional coordinate conversion during an automatic
operation command, the combinations specified with parameter No.
1016 include an axis in which the parking signal is set to 1 for at least
one axis, three-dimensional coordinate conversion will be stopped for
that combination. Thus, no move command will not be executed on that
combination.
For example, if three-dimensional coordinate conversion is performed
on a 7-axis system with an axis configuration of X, Y1, Y2, Z1, Z2, Z3,
and Z4, and four combinations (X,Y1,Z1), (X,Y1,Z2), (X,Y2,Z3), and
(X,Y2,Z4) (first to fourth combinations from left to right) are specified
with parameter No. 1016, three-dimensional coordinate conversion
will be stopped for the first combination if the parking signal for Z1 is 1.
Similarly, conversion will be stopped for the fourth combination if the
parking signal for Z4 is 1.
Three-dimensional coordinate conversion manual feed function

In three-dimensional coordinate conversion mode, the three-
dimensional coordinate conversion manual feed function can be used.
In the above example, if the jog feed switch for Y2 is turned on, for
example, the tool will operate on the X-, Y2-, Z3-, and Z4-axes. That is,
the tool will operate on all axes in the combinations containing that
axis.
If, in three-dimensional coordinate conversion mode, manual feed is
performed on a combination containing an axis for which the parking
signal is 1, thee-dimensional coordinate conversion is not performed on
that combination, nor is axial movement. Similarly, if manual feed is
performed on an axis for which the parking signal is set to 1, no axial
movement is performed.
Three-dimensional coordinate conversion manual interrupt

The three-dimensional coordinate conversion manual interrupt
function does not support this function.
- 1226 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1016 PL8 PL7 PL6 PL5 PL4 PL3 PL2 PL1

[Data type] Bitaxis
#n PLm ( n=0 – 7, m=1 – 8 )
Specify the m-th combination of parallel axes subject to three-dimensional
coordinate conversion.
To set the bit for a combination, be sure to set three bits to 1.
Example: For a 9-axis configuration of X, Y1, Y2, Z1, Z2, Z3, Z4, Z5, and Z6
If the values of parameter No. 1016 are:
76543210
X 00111111
Y1 0 0 0 0 0 1 1 1
Y2 0 0 1 1 1 0 0 0
Z1 0 0 0 0 0 0 0 1
Z2 0 0 0 0 0 0 1 0
Z3 0 0 0 0 0 1 0 0
Z4 0 0 0 0 1 0 0 0
Z5 0 0 0 1 0 0 0 0
Z6 0 0 1 0 0 0 0 0
then, the first combination is (X,Y1,Z1), the second (X,Y1,Z2), the third
(X,Y1,Z3), the fourth (X,Y2,Z4), the fifth (X,Y2,Z5), and the sixth
(X,Y2,Z6).
This parameter is checked with parameter No. 1022 to see if the three
basic axes or their parallel axes (if parallel axes are specified for three-
dimensional coordinate conversion) correspond correctly. For this reason,

if 1 is set for one axis of this parameter, check the value of the
corresponding axis of parameter No. 1022.
- 1227 -
11.13 AXIS INTERCHANGE
General
Machine axes along which actual movement is made by the X, Y, and Z
commands specified in memory operation, DNC operation, and MDI
operation are changed by setting data (No. 1049) or input signals
AXC4, AXC2, and AXC1.
This is useful when the coordinates assumed by a program command

differ from those where the workpiece is actually mounted, as in the
following example:
Change an X-axis command into a Y-axis command

Y Y
Change a Y-axis command into an X-axis command
Change a Z-axis command into a Z-axis command
X X
Coordinates assumed by a program command Coordinates where the workpiece is mounted
Explanation
- Axis interchange number

This function allows six patterns of axis interchange. The table below
shows the correspondence between program addresses X, Y, and Z and
machine axes x, y, and z.
Axis interchange Program address

number X Y Z
(Note)
0 x y z
1 x z y
2 y x z
3 y z x
4 z x y
5 z y x
(Note) The axes are not interchanged.
- 1228 -
- Specifying axis interchange

(1) Specification with the setting data
Set the desired axis interchange number (0 to 5) for the setting
data.
(2) Specification by input signals

A binary code is set as the axis switch number by using axis
switch signals AXC4, AXC2, and AXC1.
The relationships between the specification with the setting data
and that with the switches on the machine operator's panel are as
given below.
Setting data Switch on machine

Valid specification
(No. 1049) operator's panel
1 0 0 Axis interchange is disabled.
2 1 to 5 0 Specification with the setting
data
3 0 1 to 5 Specification with switches on
the machine operator's panel
4 1 to 5 1 to 5 Specification with switches on
the machine operator's panel
When axis interchange need not be performed, set both the setting data
and the switch on the machine operator's panel to "0."
- Cases in which axis interchange is disabled

For the following commands, axis interchange is disabled.
(1) Manual operation commands
(2) Move command used to move the tool to a particular machine
position, command related to machine coordinates, and
coordinate system setting command
(a) Automatic reference position return
G28, G30
(b) Floating reference position return
G30.1
(c) Return from the reference position
G29
By setting 1 for parameter RPC (bit 0 of No. 1001), axis
interchange is enabled for the G29 command.
(d) Stored stroke limit
G22, G23
(e) Coordinate system setting
G92
(f) Offset setting
G10
(g) Dwell
G04
(h) Machine coordinate positioning
G53
- 1229 -
Signal
Axis switch signals

AXC4<G41#2>, AXC2<G41#1>, AXC1<G41#0>
[Function] Post an axis switch number to the control unit.
[Operation] A binary code is set as the axis switch number.
Axis interchange Signal
number AXC4 AXC2 AXC1
0 0 0 0
1 0 0 1
2 0 1 0
3 0 1 1
4 1 0 0
5 1 0 1
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G041 AXC4 AXC2 AXC1
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1001 RPC

[Data type] Bit
#0 RPC Specifies whether axes are switched when a reference position return
(G29) is performed.
0: Axes are not switched.
1: Axes are switched.
- 1230 -
1049 Axis switching number

[Data type] Integer
Six axis switching combinations are available. To choose from the six,
set a desired axis switching number. The machine axes x, y, and z
correspond to program addresses X, Y, and Z as follows:
Axis switching Program address

number X Y Z
0 x y z
1 x z y
2 y x z
3 y z x
4 z x y
5 z y x
Axis switching number 0 means that axis switching is not performed.
#7 #6 #5 #4 #3 #2 #1 #0
6401 NAC

[Data type] Bit
#4 NAC If the plane resulting from axis interchange is symmetrical with the original
plane with respect to a line, this parameter bit is used to specify whether
this function should perform the following:
(1) Replacement of the G codes for normal direction control
(G41.1,G42.1), cutter compensation for rotary table (G41.4,G42.4),
and three-dimensional cutter compensation for rotary table
(G41.5,G42.5)
(2) Reverse of the value of the address R of coordinate rotation (G68)
0: Performs the above operations.
1: Suppresses the above operations.
- 1231 -
Note
NOTE
1 If the same program is used with and without axis
interchange, the amount of travel and the direction
assumed with axis interchange differ from those
assumed without axis interchange, depending on
the start position and whether the command is an
incremental or absolute command.
(Example)
Case in which the start position is the same and the
direction of travel for the incremental command
differs with axis interchange
Change an X-axis command into a Y-axis command
Change a Y-axis command into an X-axis command

Y Y
Change a Z-axis command into a Z-axis command
Start position Start position
X X
Coordinates assumed by Coordinates after
the program command axis interchange
2 The drilling axis in a canned cycle or in tool length

compensation and the axis subject to tool length
compensation can be fixed to the Z-axis, using
parameter LXY (bit 4 of No. 6000) and parameter
FXY (bit 0 of No. 6200). Even when these axes are
fixed to the Z-axis, if program address Z is changed
to machine axis x or y using axis interchange, the
drilling axis and the axis subject to tool length
compensation are also changed to x or y.
Reference item
Series15i/150i-MB Operator’s Manual II-19.1 Axis interchange
(Programming)
(B-63784EN)
- 1232 -
11.14 OILING SIGNAL (CANNED CYCLE)
Overview
A oiling(lubrication) signal, OIL, can be issued to the PMC during
movement from point R to point Z in hole making canned cycles (G73,
G74, G76, and G81 to G89).
Two modes, types A and B, can be used to issue the OIL signal. Type
A resets the OIL signal to "0" by specifying the lubrication time. Type
B resets the OIL signal to "0" by returning an lubrication completion
signal, OILF, from the PMC.
Which type to use can be selected using a parameter. Whether to use
the OIL signal can also be specified using a parameter.
Operation 1
Rapid traverse
Cutting feed
- - - Point R
- - - Point Z
Operation 4
Fig. 11.14(a) Tool Movement
- 1233 -
Function details
Type A
The OIL signal is set to "1" simultaneously with the start of operation 3.
It is reset to "0" when the time e has elapsed. The time e is specified
using address word E.
If operation 3 ends before the time e elapses, however, the OIL signal
becomes "0" at the end of operation 3.
(Example)
G81 X_ Y_ Z_ R_ Ee ;
The time e must be represented using a floating-point number (in
second units).
The time e can range from 0.0 to 9999.0 seconds.
If a value larger than 9999.0 is specified, the time e is assumed to
be 9999.0 seconds.
Operation Operation
2 3
OIL signal Time e
Lubrication
Fig. 11.14(b) Type A Lubrication Signal

Type B
The OIL signal is set to "1" simultaneously with the end of operation 2.
It is reset to "0" when the OILF signal is received from the PMC.
The PMC resets the OILF signal to "0" when it detects that the OIL
signal has become "0".
When the OILF signal becomes "0", axis movement in operation 3
begins.
Operation Operation
2 3
OIL signal
Lubrication
OILF signal
Fig. 11.14(c) Type B Lubrication Signal
- 1234 -
NOTE
1 When the OIL signal is "1", executing a reset turns the
OIL signal to "0" regardless of the state of the OILF
signal.
2 The OIL signal is valid even if a hole making canned
cycle is specified in three-dimensional coordinate
conversion mode (G68).
3 In type A, the OIL signal is not issued if E0 is
specified.
4 If feed is put on hold in a block that will issue the OIL
signal, the machine behaves as follows:
1) OIL signal
- Type A
Even when feed is on hold, the counting of the
programmed signal issuing time continues.
Therefore, the OIL signal becomes "0" when the
specified time elapses regardless of whether feed
is on hold.
- Type B
The signal exchange is monitored even when
feed is on hold.
Therefore, the OIL signal becomes "0" when the
signal exchange is completed regardless of
whether feed is on hold.
2) Restart
Feed-hold restart will exert no influence to the OIL
signal.
The OIL signal stays in the state where it was
before restart.
5 The OIL signal is issued whenever cut-in begins in
pecking directed by G73 (high-speed peck drilling
cycle)/G83 (peck drilling cycle) or G84.2/G84.3 (rigid
tapping).
6 The OIL signal is not issued during execution of an
auxiliary function block.
7 The OIL signal is not issued at program restart.
- 1235 -
Signals
Lubrication completion signal
OILF<G031#2>
[Function] After lubrication for hole-making canned cycle is directed by program,
this signal indicates when lubrication is completed.
The signal is used only in type B.
[Operation] The OIL signal is set to "1" simultaneously with the beginning of
operation 3. It is reset to "0" when the OILF signal is received from the
PMC.
The PMC resets the OILF signal to "0" when it detects that the OIL
signal has become "0".
When the OILF signal becomes "0", axis movement in operation 3
begins.
Lubrication signal
OIL<F156#3>
[Function] This signal indicates that lubrication during hole making canned cycle
has been directed by program.
[Operation] The signal becomes "1" when:
- The program specifies lubrication during hole making canned
cycle.
It becomes "0" when:
- A reset occurs, or
- Type A: The specified time has elapsed since the output of the
OIL signal.
- Type B: The OILF signal becomes "1".
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G31 OILF
F156 OIL
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
6400 OLT OLN

[Data type] Bit
#6 OLN Specifies whether to issue the OIL signal.

0: Do not issue.
1: Issue.
NOTE
Once this parameter is re-set, switch the power off and on again.
- 1236 -
#7 OLT Specifies the mode in which the OIL signal is issued.

0: Type A
(The OIL signal is reset to "0" by specifying the lubrication time.)
1: Type B
(The OIL signal is reset to "0" by receiving the OILF signal from the PMC.)
- 1237 -
11.15 PROGRAMMABLE MIRROR IMAGE
Overview
By a programmed command, the mirror image function can be used for
each axis.
Y Axis of symmetry (X=50)

(2) (1)
100
60
50 Axis of symmetry
(Y=50)
40
0
(3) (4)
0 40 50 60 100 X
(1) Original image of a programmed command

(2) Image symmetrical about a line parallel to the Y-axis and crossing the X-axis at
50
(3) Image symmetrical about point (50, 50)
(4) Image symmetrical about a line parallel to the X-axis and crossing the Y-axis at
50
Fig11.15 Programmable Mirror image
A programmable mirror image will not be cleared with a reset (if bit 0 of
parameter No. 6401 is 1).
An alarm will be issued if a G code for three-dimensional coordinate
conversion is specified in a programmable mirror image.
When a programmable mirror image is effective, G41.1 and G42.1 for
normal direction control will be automatically replaced with each other
(if bit 2 of parameter No. 6401 is 0).
If a programmable mirror image is applied to the rotation-direction-
controlled axis (bit 2 (RSR) of Parameter No.1007 is 1) controlled with
the sign of multiple-rotary axis control, the rotation direction will be
reversed with the sign (if bit 1 of parameter No. 6401 is 0).
- 1238 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
6007 NR3

[Data type] Bit
#2 NR3 If a programmable mirror image is applied, three-dimensional cutter

compensation and designation direction tool length compensation:
0: Follow the setting of PNR (bit 0 of parameter No. 7610).
1: Do not cause G41 and G42 to be replaced with each other.
(Cutter compensation follows the setting of PNR (bit 0 of parameter No. 7610.)
Even if this parameter bit is 0, if parameter bit PNR (bit 0 of parameter No. 7610) is
1, three-dimensional cutter compensation and designation direction tool length
compensation assume that bit NR3 is 1. Because, however, parameter bit PNR (bit
0 of No. 7610) is valid to two-dimensional cutter compensation as well, use this
parameter bit if only three-dimensional cutter compensation and designation
direction tool length compensation are to be modified.
Note Regardless of the value of this parameter bit and PNR (bit 0 of parameter
No. 7610), the mirror is applied to that address IJK corresponding to the
axis to which the mirror is valid that is specified with three-dimensional
cutter compensation and designation direction tool direction tool length
compensation.
#7 #6 #5 #4 #3 #2 #1 #0
6401 NMG NCN NMD PMK

[Data type] Bit
#0 PMK The modal information for a programmable mirror image is:

0: Cleared with a reset.
1: Not cleared with a reset.
#1 NMD If a programmable mirror image is applied to the rotation-direction-

controlled axis (bit 2 (RSR) of Parameter No.1007 is 1) controlled with the
sign of multiple-rotary axis control, the end position will be the one at
which the mirror is applied. At this time, the rotation direction is:
0: Reversed.
1: Not reversed.
- 1239 -
#2 NCN If a programmable mirror image is applied to one of the two axes selected
as the reference plane for normal direction control, G41.1 and G42.1,
which are G codes for normal direction control, are:
0: Replaced with each other.
1: Not replaced with each other.
#3 NMG Used to specify whether to replace the following G codes with each other
if a programmable mirror image is effective.
(1) G codes for tool length compensation (G43,G44) if a programmable mirror
image is applied in the tool direction
0: The codes are replaced with each other.
1: The codes are not replaced with each other.
#7 #6 #5 #4 #3 #2 #1 #0
7610 RMR PNR

#0 PNR When a programmable mirror image is applied, G41 and G42 are:
0: Replaced with each other. (See Note 1.)
1: Not replaced with other.
If three-dimensional cutter compensation and specified-direction tool
length compensation are used, NR3 (bit 2 of parameter No. 6007) must be
taken into consideration. See that parameter description. (See Note 2.)
Similarly, if set to 1, this parameter bit PNR causes the following G codes
to be replaced with each other:
G41.2 and G42.2 in the case of three-dimensional cutter compensation
G41.4 and G42.4 in the case of cutter compensation rotary table support
Note 1 If a programmable mirror axis is specified for only one of the two axes
selected as a plane, G41 and G42 are replaced with each other. If
programmable mirror axes are specified for both axes, they are not
replaced.
Note 2 Regardless of the value of this parameter bit and NR3 (bit 2 of parameer
No. 6007), the mirror is applied to that adress IJK corresponding to the
axis to which the mirror is valid that is specified with three-dimensional
cutter compensation and specified-direction tool direction tool length
compensation.
- 1240 -
#1 RMR When a programmable mirror image is applied, the value of the rotation
angle R specified with coordinate rotation is:
0: Reversed. (See Note 3.)
1: Not reversed.
Note 3 If a programmable mirror axis is specified for only one of the two axes
selected as a plane, the value of R specified with coordinate rotation is
reversed. If programmable mirror axes are specified for both axes, it is
not reversed.
- 1241 -
11.16 PLANE CONVERSION FUNCTION
Overview
This function converts a machining program created on the G17 plane

in the right-hand Cartesian coordinate system to programs for other
planes specified by G17.1Px commands, so that the same figure
appears on each plane when viewed from the directions indicated by
arrows.
Z G17.1P1 (G17)
G17.1P4
G17.1P5 Y G17.1P3
X
G17.1P2
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6401 NPC

[Data type] Bit
#5 NPC If the plane resulting from the plane conversion function is symmetrical
with the original plane with respect to a line, this parameter bit is used to
specify whether this function should perform the following:
(1) Replacement of the G codes for cutter compensation for rotary table
(G41.4,G42.4) and three-dimensional cutter compensation for rotary
table (G41.5,G42.5)
(2) Reverse of the value of the address R of coordinate rotation (G68)
0: Performs the above operations.
1: Suppresses the above operations.
- 1242 -
11.17 TILTED WORKING PLANE COMMAND
Overview
Programming for creating holes and pockets in a surface tilted from the
datum plane of a workpiece would be easy if commands can be issued
in a coordinate system fixed to this surface (called a feature coordinate
system). This function enables commands to be issued in the feature
coordinate system.
The feature coordinate system is defined in the workpiece coordinate
system.
See Fig.11.17(a) for explanations about the relationships between the
feature coordinate system and workpiece coordinate system.
Feature coordinate system

Workpiece coordinate (G68.2)
system (G54)
Machine coordinate system
Fig. 11.17 (a)
G68.2 selects the feature coordinate system as a coordinate system for

programming. The commands in all the subsequent blocks are assumed
to be issued in the feature coordinate system until G69 appears.
If G68.2 specifies the relationships of the feature coordinate system to
the workpiece coordinate system, G53.1 automatically specifies the +Z
direction of the feature coordinate system as the tool axis direction
even if no angle is specified for the rotary axis. (See Fig.11.17(c).)
See Fig.11.17(b) for explanations about the tool axis direction.
Z
Tool axis direction
the +Z-axis direction.
The tool axis direction is The tool axis direction is

the +X-axis direction. the +Y-axis direction.
Fig. 11.17 (b)
- 1243 -
This function sets the direction normal to the cut surface as the +Z-axis
direction of the feature coordinate system. Once G53.1 is issued, the
tool is kept perpendicular to the cut surface.
Only G68.2 is issued
Z Zc
Yc
Xc

Y Xc-Yc-Zc
Coordinate system origin

shift (xo, yo, zo)
Workpiece coordinate
system X-Y-Z X
G53.1 is issued after G68.2

G53.1 automatically controls the
rotary axis.
Zc
C
Yc
Z B
Xc
Controlled point shift
(another command)

Xc-Yc-Zc
Y
Coordinate system origin

shift (xo, yo, zo)
Workpiece
coordinate system
X-Y-Z X
Fig. 11.17 (c)
- 1244 -
This function is applicable to the following machine configurations.

(See Fig.11.17(d).)
<1> Tool rotation type machine controlled with two tool rotary axes
<2> Table rotation type machine controlled with two table rotary axes
<3> Mixed-type machine controlled with one tool rotary axis and one
rotary axis
This function is usable also in a configuration where the rotary axis for
controlling the tool and the rotary axis for controlling the table do not
cross each other.
<1> Tool rotation

type machine
Z
B
X
<2> Table rotation type

machine
Z
Y
C
B
<3> Mixed-type machine

Z
C Y
Fig.11.17 (d)
- 1245 -
Format
- Feature coordinate system setting
Format
α Jβ
G68.2 X x0 Y y0 Z z0 Iα β Kγγ ;
Feature coordinate system setting
G69 ;
Cancels the feature coordinate system setting.
Symbol description
X, Y, Z : Feature coordinate system origin
I, J, K : Euler's angle for determining the orientation of the feature
coordinate system
- Tool axis direction control
Format
G53.1 ; Controls the tool axis direction.
CAUTION
1 G53.1 must be issued in a block after the block that
contains G68.2.
2 G53.1 must be issued in a block in which there is no
other command.
3 The movement speed of the rotary axis depends on
the current modal information.
- 1246 -
Coordinate conversion in which an Euler's angle is used

Coordinate conversion by rotation is assumed to be performed around
the workpiece coordinate system origin.
Let the coordinate system obtained by rotating the workpiece
coordinate system around the Z-axis through an angle of ( degrees be
coordinate system 1. Also let the coordinate system obtained by
rotating coordinate system 1 around the X-axis through an angle of
( degrees be coordinate system 2. The feature coordinate system is the
coordinate system obtained by shifting the coordinate system that is
obtained by rotating coordinate system 2 around the Z-axis through an
angle of ( degrees from the workpiece coordinate system origin by (Xo,
Yo, Zo). Fig.11.17(e) shows the relationships between the workpiece
coordinate system and the feature coordinate system.
The figure also shows how the X-Y plane is displaced, as an example.
y’
Conversion from workpiece coordinate system X-Y-Z to
y coordinate system 1 X'-Y'-Z
α
x x’
z y’’
β
z’’
β
y’
Conversion from coordinate system 1 X'-Y'-Z to
coordinate system 2 X'-Y"-Z"
X’
yc y’’
zc γ
Conversion from coordinate system 2 X'-Y"-Z" to feature

γ xc coordinate system Xc-Yc-Zc
x’
Fig.11.17 (e)
- 1247 -
Mixed-type machine
- Basic operation
This function is usable also for a mixed-type machine in which the tool
head rotates on the tool rotary axis and the table rotates on the table
rotary axis.
The feature coordinate system Xc-Yc-Zc is set with a coordinate
system origin shift (xo, yo, zo) and an Euler's angle in the workpiece
coordinate system.
Given the A-axis and B-axis shown in Fig.11.17(f), rotary axis control
is performed in such a way that the A-axis rotates until Zc comes in the
X-Z plane and the B-axis is controlled so that the tool axis direction
becomes the +Z axis of the feature coordinate system.
Tool axis direction control in a mixed-type machine
Zc
B Yc
Xc
Z
(xo,yo,zo)
A
X
Zc’
Z Yc’
Y
Xc’
Fig.11.17 (f)
- 1248 -
- Feature coordinate system with the table rotated by G53.1 (tool axis direction
control)
Let's take a mixed-type machine shown in Fig.11.17(f) as an example.
If the table rotates under tool axis direction control (G53.1), the feature
coordinate system (called the first feature coordinate system) that is set
in the workpiece coordinate system as directed with the feature
coordinate system set command (G68.2) rotates as much as the table
rotates.
Let the feature coordinate system that has rotated be the second feature
coordinate system.
Once G53.1 is issued, the subsequent cutting commands are assumed to
be issued in the second feature coordinate system. (See Fig.11.17(g).)
In the mixed-type and table rotation type machines, the specified
feature coordinate system (the first feature coordinate system) may
vary from the feature coordinate system to be used in cutting (the
second feature coordinate system).
G53.1 command
Zc’
Second feature coordinate
system Xc-Yc-Zc
Z Yc’
Y
Xc’
G01 Y10.0 F1000

command after G53.1 is
issued.
Zc’ Second feature coordinate system
Xc’-Yc’-Zc’
Z Yc’
Y
Xc’
Fig.11.17 (g)
- 1249 -
- Rotation direction of the table rotary axis

Let's take a mixed type machine shown Fig.11.17(f) as an example.
Setting parameter No. 6170 to 1 specifies that the rotation direction of
the rotary table corresponding to the positive-direction move command
be clockwise as viewed from the positive direction of the rotation
center axis on which the table rotary axis rotates. Resetting parameter
No. 6170 to 0 specifies that that rotation direction be counterclockwise.
Let's take the movement of the table when G53.1 is issued in O400
(sample program 4) as an example.
If parameter No. 6170 = 1, control is performed in such a way that A-
45.0 is attained.
If parameter No. 6170 = 0, control is performed in such a way that
A45.0 is attained.
O400 (Sample Program4) ;

N1 G68.2 X100.0 Y100.0 Z0 I180.0 J45.0 K0 ;
N2 G53.1 ;
N3 . . . ;
Y
Zc
Yc
X
A CCW CW
Xc
Positive rotation direction when Positive rotation direction when

parameter No. 6170 = 0 parameter No. 6170 = 1
G53.1 command
Zc
CCW
Xc
Yc
Rotation to A-45.0
G53.1 command
Zc
CCW
Xc
Yc
Rotation to A45.0
Fig.11.17 (h)
- 1250 -
- Basic operation
This function is usable also for a table rotation type machine with two
table rotary axes.
The feature coordinate system Xc-Yc-Zc is set with a coordinate
system origin shift (xo, yo, zo) and an Euler's angle in the workpiece
coordinate system.
Given the A-axis and C-axis shown in Fig.11.17(i), the A-axis and C-
axis rotate until Zc comes in the X-Z plane and the tool axis direction
becomes the +Z axis of the feature coordinate system.
Tool axis direction control in a table rotation type machine
Zc
Yc
Z Xc
Y C
A
X
Zc’
Xc’
Z
C
Y Yc’
Fig.11.17 (i)
- 1251 -
- Feature coordinate system with the table rotated by G53.1 (tool axis direction
control)
Let's take a table rotation type machine shown in Fig.11.17(i) as an
example.
If the table rotates under tool axis direction control (G53.1), the feature
coordinate system (called the first feature coordinate system) that is set
in the workpiece coordinate system as directed with the feature
coordinate system set command (G68.2) rotates as much as the table
rotates.
Let the feature coordinate system that has rotated be the second feature
coordinate system.
Once G53.1 is issued, the subsequent cutting commands are assumed to
be issued in the second feature coordinate system. (See Fig.11.17(j).)
In the table rotation type machines, the specified feature coordinate
system (the first feature coordinate system may vary from the feature
coordinate system to be used in cutting the second feature coordinate
system.
G53.1 command
Second feature coordinate system

Zc’ Xc’-Yc’-Zc’
Xc’
Z
Y Yc’
G01 X10.0 F1000

command after G53.1 is
issued.
Second feature coordinate system
Zc’ Xc’-Yc’-Zc’
Xc’
Z
Y Yc’
Fig.11.17 (j)
- 1252 -
Rotary axis angle

Tool axis direction control (G53.1) usually generates two or more
calculation angle sets for rotary axes.
The term "calculation angle" refers to a candidate angle at which G53.1
controls a rotary axis in the tool axis direction.
An output angle is calculated from the calculation angle according to
the following output criteria.
Tool rotation type and table rotation type machines

<1> The rotary axis set to an angle through which the master (the first rotary
axis) moves is small is an output angle.
↓
↓ If the angle through which the master moves remains the same
↓
<2> The rotary axis set to an angle through which the slave (the second
rotary axis) moves is small is an output angle.
↓
↓ If the angle through which the slave moves remains the same
↓
<3> A set in which the angle of the master (the first rotary axis) is near 0
degrees (or an integer multiple of 360 degrees) is an output angle.
↓
↓ If the angle of the master is near 0 degrees to the same extent
↓
<4> A set in which the angle of the slave (the second rotary axis) is near 0
Mixed-type machine
<1> The rotary axis set to an angle through which the table (the second
rotary axis) moves is small is an output angle.
↓
↓ If the angle through which the table moves remains the same
↓
<2> The rotary axis set to an angle through which the tool (the first rotary
axis) moves is small is an output angle.
↓
↓ If the angle through which the tool moves remains the same
↓
<3> A set in which the angle of the table (the second rotary axis) is near 0
↓
↓ If the angle of the master is near 0 degrees to the same extent
↓
<4> A set in which the angle of the slave (the second rotary axis) is near 0
Output criteria
The term "movement decision" means to determine whether an angle

through which the master, slave, table, or tool moves is small or large.
The current position of a rotary axis that serves a reference in
comparison is represented using absolute coordinates.
- 1253 -
Explained below is the movement decision.

A calculation angle that falls in the range of 0 degrees ≤ calculation
angle < 360 degrees is referred to as a basic calculation angle.
There are usually two basic calculation angle sets.
Let rotary axes A and B be, respectively, the master and slave, and the
basic calculation angles be the following two sets:
(A θ1 degrees, B φ1 degrees)
(A θ2 degrees, B φ2 degrees)
where θ1 ≤ θ2 and φ1 ≤ φ2
The calculation angle is an angle obtained by increasing the basic
calculation angle by +360 × N degrees or decreasing the basic
calculation angle by -360 × N degrees (N is an integer.).
Assuming that the current position of rotary axis A (master) is PA and
that the current position of rotary axis B (slave) is 0 degrees, movement
decision is carried out based on an angle of PA as shown below.
Calculation angle A
θ2-360×(N+1) θ1-360×N θ2-360×N θ1-360× (N-1)
-360×(N+1) degrees -360×N degrees
(*1)
θ2-360 θ1 θ2 θ1+360
0 degree 360 degrees
(*2)
θ2+360×(N-1) θ1+360×N θ2+360×N θ1+360×(N+1)
360×N degrees 360×(N+1) degrees
(*3)
Movement decision
- 1254 -
If angle PA is (*1):
The output angles are (A θ2-360×(N+1) degrees, B φ2 degrees).
To put another way, the nearest θ2-360×(N+1) is employed as a
calculation angle for A, and angle of φ2 in the same group as θ2 is
employed as a calculation angle for B.
The output angles are (A θ1 degrees, B φ1 degrees).
To put another way, the nearest θ1 is employed as a calculation angle
for A, and angle of φ1 in the same group as θ1 is employed as a
calculation angle for B.
The output angles are (A θ2+360×N degrees, B φ2 degrees).
To put another way, the nearest θ2+360×N is employed as a calculation
angle for A, and angle of φ2 in the same group as θ2 is employed as a
calculation angle for B.
If the angle through which rotary axis A (master) moves remains the
same, movement decision is performed for rotary axis B (slave)
according to the output criteria.
If the output angle of rotary axis A is obtained by movement decision
for rotary axis A, a calculation angle for which "the movement angle is
small" is determined as the output angle of rotary axis B.
Similarly, if the output angle of rotary axis B is obtained by movement
decision for rotary axis B, a calculation angle for which "the movement
angle is small" is determined as the output angle of rotary axis A.
CAUTION
1 To use the rotary axis roll-over function, set
parameter No. 1260 (distance to move per rotary
axis turn) to 360 degrees.
2 A stroke limit before movement is applied to the
rotary axis placed under tool axis direction control.
- 1255 -
Let us explain the output angle by taking the tool rotation type machine
as an example. In this example, the tool rotation type machine is a BC
type tool axis Z-axis machine.
BC type tool axis Z-axis
Z
C-axis: First rotary axis (master)
B-axis: Second rotary axis (slave)
Fig.11.17 (k) BC type tool axis Z-axis
The following two are basic calculation angle combinations for

orienting the tool axis in the +X-axis direction.
(B 90 degrees, C 180 degrees)
(B 270 degrees, C 0 degrees)
[Example]
<1> If the current rotary axis angles are (B -70 degrees and C 30
degrees)
The output angles are (B -90 degrees, C 0 degrees)
An angle of 0 degrees near the current position (30 degrees) of the
C-axis, or the master axis, is employed as an output angle. For the
B-axis, an angle of 270 degrees in the same group is employed.
However, an angle of -90 degrees (270 degrees - 360 degrees)
nearest to the current position of the B-axis (-70 degrees) is
employed.
<2> If the current rotary axis angles are (B 80 degrees and C 500
degrees)
The output angles are (B 90 degrees, C 540 degrees)
An angle of 540 degrees (180 degrees + 360 degrees) near the
current position (500 degrees) of the C-axis, or the master axis, is
employed as an output angle. For the B-axis, an angle of 90
degrees in the same group is employed.
degrees)
Because both candidates are near the current position (90 degrees)
of the C-axis, or the master axis, to the same extent, decision is
made according to the current position of the B-axis. An angle of
90 degrees near the current position (60 degrees) of the B-axis, or
the slave axis, is employed. For the C-axis, an angle of 180
degrees in the same group is employed.
- 1256 -
degrees)
Because both candidates are near the current position (180
degrees) of the B-axis, or the slave axis, to the same extent, the
candidate for which the C-axis, or the master axis, is near 0
degrees is employed.
To put another way, a set in which the C-axis and B-axis are,
respectively, at 0 and 270 degrees is employed.
If the slave axis is at 0 degrees, the direction of the tool axis is fixed in
a specific direction no matter at what angle the master axis is.
The master stays at the current angle.
Let us take the BC type tool axis Z-axis machine as an example.

BC type tool axis Z-axis
Z
C
Fig.11.17 (l) BC type tool axis Z-axis
If the current rotary axis angles are (B 45 degrees and C 90 degrees)

- 1257 -
About parameters
(1) Examples of setting parameters

Many parameters are related to this function.
So, using some examples as references would be convenient in setting
parameters for the target machine. The examples follow.
<1> Example of setting parameters for a mixed-type machine

In the machine explained in this example, the first, second, third, fourth,
fifth, and sixth axes are, respectively, X, Y, Z, A, B, and C.
Shown below is an example of setting parameters for a mixed-type
machine.
Rotary axis A is the table rotary axis on the X-axis.
Rotary axis B is the tool rotary axis on the Y-axis.
Mixed-type machine
Zm B
Ym
Xm
Rotation center of the

A rotary table
(PRM6181,6182,6183)
Intersection offset vector between the tool

axis and the tool rotary axis
(PRM6190,6191,6192)

(PRM7548)
In the mixed-type machine shown above, if the machine coordinate

system for rotary axis B is at 0 degrees, assume:
Rotary table position = (5.0, 2.0, -15.0)
Intersection offset vector between the tool axis and the tool rotary axis
= (3.0, 0, 2.0)
The settings of the parameters for the mixed-type machine stated above
are as follows:
- 1258 -
Parameter No.
6162 5(B) Controlled axis number for the first rotary axis
6163 2(Y) Axis direction for the first rotary axis
6167 4(A) Controlled axis number for the second rotary axis
6168 1(X) Axis direction for the second rotary axis
6183 -15.0 Rotary table position (Z-axis)
Y0.0
Z0.0
CAUTION
(About machine configurations for which an alarm
is raised)
In the following machine settings, there may be no
angle solution when G53.1 is issued.
So issuing G53.1 results in an alarm being raised.
1 The table rotary axis and tool rotary axis are on
the same axis.
Example) Parameter No.6163
=Parameter No.6168=1(X)
2 The tool axis direction and tool rotary axis are in
the same axis direction.
=Parameter No.6178=3(Z)
- 1259 -
<2> Example of setting parameters for a tool rotation type machine
This is an example of setting parameters for the tool rotation type

Rotary axis C is the tool rotary axis (master) on the Z-axis.
Rotary axis B is the tool rotary axis (slave) on the Y-axis.
Tool rotation type machine
Zm
C
Ym
Xm
B
Intersection offset vector between the
second and first rotary axes of the tool
(PRM6193,6194,6195)
Intersection offset vector between the tool axis and

the second rotary axis of the tool
(PRM6190,6191,6192)

(PRM7548)
In the tool rotation type machine shown above, if the machine

coordinate system for rotary axes B and C is at 0 degrees, assume:
Intersection offset vector between the tool axis and the second tool
rotary axis = (5.0, 0, 3.0)
Intersection offset vector between the second and first rotary axes of
the tool = (3.0, 3.0, 8.0)
The settings of the parameters for the tool rotation type machine stated
- 1260 -
Parameter No.
6162 6(C) Controlled axis number for the first rotary axis
6163 3(Z) Axis direction for the first rotary axis
Y0.0
Z0.0
CAUTION
is raised)
1 The first rotary axis (master) and second rotary
axis (slave) of the tool are on the same axis.
2 The tool axis direction and second rotary axis
(slave) of the tool are in the same axis direction.
- 1261 -
<3> Example of setting parameters for a table rotation type machine
This is an example of setting parameters for the table rotation type

Rotary axis A is the table rotary axis (master) on the X-axis.
Rotary axis B is the table rotary axis (slave) on the Y-axis.
Ym Center of the second rotary axis of the table
Zm B
Xm
Center of the first rotary axis of the table
Rotary table position Intersection offset vector between the first

(PRM6181,6182,6183) and second rotary axes of the table
(PRM6184,6185,6186)
In the table rotation type machine shown above, if the machine

coordinate system for rotary axes A and B is at 0 degrees, assume:
Rotary table position = (-10.0, -30.0, 0)
Intersection offset vector between the first and second rotary axes of
the table = (0, 8.0, 8.0)
The settings of the parameters for the table rotation type machine stated
- 1262 -
Parameter No.
6162 4(A) Controlled axis number for the first rotary axis
6163 1(X) Axis direction for the first rotary axis
6181 -10.0 Rotary table position (X-axis)
6182 -30.0 Rotary table position (Y-axis)
Y0.0
Z0.0
CAUTION
is raised)
1 The first rotary axis (master) and second rotary
axis (slave) of the table are on the same axis.
2 The tool axis direction and first rotary axis
(master) of the table are in the same axis
direction.
- 1263 -
(2) Parameters
The parameters for this function are as follows:
6161 Type of a mechanical unit

[Data type] Integer
Specify the type of a mechanical unit.
PRM6161 Rotary axis to be Master and slave
controlled
0 Mechanical unit with no
rotary axis
2 Two tool rotary axes Use the first and second rotary
12 Two table rotary axes Use the first and second rotary
21 One tool rotary axis + one Use the first and second rotary
table rotary axis axes, respectively, as the tool
rotary axis and table rotary axis.
NOTE
Count also hypothetical axis as a rotary axis to be
controlled
<About the hypothetical axis>
In some cases, it is convenient to use an imaginary
rotary axis whose angle is fixed at a certain value.
An example of these cases might be a case in which
a tool is mounted through an attachment in a
slanted manner.
In this case, the imaginary axis is the hypothetical
axis.
Bits 0, 1, and 2 of parameter No. 6177 specify
whether the corresponding axes are ordinary or
hypothetical axes.

Tool rotary axis

Table rotary axis
- 1264 -
6162 Controlled axis number for the first rotary axis

[Data type] Integer
Specify the controlled axis number for the first rotary axis.
6163 Axis direction for the first rotary axis

[Data type] Integer
Specify the axis direction for the first rotary axis.
1: X-axis
2: Y-axis
3: Z-axis
2
Y
X Parameter No.6163
6165 Retraction direction for the first rotary axis

[Data type] Integer
Specify the direction in which the first rotary axis rotates as machine
parameter No. 6163
6163
- 1265 -
6166 Rotation angle when the first rotary axis is a hypothetical axis

table (A))
Specify a rotation angle for the first rotary axis if it is a hypothetical
6167 Controlled axis number for the second rotary axis

[Data type] Integer
Specify the controlled axis number for the second rotary axis.
6168 Axis direction for the second rotary axis

[Data type] Integer
Specify the axis direction for the second rotary axis.
1: X-axis
2: Y-axis
3: Z-axis
6170 Retraction direction for the second rotary axis

[Data type] Integer
Specify the direction in which the second rotary axis rotates as machine
parameter No. 6168
6168
- 1266 -
6171 Rotation angle when the second rotary axis is a hypothetical axis

table (A))
Specify a rotation angle for the second rotary axis if it is a hypothetical
#7 #6 #5 #4 #3 #2 #1 #0
6177 IA2 IA1

[Data type] Bit
#0 IA1
0: The first rotary axis is an ordinary rotary axis.
1: The first rotary axis is a hypothetical rotary axis.
In this case, reset the controlled axis number for the first rotary axis
the assumption that there are rotary axes.
#1 IA2
0: The second rotary axis is an ordinary rotary axis.
1: The second rotary axis is a hypothetical rotary axis.
In this case, reset the controlled axis number for the second rotary axis
the assumption that there is a rotary axis.
- 1267 -

[Data type] Integer
Specify the tool axis direction in the machine coordinate system when
the rotary axis for controlling the tool is at 0 degrees.
Also specify the tool axis direction in the machine coordinate system
for a mechanical unit that has only a rotary axis for controlling the table
(no rotary axis for controlling the tool).
1: +X-axis direction
2: +Y-axis direction
3: +Z-axis direction
Z
Tool axis direction
+Z-axis direction.
Y
the +X-axis direction.

+Y-axis direction.
X
6181 Rotary table position (X-axis, one of the basic three axes)
6182 Rotary table position (YX-axis, one of the basic three axes)
6183 Rotary table position (Z-axis, one of the basic three axes)

[Data type] Real
table (A))
Set these parameters when parameter No. 6161 = 11, 12, 13, or 21. To
be specific, set the vector from the machine coordinate system origin to
point A on the first rotary axis of the table as the position of the rotary
table in the machine coordinate system in these parameters.
(Caution)
Select, as point A, a position on the first rotary axis of the table where
measurement is easy.
- 1268 -
table (X-axis, one of the basic three axes)
table (Y-axis, one of the basic three axes)
table (Z-axis, one of the basic three axes)

[Data type] Real
table (A))
Set this parameter if the first and second rotary axes of the table do not
= 12 or 13. If all the rotary axes for controlling the table are at 0 degrees,
specify the vector from point A to point B on the second rotary axis of
the table as the intersection offset vector in the machine coordinate
system.
(Caution)
Select, as point B, a position on the second rotary axis of the table
where measurement is easy.
If the table rotary axes do not cross each other
Second rotary axis of the table X
Machine
Z coordinate
B system
First rotary axis of

A the table
Intersection vector between the first and Position of the rotary table
second rotary axes of the table
- 1269 -
tool (X-axis, one of the basic three axes)
tool (Y-axis, one of the basic three axes)
tool (Z-axis, one of the basic three axes)

[Data type] Real
[Minimum unit of data]
[Valid data range]
Set this parameter if the tool axis and the rotary axis of the tool do not
= 1, 2, or 21.
If parameter No. 6161 = 1 or 21, when all the rotary axes for controlling
the tool are at 0 degrees, specify the vector from point D on the tool axis
to point E on the first rotary axis of the tool as the intersection offset
If parameter No. 6161 = 2, when all the rotary axes for controlling the
tool are at 0 degrees, specify the vector from point D on the tool axis to
point E on the second rotary axis of the tool as the intersection offset
(Caution)
Point D is a point from the tool center point obtained by taking the tool
length offset and tool holder offset (parameter No. 7548) into account.
Select, as point E, a position where measurement is easy.
If the tool axis and the tool rotary axis do

not cross each other Controlled point

E
the tool axis and the first rotary
axis of the tool
D Tool holder offset
Tool length offset
Tool center point
- 1270 -
(X-axis, one of the basic three axes)
(Y-axis, one of the basic three axes)
(Z-axis, one of the basic three axes)

[Data type] Real
table (A))
Set this parameter if the tool rotary axes do not cross each other. The
setting becomes effective if parameter No. 6161 = 2.
If all the rotary axes for controlling the tool are at 0 degrees, specify the
vector from point E on the second rotary axis of the tool to point F on
the first rotary axis of the tool as the intersection offset vector in the
(Caution)
Select, as point F, a position where measurement is easy.
If the toll rotary axes

do not cross each First rotary axis of the tool
other

the second rotary axis and the first
Controlled point rotary axis of the tool
F

E first rotary axis of the tool
Second rotary axis of the tool Tool holder offset

D
Tool length offset
Tool center point
- 1271 -
#7 #6 #5 #4 #3 #2 #1 #0
7540 SVC SBP

[Data type] Bit
#4 SBP Specify a method for shifting a controlled point as follows:

0: Automatic calculation
#5 SVC Specify whether the controlled point is to shift as follows:
0: Not to shift
1: To shift
To specify a method for shifting a controlled point , use parameter SBP
- 1272 -
7745 Shift vector for tool length compensation in the tool axis direction

table (A))
Specify a shift vector for the controlled point. The setting becomes
effective when parameter SVC (bit 5 of parameter No. 7540) =1 and
parameter SBP (bit 4 of parameter No. 7540) = 1.
Parameter SVC Parameter SBP Controlled point shift

(No.7540#5) (No.7540#4)
0 - The controlled point does not shift as usual.
1 0 The controlled point shifts according to the result of automatic
calculation as follows.
- (Intersection offset vector between the tool axis and the first rotary axis
of the tool + intersection offset vector between the second and first
rotary axes of the tool + tool holder offset (parameter No. 7548))
1 1 The controlled point shifts.
The shift vector is the one set in parameter No. 7745.
Controlled-point shift
Controlled point
F Controlled-point shift vector

D
Tool center point
- 1273 -
7548 Tool holder offset value

[Data type] Real
table (A))
Specify the tool axis direction tool length compensation function, tool
tip center rotation handle feed/interruption and tool tip position display,
tool center point control, tool center point control for 5-axis machining,
and offset of the machine-specific section between the rotation center
of the rotation axis and the tool mounting position (tool holder offset)
in the tilted working plane command. For the tool axis direction tool
length compensation function, however, this parameter is valid when
the FTH (No.7540#7) parameter is set to make the tool holder offset
function valid.
Alarm And message

PS645 TOO MANY G68.2 NESTING A feature coordinate system set command was issued
more than once. To newly set a feature coordinate system,
cancel the previous commands, then newly issue a feature
coordinate system command.
PS646 G68.2 FORMAT ERROR In a feature coordinate system set command block, the I, J,
and K commands are all 0s.
PS647 ILLEGAL USE OF G53.1 (1) A tool axis direction control command was issued
before a feature coordinate system set command.
Issue the tool axis direction control command in a
block after the feature coordinate system set
command.
(2) There is no angle solution for setting the tool axis
direction to the +Z-axis direction of the feature
coordinate system.
Specify a feature coordinate system that can produce
an angle solution.
PS1100 ILLEGAL PARAMETER OF MACHINE A parameter (No. 6161 to No. 6195 or No. 7540 to No.
COMPONENT 7548) for configuring the machine is incorrect.
Reference item
FANUC Series Operator’s Manual II-13.9 Three-dimensional
15i/150i-MB (Programming) coordinate conversion
(B-63784EN) (G68,G69)
- 1274 -
B-63783EN-1/01 12.DISPLAY/SET/EDIT
12 DISPLAY/SET/EDIT
- 1275 -
12.DISPLAY/SET/EDIT B-63783EN-1/01
12.1 DISPLEY/SET
12.1.1 Clock Function
General
The function displays the current date and time on all screens.
The date and time can be read by using a system variable of a custom
macro. The PMC can read the date and time through a window.
Table 12.1.1 System Variables in the Clock Information

Variable number Function
#3001 Always counts the time using a one-millisecond timer. The
counter is reset to 0 at power-up. The counter is reset to 0
when it counts up to 2147483648 milliseconds.
#3002 Counts the period in which the cycle start lamp is lit by a
one-hour timer. The value is stored even when the power is
turned off. The counter is reset to 0 when it counts up to
9544.37176 hours.
#3011 Reads the current date.
The data for May 20, 1999 is 19990520.
#3012 Reads the current time.
The data for 16:17:5 is 161705.
Reference item
Series15i/150i-MB Operator’s Manual II-10.10 Machined part count
(Operation) and operation time
(B-63784EN-1) display
- 1276 -
12.1.2 Operation/Alarm History Screen
General
Operations performed by the operator and any alarms that are issued
are recorded. The history can be viewed and downloaded into a
Memory Card or to the host computer.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0013 HDE HKE

[Data type] Bit
#4 HKE Specifies whether to store the history of key operations.

0: Do not store the history.
1: Store the history.
#5 HDE Specifies whether to store the history of DI/DO.

0: Do not store the history.
1: Store the history.
#7 #6 #5 #4 #3 #2 #1 #0
0015 EKE OHS

[Data type] Bit
#3 OHS Specifies whether to display the operation history screen and the signal
selection screen.
0: Do not display the screens. (The alarm history screen can be
displayed.)
1: Display the screens.
#4 EKE Specifies whether to enable the [ALL CLEAR] soft key that erases history
data.
0: Disable the soft key.
1: Enable the soft key.
- 1277 -
0130 Time by which to go back to delete alarms from the history

[Data type] Integer
[Unit of data] sec
When the power to the NC is turned ON, the NC goes back from the time
the NC was turned OFF by the specified time and deletes from the
history any alarms that occurred during this period.
If this parameter is set to 0, one second is assumed.
7765 Interval at which time is recorded in the operation history

[Data type] Integer
[Unit of data] min
If history data is recorded not at specified intervals, time information is
recorded in the history data at specified intervals.
When 0 is set, time information is recorded at intervals of 10 minutes.
Reference item
Series15i/150i- Maintenance Manual 5.2 Operation and alarm
MODEL B (B-63785EN) history screen
- 1278 -
12.1.3 Alarm Display
General
When an alarm is issued, an alarm message appears on the alarm
message screen.
Signal
Alarm signal
AL<F000#1>
[Function] Posts that an alarm has been issued.
[Output condition] This signal is set to 1 when:
- An alarm is issued.
This signal is set to 0 when:
- No alarm is issued.
Alarm class signal

PSALM<F006#0>
[Function] Used to inform the operator that a PS alarm has occurred.
- A PS alarm occurs.
- No PS alarm is present.
Alarm class signal

SVALM<F006#1>
[Function] Used to inform the operator that an SV alarm has occurred.
- An SV alarm occurs.
- No SV alarm is present.
Alarm class signal

OHALM<F006#2>
[Function] Used to inform the operator that an OH alarm has occurred.
- An OH alarm occurs.
- No OH alarm is present.
- 1279 -
Alarm class signal

OTALM<F006#3>
[Function] Used to inform the operator that an OT alarm has occurred.
- An OT alarm occurs.
- No OT alarm is present.
Alarm class signal

SYALM<F006#4>
[Function] Used to inform the operator that an SY alarm has occurred.
- An SY alarm occurs.
- No SY alarm is present.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F000 AL
#7 #6 #5 #4 #3 #2 #1 #0
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8000 PRA NAP

[Data type] Bit
#1 NAP Specifies whether to switch the screen display to the alarm message
screen automatically when an alarm is issued.
0: Switch.
1: Do not switch.
#2 PRA Specifies whether to issue an alarm when the PWE parameter is set to 1
(to enable parameter setting).
0: Issue an alarm.
Reference item
Series15i/150i-MB Operator’s Manual II-10.7 Alarm display
(Operation)
(B-63784EN-1)
- 1280 -
12.1.4 Operator Message Display
General
When the display of an operator message is specified by external data
input/output or custom macro system variable #3006, the message
appears on the operator message screen.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2217 NOM

[Data type] Bit
#2 NOM Specifies whether to automatically switch to the operator message screen

if an operator message is set with external data input/output or custom
macro system variable #3006.
0: Switched.
1: Not switched.
Reference item
Series15i/150i-MB Operator’s Manual II-10.6 Operator message
(Operation) display
(B-63784EN-1)
- 1281 -
12.1.5 Servo Adjustment Screen
General
This screen shows the parameter and status monitor required for basic
servo motor adjustment for each axis.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0015 SVS

[Data type] Bit
#0 SVS Specifies whether to display the servo screen.

0: Display the servo screen.
1: Do not display the servo screen.
Specifies whether to display or hide the servo setting screen, servo
adjustment/monitor screen, servo function setting screen, servo alarm
screen, and backlash screen.
Reference item
Series15i/150i- Maintenance Manual 5.3 Servo adjustment
MODEL B (B-63785EN) screen
- 1282 -
12.1.6 Spindle Adjustment Screen

General
This screen shows the parameters and status monitor required for basic
spindle adjustment.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0015 SPS

[Data type] Bit
#1 SPS Specifies whether to display the spindle screen.

0: Display the spindle screen.
1: Do not display the spindle screen.
#7 #6 #5 #4 #3 #2 #1 #0
5820 SVP

#7 SVP Specifies whether to display a monitor value or peak hold value as a

synchronization error on the spindle screen.
0: Display a monitor value.
1: Display a peak hold value.
Set the display of a synchronization error in rigid tapping and spindle
synchronization.
Reference item
Series15i/150i- Maintenance Manual 5.2 Spindle adjustment
- 1283 -
12.1.7 Waveform Diagnosis Display
General
The waveform diagnosis function traces data such as servo position
deviation, torque, and machine signals and displays the changes in their
values as waveforms. This facilitates the adjustment of servo motors
and spindle motors, as well as the identification of defective locations
when errors occur.
The following data can be traced:
1. Servo data
Position deviation of the servo motor for each axis, number of
distributed pulses, torque, number of pulses after
acceleration/deceleration, actual speed, specified current value,
thermal simulation data
2. Combined speed for all axes
3. Spindle data
Spindle motor speed, load meter value
4. Machine signal ON/OFF state
Four data items among servo data, combined speed data for all axes,
and spindle data, and four machine signals can all be traced at the same
time.
All the traced data waveforms can be displayed at the same time.
Tracing can be started with the following three conditions:
1. Data at an arbitrary timing
2. Data immediately after the occurrence of a specified event
3. Data immediately before the occurrence of a specified event
As an event, the generation of a servo alarm, or a rise, fall, or change of
a specified machine signal can be specified.
Traced data can be output to an external input/output unit. The output
data can also be read.
Parameter
4601 Output format of files

[Data type] Integer
Specify the format to use when the data obtained by tracing with the
waveform diagnosis function is to be output to an external input/output
device.
0: FS15i format
1: FS15B format (old format)
Reference item
Series15i/150i- Maintenance Manual 1.5 Waveform diagnosis
MODEL B (B-63785EN) display
- 1284 -
12.1.8 Self-diagnosis
General
If a failure occurs, it is first necessary to check whether the failure has
originated in the CNC, PMC, or machine, in order to perform quick
troubleshooting.
In some external signal wait states or the like, the operation of the
machine may stop as if a failure had occurred. In this case, the status of
the CNC-PMC interface or CNC-machine interface and the internal
status of the CNC must be checked.
The CNC checks for the following during operation:

1 Error in the detection system
2 Error in the position control unit
3 Error in the servo system
4 Overheating
5 CPU error
6 ROM error
7 RAM error
8 Error in program memory
10 Data input error
11 Error in data transfer to and from the PMC
In addition, the CNC checks the input/output signals transferred

between the PMC and CNC and the internal CNC status. These
statuses can be displayed on the screen.
Reference item
Series15i/150i-MB Operator’s Manual II-7.1 Check on the self-
(Operation) diagnosis function
(B-63784EN-1)
Series15i/150i- Maintenance Manual 1.3 Diagnosis function
MODEL B (B-63785EN)
- 1285 -
12.1.9 Hardware/Software System Configuration Screen
General
The software and hardware configuration necessary for maintenance of
the CNC can be displayed on the screen.
The system configuration screen displays the following:
1. Printed circuit board configuration
The type and function of the printed circuit board in each slot are
displayed. If the CPU is provided, the series and edition of the
software are also displayed.
2. Software configuration
The series and edition of the installed software, such as the CNC
software, servo software, PMC management software, and ladder
are displayed. For the CNC software, the installed data is also
displayed.
3. Module configuration
The module configuration or hardware configuration on each
printed circuit board (type, presence/absence, etc.) is displayed.
Reference item
Series15i/150i- Maintenance Manual 1.12 System configuration
- 1286 -
12.1.10 Machined Part Count and Operation Time Display
General
The total number of machined parts, required number of parts, and
number of machined parts are displayed. The values of the total
number of machined parts and the number of machined parts are
incremented by one when M02, M30, or an M code specified by a
parameter is executed. When the number of machined parts reaches the
required number of parts, a signal is output to the PMC.
In addition, the total time that the power is on, total run time during
automatic operation, total time taken for cutting, total cycle time, and
the value of a timer that can be used for any purpose (called a general-
purpose timer) and which is started and stopped by a signal input from
the PMC are displayed.
The items other than the total number of machined parts, total time that
the power is on, and total cycle time can be set by the operator from the
MDI.
Signal
General-purpose timer start signal

TMRON<G008#7>
[Function] Starts and stops the general-purpose timer.
[Operation] When this signal is set to 1, the general-purpose timer starts for to
perform time measurement.
When this signal is set to 0, the general-purpose timer stops.
Required part count reach signal

PRTSF<F043#6>
[Function] Posts notification that the number of machined parts has reached the
required number of parts.
[Output condition] Signal PRTSF is set to 1 when:
- The number of machined parts has reached the required number of
parts.
Note that when the number of required parts is set to 0, this signal
is not output.
Signal PRTSF is set to 0 when:
- The number of machined parts does not reach the required number
of parts.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G008 TMRON
#7 #6 #5 #4 #3 #2 #1 #0
F043 PRTSF
- 1287 -
Parameter
0100 Time accumulated since power-on

[Data type] Integer
[Unit of data] min
Stores the time accumulated since power-on.
0101 Time 1 accumulated during automatic operation

[Data type] Integer
[Unit of data] msec
Stores the time accumulated during automatic operation that is less
than one minute. The actual time accumulated during automatic
operation is the sum of this parameter and parameter No. 102.
0102 Time 2 accumulated during automatic operation

[Data type] Integer
[Unit of data] min
Stores the time accumulated during automatic operation that is equal to
or greater than one minute. The actual time accumulated during
automatic operation is the sum of this parameter and parameter No.
101.
0103 Time 1 accumulated during cutting

[Data type] Integer
[Unit of data] msec
Stores the time accumulated during cutting that is less than one minute.
The actual time accumulated during cutting is the sum of this parameter
and parameter No. 104.
- 1288 -
0104 Time 2 accumulated during cutting

[Data type] Integer
[Unit of data] min
Stores the time accumulated during cutting that is equal to or greater
than one minute. The actual time accumulated during cutting is the
sum of this parameter and parameter No. 103.
0105 Time 1 accumulated by the general-purpose timer

[Data type] Integer
[Unit of data] msec
Stores the time accumulated by the general-purpose timer that is less
than one minute. The actual time accumulated by the general-purpose
time is the sum of this parameter and parameter No. 106.
0106 Time 2 accumulated by the general-purpose timer

[Data type] Integer
[Unit of data] min
Stores the time accumulated by the general-purpose time that is equal to
or greater than one minute. The actual time accumulated by the
general-purpose time is the sum of this parameter and parameter No.
105.
0107 Total number of parts machined

[Data type] Integer
Stores the total number of parts machined.
0108 Total number of parts

[Data type] Integer
Stores the total number of parts.
- 1289 -
0109 Number of parts required

[Data type] Integer
Sets the number of parts required. When the total number of machined
parts exceeds the value of this parameter, a signal indicating that the
number of parts required is exceeded is output.
#7 #6 #5 #4 #3 #2 #1 #0
2403 PCM

[Data type] Bit
#5 PCM Counting the total number of machined parts and the number of
machined parts is specified by:
0: M02, M30, or M code set by parameter No. 2426
1: Only M code set by parameter No. 2426
2426 M code for counting up the number of parts

[Data type] Integer
Specifies the M code for counting up the number of parts. To specify no
code, set 0. (Counting up is not performed with M00.) M98 and M99
cannot be used for counting up. (If they are set, they are ignored and
counting up is not performed.)
Reference item
Series15i/150i-MB Operator’s Manual II-10.10 Machined part count
(Operation) and operation time
(B-63784EN-1) display
- 1290 -
12.1.11 Tool Path Drawing and Background Drawing
General
- Tool path drawing

This function draws the tool path of the current machining program.
With this function, the progress of machining and the current position
of the tool can be checked.
- Background drawing
This function draws the tool path of a program without executing the
corresponding machining. The function can draw the tool path of a
program while the machining of another program is in progress.
Since the drawing speed is higher than that of normal tool path drawing,
the program can be checked quickly.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2202 DTL

[Data type] Bit

#7 #6 #5 #4 #3 #2 #1 #0
2209 BGM

[Data type] Bit
#2 BGM The coordinates used in background drawing are:

0: Absolute coordinates
1: Machine coordinates
- 1291 -
#7 #6 #5 #4 #3 #2 #1 #0
4820 BGG

[Data type] Bit
#2 BGG Switch between drawing functions. The operable function is:

0: Tool path drawing.
1: Background drawing.
4831 Initial value of horizontal angular displacement

[Data type] Integer
Set the initial value of horizontal angular displacement when the
graphic coordinate system is three-dimensional.
4832 Angular displacement on horizontal plane of vertical rotation axis

[Data type] Integer
Set the angular displacement on a horizontal plane of a vertical rotation
axis when the graphic coordinate system is three-dimensional.
Reference item
Series15i/150i-MB Operator’s Manual II-10.8 Tool path drawing
(Operation) II-10.11 Background drawing
(B-63784EN-1)
- 1292 -
12.1.12 Operating Monitor Screen
General
The load value of the servo motor and the spindle motor is in real time
displayed in the bar chart. Moreover, the load value of selected servo
motor or only one spindle motor displays the shape of waves as a
change situation of one minute.
An absolute position besides the loading meter and the override value,
T code, the number of processing parts, and instruction speed/real
speed/operation time are displayed on this screen.
Parameter
2231 Axis number on the load meter for the first servo axis
2232 Axis number on the load meter for the second servo axis
2233 Axis number on the load meter for the third servo axis

[Data type] Integer
Specify the axis number to be displayed on the load meter for the servo
axis.
- 1293 -
12.1.13 Machining Time Stamp
General
This function measures and displays the machining time of a program
executed in memory operation and stamps (inserts) the result as a
program comment.
Measurement results are displayed on the machining time display

screen. The machining times for up to ten programs executed in
memory operation after power-on are displayed in the order in which
the programs are executed. When more than ten programs are executed,
the data for the oldest program is discarded.
On the program directory screen, the stamped machining time for each
program is displayed instead of the program size if bit 4 (TIM) of
parameter No. 0011 is set to 1.
On the tool path drawing screen, the time is displayed in real time as it
is being measured.
The time from program start to a reset, M02, or M30 is measured as the
machining time. If an alarm occurs during the measurement and stops
the program, measurement continues until a reset is made.
If repeated program execution is specified by M02 or M30, the time
until FIN is returned for the first M02 or M30 is measured.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0011 TIM

[Data type] Bit
#4 TIM Specifies the information displayed on the screen for the program No. and
name directory.
0: Display program No., name, and memory used.
1: Display program No., name, and processing time.
- 1294 -
#7 #6 #5 #4 #3 #2 #1 #0
2400 M30

[Data type] Bit
#4 M30 If M30 is entered in memory operation:

0: Only M30 is sent to the machine, and the program head is searched
for by the reset and rewind signal (RRW).
1: If M30 is sent to the machine, the program head is automatically
searched for at the same time. Therefore, when completion signal
FIN for M30 is returned before reset or reset and rewind, the
program is reexecuted from the beginning.
#7 #6 #5 #4 #3 #2 #1 #0
2403 M02

[Data type] Bit
#0 M02 When M02 is transmitted during memory operation

0: M02 is only sent to the machine, and reset and rewind signal (RRW)
is used for program heading.
1: M02 is sent out to the machine, and a program heading is
automatically executed. Consequently, when completion signal FIN
for M02 is returned without reset or reset and rewind, the program is
restarted from the beginning.
Reference item
Series15i/150i-MB Operator’s Manual II-8.21 Machining time stamp
(Operation)
(B-63784EN-1)
- 1295 -
12.1.14 Menu Switches
General
With the menu switch function, some DI signals entered with the signal
(BMI interface) from the machine can be set by CNC screen operation.
If a menu switch and the corresponding machine signal are used at the
same time, the input state is the logical OR of both switches.
If a menu switch is turned off, but the corresponding machine signal is
on, for example, the actual input state is on.
Signal
The menu switch function can handle the following signals:
Switch name Signal

Machine lock MLK (G004#3)
Display lock DLK (G004#6)
Single block SBK (G004#3)
Dry run DRN (G004#1)
Auxiliary function lock AFL (G004#0)
Manual absolute ABS (G004#5)
Z-axis ignore Z-axis MLK (G073#3)
This is MLK for the third axis, and is not
always MLK for the Z-axis, depending
on the machine.
Block skip 1 to 9 BDT1 (G004#2)
BDT2-BDT9 (G007)
Reference item
Series15i/150i-MB Operator’s Manual II-9.11 Menu switch
(Operation)
(B-63784EN-1)
- 1296 -
12.1.15 Software Operator's Panel
General
Operations performed on the MDI panel can replace the operation of a
switch on the machine operator's panel. For instance, mode selection
or jog feedrate override selection can be made by operation on the MDI
panel. The corresponding switch on the machine operator's panel can
be omitted.
The switches are divided into seven groups. For each group, whether to
use the group as operation switches on the machine operator's panel or
soft switches on the control unit can be selected by parameter setting.
1. Mode selection
Used to select an operation mode.
2. Memory protect
Used to enable/disable the memory protect function.
3. Feed hold
Used to enable/disable the feed hold function.
4. Manual handle
Used to specify the axis of movement by the first handle and a
magnification.
5. Override
Used to specify an override for the rapid traverse rate, jog feedrate,
cutting feedrate, and spindle speed.
6. Automatic operation
Used to specify the operations for optional block skip, single
block, machine lock, and dry run.
7. General-purpose switches
Eight general-purpose switches (DO) are provided. Each switch
can be given a name of up to eight characters. A named switch is
enabled.
The states of all the soft switches are posted to the PMC by using
output signals. Based on these output signals, the PMC must set those
input signals related to the soft switch functions to 1 or 0. For example,
when a soft switch provided for single-block operation is turned on, the
control unit does not internally select single-block operation. Single-
block operation is selected when the PMC sets the input signal
corresponding to single-block operation to 1.
In addition to the switches mentioned above, job feed can be performed

using the numeric keys.
- 1297 -
Signal
Group Function Output signal Related input
signal
1 Mode selection EDTO <F129#6> EDT
MEMO <F129#5> MEM
TO <F129#4> T
MDIO <F129#3> MDI
JO <F129#2> J
HO <F129#1> H
SO <F129#0> S
ZRNO <F128#7> ZRN
2 Memory protect KEYO <F131#4> KEY1 to KEY4
3 Feed hold SPO <F128#5> *SP
4 Manual pulse HS1AO to HS1DO HS1A to HS1D
generator <F131#0 to 3>
Feed axis selection
Manual pulse MP1O to MP4O MP1 to MP4
generator <F132#2 to 4>
Feed amount selection
5 Jog feedrate override *JV0O to *JV15O *JV0 to *JV15
<F134, F135>
Cutting feedrate *FV0O to *FV7O *FV0 to *FV7
override <F133>
Rapid traverse rate ROV1O <F132#5> ROV1
override ROV2O <F132#6> ROV2
Spindle speed SPV0O to SPV7O
override <F158>
6 Optional block skip BDT1O <F130#2> BDT1
Single block SBKO <F130#3> SBK
Machine lock MLKO <F130#7> MLK
Dry run DRNO <F130#1> DRN
7 General-purpose OPU0 to OPU7
switches 1 to 8 <F137>
8 Jog feed axis selection +J1O to -J6O +J1 to +J6
<F136,F138> -J1 to -J6
Manual rapid traverse RTO <F132#7> RT
- 1298 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F128 ZRNO SPO
F129 EDTO MEMO TO MDIO JO HO SO
F130 MLKO SBKO BDT1O DRNO
F131 KEYO HS1DO HS1CO HS1BO HS1AO
F132 RTO ROV2O ROV1O MP4O MP2O MP1O
F133 *FV7O *FV6O *FV5O *FV4O *FV3O *FV2O *FV1O *FV0O
F134 *JV7O *JV6O *JV5O *JV4O *JV3O *JV2O *JV1O *JV0O
F136 -J4O +J4O -J3O +J3O -J2O +J2O -J1O +J1O
F137 OPU7 OPU6 OPU5 OPU4 OPU3 OPU2 OPU1 OPU0
F138 -J6O +J6O -J5O +J5O
F158 SPV7O SPV6O SPV5O SPV4O SPV3O SPV2O SPV1O SPV0O
- 1299 -
The following override values can be selected by job feedrate override:

*JV00 to *JV150
Override (%) 15 8 7 0
0 1111 1111 1111 1111
0.1 1111 1111 1111 0101
0.14 1111 1111 1111 0001
0.2 1111 1111 1110 1011
0.27 1111 1111 1110 0100
0.37 1111 1111 1101 1010
0.52 1111 1111 1100 1011
0.72 1111 1111 1011 0111
1.0 1111 1111 1001 1011
1.4 1111 1111 0111 0011
2.0 1111 1111 0011 0111
2.7 1111 1110 1111 0001
3.7 1111 1110 1000 1101
5.2 1111 1101 1111 0111
7.2 1111 1101 0010 1111
10.0 1111 1100 0001 0111
14.0 1111 1010 1000 0111
20.0 1111 1000 0010 1111
27.0 1111 0101 0111 0011
37.0 1111 0001 1000 1011
52.0 1110 1011 1010 1111
72.0 1110 0011 1101 1111
100.0 1101 1000 1110 1111
140.0 1100 1001 0100 1111
200.0 1011 0001 1101 1111
The following override values can be selected by cutting feedrate

override:
*FV0O to *FV7O
Override (%) 7 0
0 1111 1111
10 1111 0101
20 1110 1011
30 1110 0001
40 1101 0111
50 1100 1101
60 1100 0011
70 1011 1001
80 1010 1111
90 1010 0101
100 1001 1011
110 1001 0001
120 1000 0111
130 0111 1101
140 0111 0011
150 0110 1001
160 0101 1111
170 0101 0101
180 0100 1011
190 0100 0001
200 0011 0111
- 1300 -
The following override values can be selected by spindle speed

override:
*SPV0O to *SPV7O
Override (%) 7 0
0 1111 1111
10 1111 0101
20 1110 1011
30 1110 0001
40 1101 0111
50 1100 1101
60 1100 0011
70 1011 1001
80 1010 1111
90 1010 0101
100 1001 1011
110 1001 0001
120 1000 0111
130 0111 1101
140 0111 0011
150 0110 1001
160 0101 1111
170 0101 0101
180 0100 1011
190 0100 0001
200 0011 0111
NOTE
1 While only one soft switch is provided for memory
protection, four input signals (KEY1, KEY2, KEY3,
and KEY4) are provided for memory protection.
Generally, memory protection DO (KEYO) is input to
the four input signals at the same time.
2 When a soft switch for feed hold is turned on, the
output signal SPO is set to 1. Then, the PMC must
set the automatic operation hold signal *SP to 0.
- 1301 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7603 OPUS OPSP OPKY OPAT OPOV OPHD OPJG OPMD

[Data type] Bit
#0 OPMD Specifies whether to perform mode selection on the software operator's

panel.
0: Perform.
1: Do not perform.
#1 OPJG Specifies whether to perform jog feed axis selection and manual rapid
traverse switching through the MDI keys.
0: Perform.
1: Do not perform.
#2 OPHD Specifies whether to perform manual pulse generator feed axis

selection/magnification setting on the software operator's panel.
0: Perform.
1: Do not perform.
#3 OPOV Specifies whether to set an override for each of a jog feedrate, cutting
feedrate, rapid traverse rate, and spindle speed on the software operator's
panel.
0: Set.
1: Do not set.
#4 OPAT Specifies whether to perform optional block skip, single block, machine
lock, and dry run operations on the software operator's panel.
0: Perform.
1: Do not perform.
#5 OPKY Specifies whether to perform memory protection on the software

operator's panel.
0: Perform.
1: Do not perform.
#6 OPSP Specifies whether to perform feed hold on the software operator's panel.
0: Perform.
1: Do not perform.
- 1302 -
#7 OPUS Specifies whether to use the general-purpose switches on the software

operator's panel.
0: Use.
1: Do not use.
2020 Positive (+) direction command button on the software operator's panel

[Valid data range] 0 - 4, 6 - 9
Specify the number of the numeric (arrow) key on the MDI panel which instructs
manual feed in the positive (+) direction on the software operator's panel for each
axis. The setting of 5 cannot be used because the numeric key 5 is fixed to the
manual rapid traverse switch.
This parameter can be used for the first to sixth axes. It is ignored for the seventh
and subsequent axes.
Specifying 0 means that the MDI panel does not have any numeric key that
instructs the positive (+) direction.
Example
If 6 is set for the 1st axis: Numeric key 6 instructs the + direction of the 1st axis.
If 9 is set for the 2nd axis: Numeric key 9 instructs the + direction of the 2nd axis.
If 8 is set for the 3rd axis: Numeric key 8 instructs the + direction of the 3rd axis.
2021 Negative (-) direction command button on the software operator's panel

[Valid data range] 0 - 4, 6 - 9
Specify the number of the numeric (arrow) key on the MDI panel which instructs
manual feed in the negative (-) direction on the software operator's panel for each
axis. The setting of 5 cannot be used because the numeric key 5 is fixed to the
manual rapid traverse switch.
This parameter can be used for the first to sixth axes. It is ignored for the seventh
and subsequent axes.
Specifying 0 means that the MDI panel does not have any numeric key that
instructs the negative (-) direction.
Example
If 4 is set for the 1st axis: Numeric key 4 instructs the - direction of the 1st axis.
If 1 is set for the 2nd axis: Numeric key 1 instructs the - direction of the 2nd axis.
If 2 is set for the 3rd axis: Numeric key 2 instructs the - direction of the 3rd axis.
- 1303 -
2311 Name of the general-purpose switch 1 on the software operator's panel

(first character)
:
:
2388 Name of the general-purpose switch 8 on the software operator's panel
(eighth character)

[Data type] Integer
Specify the names of the general-purpose switches on the software operator's panel,
using the character-to-code correspondence table (attached). The name of a
switch can be up to eight characters.
Parameter numbers 2311 to 2318: Name of general-purpose switch 1

- 1304 -
Character-Code Correspondence Table
NOTE
A voiced sound symbol or p-sound symbol added to
a Katakana is counted as a single character.
Reference item
Series15i/150i-MB Operator’s Manual II-9.13 Display and setting the
(Operation) software operator’s
(B-63784EN-1) panel
- 1305 -
12.1.16 National Language Display
Overview
The screens can be displayed in the language specified in a parameter.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2205 SPA ITA FRE GER JPN ENG
#7 #6 #5 #4 #3 #2 #1 #0
2206 CHN SWE

[Data type] Bit
Set the display language according to the following table:
Display language CHN SWE SPA ITA FRE GER JPN ENG
English 0 0 0 0 0 0 0 1
Japanese 0 0 0 0 0 0 1 0
German 0 0 0 0 0 1 0 0
French 0 0 0 0 1 0 0 0
Italian 0 0 0 1 0 0 0 0
Spanish 0 0 1 0 0 0 0 0
Swedish 0 1 0 0 0 0 0 0
Chinese 1 0 0 0 0 0 0 0
When a language other than English and Japanese is specified, the option for
changing the display language is required.
NOTE
1 When all the bits are set to 0, English is used as the display
language.
2 When this parameter is set, the power must be turned off before
operation is continued.
- 1306 -
12.1.17 Screen Clear Function and Automatic Screen Clear Function
General
The life of the LCD is reduced if the same characters are displayed in
the same position for a long time.
To avoid this, the CNC screen can be cleared. The screen clear
function clears the screen when a key is pressed. The automatic screen
clear function automatically clears the screen when no key operation is
made within the time specified in a parameter.
Screen clear function

When the CAN key and any function key ( PROG , POS , etc.) are
pressed simultaneously, the current screen is cleared. The screen can
be re-displayed by pressing any function key.
Automatic screen clear function

If no key operation is made within the time (minutes) specified in
parameter 0016, the CNC screen is cleared automatically. The CNC
screen is re-displayed when any key is pressed.
- Clearing the screen with the automatic screen clear function

The CNC screen is cleared when all of the following functions are
satisfied after the elapse of the time (minutes) specified in the
parameter.
Conditions for automatically clearing the CNC screen
- Automatic screen clear disable signal *CRTOF is set to 0.
- Parameter 0016 is not set to 0.
- None of the following key operations is made:
MDI key operation
Soft key operation
External key input
- No alarm occurs.
- Redisplaying the screen cleared by the automatic screen clear function

When any of the following conditions is satisfied after a CNC screen is
erased, the CNC screen is re-displayed.
Conditions for re-displaying the CNC screen
- Automatic screen erase disable signal *CRTOF is set to 1.
- Any of the following key operations is made:
MDI key operation
Soft key operation
External key input
- An alarm occurs.
- 1307 -
- Erasing the screen by pressing the CAN key and a function key
When parameter 0016 is set to a non-zero value, the function for
clearing the screen by pressing the CAN key and a function key is
disabled.
CAUTION
When a key is pressed while a screen is being
cleared, the screen is re-displayed, and the key
function is enabled.
Avoid pressing the DELETE , INSERT , or ALTER key
while a program screen is being cleared.
Signal
Automatic screen erasure disable signal *RSAV<G041#6>

[Function] Specifies whether to enable the automatic screen erasure function.
It specifies to change the control mode.
[Operation] When the signal becomes 0, the control unit behaves as stated below.
- The automatic screen erasure function is disabled. The screen
appears, and the timer is initialized.
When the signal becomes 1, the control unit behaves as stated below.
- The automatic screen erasure function is enabled.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G041 *RSAV
Parameter
0016 Screen saver start time

[Data type] Integer
[Unit of data] min
When the operator does not operate the keyboard for the period
specified in this parameter, the saver screen is displayed. When 0 is
specified, the screen save function is disabled.
Reference item
Series15i/150i-MB Operator’s Manual II-11 Erasing the display
(Operation)
(B-63784EN-1)
- 1308 -
12.1.18 Touch Panel
Overview
A pen-driven input device/touch panel, manufactured by Fujitsu
Limited, can be connected to the display unit of the FANUC Series 15i
(hereafter called FS15i). This configuration enables the keys displayed
on the touch panel to be used to manipulate soft key buttons that
usually appear in the lower half of the display unit.
This configuration requires optional reader/punch interface B as well

as the touch panel option.
Hardware details
- Connection
The touch panel controller is connected to the RS-232C serial port
(JD36A) for the display panel board on the FS15i.
- Characteristics
This description is a summary of the hardware specifications. Users
can safely ignore this description when using the touch panel.
When you press a point on the touch panel, its coordinate data is sent to
the FS15i from the touch panel controller via the RS-232C interface.
The specification is as follows:
1 Coordinate system
(1) Initial coordinate system
The FS15i system automatically performs tentative
compensation before formal compensation. So, any
displacement can be kept small even if formal compensation
is not performed.
(2) Post-compensation coordinate system
The compensation processing (described later) enables
coordinate system tuning and linearity compensation.
Compensation data is held in nonvolatile memory.
2 Sampling period
Touch panel operations are sampled at 32 ms intervals.
3 Position precision
The 9-point compensation described later assures a position
precision of 2.5 mm.
Details
- Soft key control

Press the provided pen against the rectangular representing a soft key
on the screen. The soft key display switches to a representation of a
pressed key. The same operation as that executed when the
corresponding soft key is actually clicked is performed.
- 1309 -
Compensation
Compensation involves the following:
(1) Linearity compensation
(2) Matching between the panel input position and the display
position on the display unit
Compensation processing must be performed when:

(1) A panel is newly installed.
(2) The panel is replaced.
(3) Memory is cleared to all 0s.
- Compensation procedure
1. Select MDI mode.
2. Set parameter TPC (bit 0 of parameter No. 2219) so that the touch
panel compensation function is enabled.
3. Select [TOUCH PANEL] to display the following touch panel
compensation screen according to the procedures described in
Sections II.2.3 and II.2.5 of the applicable operator's manual
(operation).
- 1310 -
4. Pressing the [COMPENSATION] soft key displays the following

compensation screen.
5. Press the provided pen against all the compensation points (nine
points). If the selected point is detected as a normal compensation
point, the symbol at the point changes from "+" to "o". If the
selected point is not detected as a valid compensation point, the
message "The selected point does not coincide with any
compensation point. Retry" appears.
6. After selecting the compensation points (nine points), pressing

INPUT the key terminates compensation. To cancel compensation,
press a key other than INPUT .
7. When compensation ends normally, the message "Compensation

has ended normally" appears. If it is canceled, the message
"Compensation has been canceled" appears.
8. To prevent operator errors, disable the touch panel compensation

function using parameter TPC (bit 0 of parameter No. 2219) after
you finish compensation.
- 1311 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2219 TPC

[Data type] Bit
#0 TPC Specifies whether to display the touch panel compensation screen.

0: Not displayed.
1: Displayed.
Usually, set this bit to 0. Touch panel compensation is required only
when a new panel is installed, when the existing panel is replaced, or
when memory is all cleared. Set the bit to 1 only when touch panel
compensation is to be performed. After the end of compensation, set it
to 0.
Cautions
CAUTION
1 If two or more points on the touch panel are pressed
simultaneously, it is assumed that the point that
corresponds to the gravity obtained by checking
how each point is pressed has been selected.
Press only one point at a time.
2 If the touch panel compensation screen is
automatically changed to another by a display
screen switching function (as in the case of an alarm
screen), compensation is canceled automatically.
- 1312 -
12.1.19 Periodic Maintenance Screen
Overview
The periodic maintenance screen function provides guidelines as to
when consumables such as the backup battery of the control unit and
the backlight of the LCD unit are to be replaced and checked if the
lifetimes of these items have been set in advance.
There are three periodic maintenance screens, as follows:

1. Status display screen
The statuses of items subject to periodic maintenance can be
checked.
The statuses of up to ten items can be displayed on the screen.
2. Item setting screen
For each selected item, a lifetime, count type, and other periodic
maintenance data can be set.
3. Menu screen for item selection
A list of items selected on the setting screen can be created.
Parameter
2239 Percentage at which a life warning is displayed on the periodic maintenance

screen

[Data type] Integer
[Unit of data] %
If, on the periodic maintenance screen, the remaining time reaches the
specified percentage of the lifetime, the item names and the remaining
time are displayed red to give a warning.
#7 #6 #5 #4 #3 #2 #1 #0
2286 NDP JIS PDS

[Data type] Bit
#5 PDS Specifies whether to display the status when a life warning is issued for
data registered on the periodic maintenance screen.
0: Not displayed.
1: Displayed.
- 1313 -
#6 JIS Specifies whether to output the kanji/hiragana characters of item names

as FANUC or JIS codes on the periodic maintenance screen.
0: FANUC codes.
1: JIS codes.
NOTE
When data is already registered and the data contains
kanji/hiragana characters, characters are not displayed correctly
if this bit is changed.
To solve this problem, the data must be re-registered.
#7 NDP Specifies whether to display the periodic maintenance screen.

0: Displayed.
1: Not displayed.
Signal
Memory protection signal LIFOVR<F154#1>

[Function] Reports that a lifetime warning is issued on the periodic maintenance
screen.
[Operation] This signal is set to 1 when any of the items set on the periodic
maintenance screen enters the lifetime warning state.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F154 LIFOVR
Reference item
Series15i/150i-MB Operator’s Manual II-7.4 Periodic maintenance
(Operation) function
(B-63784EN-1)
- 1314 -
12.1.20 Maintenance Information Screen
The machine history of maintenance work performed by FANUC

service personnel and the machine tool builder can be record on the
maintenance information screen.
For details, refer to "FANUC Series 15i/150i-MODEL B Maintenance
Manual" (B-63785EN).
- 1315 -
12.1.21 High-speed High-precision Machining Setting Screen
Overview
Parameters related to high-speed high-precision machining are
summarized on this setting screen. Three types of parameter sets with
different finish levels can be stored and edited. With the automatic
setting function and automatic adjustment function, the basic
parameters for high-speed high-precision machining can be set easily.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0015 HPC

[Data type] Bit
#2 HPC Specifies whether to enable the high-speed and high-precision machining
setting screen.
0: Enable the screen.
1: Disable the screen.
#7 #6 #5 #4 #3 #2 #1 #0
1517 ROU MED FIN SET

[Data type] Bit
#0 SET Specifies whether the automatic setting function is enabled on the HPCC
(SETTING) screen.
0: Enabled.
1: Disabled.
#1 FIN Specifies whether the automatic tuning function (FINE) is enabled on

the HPCC (SETTING) screen.
0: Enabled.
1: Disabled.
#2 MED Specifies whether the automatic tuning function (MEDIUM) is enabled

on the HPCC (SETTING) screen.
0: Enabled.
1: Disabled.
#3 ROU Specifies whether automatic tuning function (ROUGH) is enabled on the

HPCC (SETTING) screen.
0: Enabled.
1: Disabled.
- 1316 -
1519 Active parameter set number

[Data type] Integer
Stores the current active parameter set. Usually, the active parameter
set is selected by pressing the [SLCT ACTIVE] soft key on the HPCC
(SETTING) screen and, therefore, this parameter need not be directly
specified.
- Setting screen
The parameters that can be set on the setting screen are listed below:
Item Parameter No.
MULTI BUFFER AUTO ENABLE MBF (No.2401#6)
FEED FORWARD (No.1883#1)
- Automatic setting
Those parameters that are set automatically are listed below:
Parameter Setting
1808#3 PI control 1
1883#1 Feed-forward enable 1
1884#4 High-speed feedrate feedback read 1
1962 Feedrate feed-forward coefficient 50 (50%)
1518 Lower limit of feed-forward coefficient for 9400 (94%)
automatic calculation
- Adjustment screen
On the adjustment screen, three parameter sets are provided for
different finish levels. In actual machining, the values selected as the
active parameters are transferred to the execution parameters and used
for machining.
FINE MEDIUM ROUGH EXEC

FINISH LEVEL 1520 1540 1560 -
ACC/DEC LEVEL 1533 1553 1573 -
ACC FOR BIPL 1534 1554 1574 1660
ACC CHANGE TIME (BELL) 1536 1556 1576 1656
MAX ACCELERATION 1535 1555 1575 1663
T-CONST AIPL ACC/DEC 1522 1542 1562 1635
CORNER FEED 1524 1544 1564 1478
FEED FORWARD COEFFICIENT 1529 1549 1569 1985
Reference item
Series15i/150i-MB Operator’s Manual II-9.18 High-speed and high-
(Operation) precision machining
(B-63784EN-1) setting screen
- 1317 -
12.1.22 Pitch Error Compensation Screen
General
The pitch error compensation data is set according to the characteristics
of the machine connected to the CNC. The pitch error compensation
data varies from machine to machine. Changing the data degrades the
machine accuracy. Normally, the end user should not modify this data.
- Pitch error compensation screen
Fig. 12.1.22 Pitch Error Compensation Screen
Pitch error compensation data items 0 to 1279, 1280 data items in total,
are displayed.
For both-direction pitch error compensation, additional data items

10000 to 11279, an additional 1280 data items in total, are displayed.
Data setting
- Mode setting
Set MDI mode. Alternatively, set the emergency stop state by pressing
the emergency stop button.
- Setting parameter PWE

On the setting parameter screen, set bit 0 (PWE) of setting input enable
parameter No. 8000 to 1. For an explanation of how to set the
parameter, refer to Section 9.6 in the "FANUC Series 15i/150i-MB
Operator's Manual(Operation)" (B-63784EN-1).
- 1318 -
- Moving the cursor

Move the cursor to the desired pitch error compensation data.
Method 1
PAGE
Use the PAGE
page keys and
cursor keys to move the cursor.
Method 2
(1) Press the [NUMBER SEARCH] soft key.
(2) Enter a pitch error compensation data number.
(3) Enter a desired value.
Method 3
(1) Enter a pitch error compensation data number.
(2) Press the [NUMBER SEARCH] soft key. Enter a pitch error
compensation data number.
- Entering a value (absolute input)

Method 1
(1) Press the [INPUT] soft key.
(3) Press the [EXEC] soft key.
Method 2
(2) Press the [INPUT] soft key.
Method 3
(2)Press the INPUT key.
For details of the input methods, refer to the "FANUC Series

15i/150i-MB Operator's Manual(Operation)" (B-63784EN-1).
- Entering a value (incremental input)

Method 1
(1) Press the [+INPUT] soft key.
(2) Enter an amount by which the current setting will be
increased or decreased.
(3) Press the [EXEC] soft key.
Method 2
(1) Enter the amount by which the current setting is to be
increased or decreased.
(2) Press the [+INPUT] soft key.
For details of the input methods, refer to the "FANUC Series 15i/15i-
MB Operator's Manual(Operation)" (B-63784EN-1).
Reference item
(Operation) pitch error
(B-63784EN-1) compensation data
- 1319 -
12.1.23 Power Mate CNC Manager Function
When power motion series units are used as CNC additional (slave)
axes, the power mate CNC manager function enables the data for the
slave axes to be displayed and specified on the CNC side.
Specifically, the following displays and/or settings are possible.
(1) System configuration screen display

(2) Current position display (absolute/machine coordinate data)
(3) Parameter display and setting
(4) Diagnosis display
(5) Alarm display
The power motion series units that can be used as slaves are β
amplifiers with an I/O Link. Up to eight slaves can be connected.
Screen display
System configuration screen

This screen displays the slave unit models, system software
information, and the number of controlled axes.
This screen is the first to be displayed when the power mate CNC
manager function is selected (soft key [PMM] is pressed) after the
power is turned on.
- Display method
(1) Press soft key [PMM].
(2) Press soft key [CHAPTER].
(3) Press soft key [SYSTEMCONFIG].
Fig. 12.1.23 (a) Power Mate CNC Manager System Configuration Screen
- 1320 -
- Slave state display and selection operations

The following information related to the connected slaves (up to 8) is
displayed at the top of the screen.
- I/O Link group numbers (0 to 15)
- Alarm conditions
The cursor is positioned to the slave number of a display target slave
(active slave). If there is more than one slave, the active slave is
switched by pressing soft key [NEXT SLAVE] or [PREV SLAVE].
The slave state display and selection operations can be performed on all
power mate CNC manager function screens.
Current position display screen

This screen displays the current positions of the slaves and their actual
feedrates.
The current positions are displayed using the following types of
coordinate data.
- Absolute coordinates
(current position in the workpiece coordinate system)
- Machine coordinates
(current position in the machine coordinate system)
- Display method
(3) Press soft key [POSITION].
Fig. 12.1.23 (b) Power Mate CNC Manager Current Position Display Screen
- 1321 -
- Display position selection

The current position type to be displayed is selected using soft keys:
- Absolute coordinate display: Press soft key [ABSOLUTE].
- Machine coordinate display: Press soft key [MACHINE].
- Axis name display

The name of a slave axis can be changed using parameter Nos. 2090 to
2097. (The axis name is represented using A to Z ASCII codes.)
If no axis name has been specified, or if any specified data is invalid,
the axis name appears as 1.
The axis name is used only by the power mate CNC manager function
for position displays. It has nothing to do with the controlled axis on
the CNC side.
Parameter screen
This screen is used to check and set the parameters necessary for each
function provided for slaves.
The parameters can be saved to a data file in program format, and input
to and output from the CNC program memory.
The parameters are represented in either bit or integer (decimal) form.
Refer to the applicable power motion series connection manual for a
detailed explanation of these parameters.
- Display method
(3) Press soft key [PARAMETER].
Fig. 12.1.23 (c) Power Mate CNC Manager Parameter Screen
- 1322 -
- Parameter selection and search

To select a desired parameter number, position the cursor to the
parameter number by pressing the cursor keys
PAGE
and the page keys PAGE
.
Alternatively, search for a desired parameter by means of the following

procedures.
Method 1
(1) Press soft key [NUNBER SEARCH].
(2) Enter a parameter number.
(3) Press soft key [EXEC].
Method 2
(1) Enter a parameter number.
(2) Press soft key [NUMBER SEARCH].
- Parameter setting
To set a parameter, position the cursor to the parameter, and set it using
the following procedures.
Method 1
(1) Press soft key [INPUT].
(2) Enter the data to be set.
Method 2
(1) Enter the data to be set.
(2) Press soft key [INPUT] or the <INPUT> key.
- Parameter input/output
Slave axis parameters can be saved to a data file in program format, and
input to and output from the CNC program memory.
Setting the first of the program numbers for registration in parameter
No. 2081 enables the use of a program having a number determined for
an individual slave.
(Example)
If parameter No. 2081 is 8000, program number 8000 + (N x 10) is used
for the slave axis (where N is an I/O Link group number 0 to 15).
(1) Parameter input

Enter the parameter using the following procedure.
(1) Select EDIT mode. (Terminate background editing.)
(2) Select a slave axis for which the parameter is to be input.
(3) Press soft key [READ PM -> NC].
(4) Pressing soft key [EXEC] completes parameter input.
Pressing soft key [CANCEL] cancels parameter input.
The status message [READ] appears and blinks during parameter
input.
- 1323 -
NOTE
If a program corresponding to the selected program
number is already in program memory, the new data
overwrites the program. If the program is currently
selected, however, no overwriting occurs. Instead, a
warning is issued to reject editing.
(2) Parameter output
Output the parameter using the following procedure.

(1) Select EDIT mode. (Terminate background editing.)
(2) Select a slave axis for which the parameter is to be output.
(3) Press soft key [PUNCH NC -> PM].
(4) Pressing soft key [EXEC] completes parameter output.
Pressing soft key [CANCEL] cancels parameter output.
Status message [PNCH] appears and blinks during parameter output.
Diagnosis screen
This screen displays diagnostic information.
Diagnostic data is represented in bit or integer (decimal) format. Refer
to the applicable power motion series connection manual for a detailed
explanation of the diagnostic data.
- Display method
(3) Press soft key [DIAGNOSIS].
Fig. 12.1.23 (d) Power Mate CNC Manager Diagnosis Screen
- 1324 -
- Diagnostic data search

PAGE
Pressing the page keys PAGE
scrolls the screen.
Alternatively, diagnostic data can be searched for using the following
procedures.
Method 1
(2) Enter a diagnostic data number.
Method 2
(1) Enter a diagnostic data number.
(2) Press soft key [NUNBER SEARCH].
Alarm screen
If an alarm condition occurs on the slave side, the message "Alarm"
appears in the slave status field at the top of the screen.
At this point, displaying the alarm screen enables you to check the
details of the alarm information.
The alarm screen can display up to 40 alarm codes.
Refer to the applicable power motion series connection manual for a
detailed explanation of the alarm.
- Display method
(3) Press soft key [MESSAGE].
Fig. 12.1.23 (e) Power Mate CNC Manager Alarm Screen
Fig. 12.1.23 (e) shows an example of displaying alarm information

about the power motion machine allotted as slave 4.
- 1325 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2080 PPE PMN SLV

[Data type] Bit
#0 SLV Specifies whether to use multiple-slave displays (for up to four

slaves) in the power mate CNC manager function, as follows:
0: Do not use.
1: Use.
#3 PMN Specifies whether to enable the power mate CNC manager function,
as follows:
0: Enable.
1: Disable.
This parameter is set if it is necessary to give preference to ladder-
based commands for each connected slave (to stop communication
with the power mate CNC manger function) after the data needed by
the slave has been set up or confirmed.
#4 PPE Specifies whether to enable parameter setting for the power mate
CNC manger function if parameter PWE (data number 8000) is set
to 0, as follows:
0: Enable.
1: Disable.
2081 Program number for which data is to be input or output (power mate CNC
manager)

[Data type] Integer
This parameter specifies the program number for which the slave-
side data (parameter) is to be input or output using the power mate
CNC manager function.
A slave in I/O link group n uses the following program number:
Set value + n*10
If the set value is 0, it is impossible to input or output data

(parameter).
(Do not specify a number that leads to a program number larger
than 99999999.)
- 1326 -
2090 Axis name for power mate CNC manager function slave 1

[Data type] Integer
These parameters specify the axis name of a slave for a position
display used by the power mate CNC manager function.
If the set value is 0, the axis name becomes 1.
- 1327 -
Caution
- I/O Link connection
When a power motion series unit is used as an I/O Link slave, the CNC
assigns an I/O address to the slave. Because the data input to and
output from the slave is in 16-byte blocks, 128 input/output points must
be specified.
Up to eight slaves can be connected.
The module names are OC021 (16-byte input) and OC020 (16-byte
output).
The BASE and SLOT are always 0 and 1, respectively.
- Disabling the Power Mate CNC manager

Communication with the power mate CNC manger function (PMM)
can be stopped to give preference to commands sent from the ladder on
the CNC side to a connected slave after the data needed by the slave has
been set up or confirmed.
When parameter No. PMN (bit 3 of parameter No. 2080) is 1,
communication with all slaves via the I/O Link is open to the ladder. In
this case (when the parameter is set to 1), the power mate CNC
manager function is disabled.
- Simultaneous display for four slaves

Setting parameter SLV (bit 0 of parameter No. 2080) to 1 enables
information about up to four slaves to be displayed on one screen.
Pressing soft key [ZOOM BACK] switches to the simultaneous four-
slave display screen. Pressing soft key [ZOOM IN] switches back to
the single-slave display screen.
Even on the simultaneous four-slave display screen, an active slave can
be selected using soft keys [NEXT SLAVE] and [PREV SLAVE].
- Resetting a communication alarm

If an alarm condition occurs during communication with a slave under
control of the power mate CNC manager function, the message
"COMMUNICATION ERROR" is displayed in the slave status display
field.
In this case, selecting the system configuration screen initializes
communication.
- Data protection key

If the CNC program data protection key is on, it is impossible to input
parameters to the CNC program memory.
- 1328 -
12.1.24 DI/DO Monitor Function
If a failure occurs, or the machine halts while waiting for an external

signal such that it appears as if a failure has occurred, it is necessary to
check the internal status of the CNC using the CNC self-diagnosis
function, or to find the cause from the status of the interface between
the CNC and PMC using the DI/DO monitor function.
The DI/DO monitor function displays the status of the DI/DO signals
using the following two formats.
- 8-bit binary number, in sequence of signal addresses
- Signal-by-signal decimal number by assembling signals that
extend over multiple bits
DI/DO monitor screen
Display the DI/DO monitor screen according to Section 2.5.5.4,

"System procedure" in the FANUC Series 15i/150i-MB OPERATOR'S
MANUAL (OPERATION) (B-63784EN-1).
- Bit display Signal value (0,1) Bit number
Range of displayed signals
Signal address
Fig. 12.1.24 (a) DI/DO Monitor Screen (Bit Display)
DI/DO signals are displayed using an eight-bit (one-byte) binary

number in sequence of their addresses.
- 1329 -
- Signal-by-signal display
A signal extending over more than one bit is displayed using a single
decimal number (one-bit signals are displayed using binary numbers (0
and 1), however). In addition, axis type signals are grouped by axis,
and spindle type signals are grouped by spindle.
Signal description
Signal value
Range of displayed signals
Signal address
Signal name
Fig. 12.1.24 (b) DI/DO Monitor Screen (Signal-by-Signal Display)
1. Bit type signal

A one-bit signal is displayed as 0 or 1.
2. Integer type signal

Signals extending over more than one bit are displayed as a single
decimal number. The start address and bit number are displayed as the
signal address.
- 1330 -
3. Bit axis type signal

This is a one-bit axis type signal. Its start address and bit number for
the first axis are displayed as the signal address.
Signal name
Axis name
4. Integer axis type signal

This is an integer type signal extending over more than one bit. Its
first-axis address and bit number are displayed as the signal address.
5. Bit spindle type signal

This is a one-bit spindle type signal. Its first-axis start address and bit
number are displayed as the signal address.1
Axis name
- 1331 -
6. Integer spindle type signal
This is an integer type signal extending over more than one bit. Its
first-axis address and bit number are displayed as the signal address.
Screen manipulation
- DI/DO signal switching

To switch the display from DI signals to DO signals or vice versa, press
soft key [DI/DO CHANGE].
- Display switching
To switch the display format between bit display and signal-by-signal
display, press soft key [DISPLY SELECT].
- Page switching
PAGE
A display page can be selected using the page keys PAGE
.
- Display of a specified signal
A signal can be displayed by specifying its address.
Method 1
(2) Enter the address of a signal to be displayed.
Method 2
(1) Enter the address of a signal to be displayed.
- 1332 -
Example of address entry

1. Address entry for bit display
"G67" A page containing signals related to G67
appears.
"67" If DI signals are displayed, a page
containing signals related to G67 appears.
If DO signals are displayed, a page
containing signals related to F67 appears.
(For bit displays, it is unnecessary to enter bit

numbers.)
2. Address entry for signal-by-signal display

"G5.4" A page containing signals related to G5.4
appears.
"G5" A page containing signals related to G5.0
appears.
"5.4" If DI signals are displayed, a page
containing signals related to G5.4 appears.
If DO signals are displayed, a page
containing signals related to F5.4 appears.
NOTE
If an address that does not correspond to a signal is
entered for signal-by-signal display, a page
containing a signal whose address is higher than and
nearest to the entered address appears.
- 1333 -
12.1.25 Brightness Adjustment Screen for Monochrome Display Unit

with Graphic Function
Overview
This function is available only for monochrome display unit with
graphic function.
It is used to make the settings for the background and cursor brightness
(color brightness) and reverse video of the character at the cursor
position.
Display color screen
(a)
(b)
(c)
Fig. 12.1.25 (a) Display Color Setting Screen
(1) Cursor/Title Line Contrast

This item sets the brightness of the cursor and title line. (Area (a) )
When a value of 0 is set, the system default brightness is used.
A value of between 1 and 8 can be set. The smaller the set value, the
more the cursor and title line are dimmed.
(2) Cursor Inverted Display

This item sets reverse video of the character at the cursor position.
(Area (b) )
When 0 is set, the character is displayed in black. When 1 is set, the
character is displayed in white.
(3) Background Color Contrast

This item sets the brightness of the background color of the entire
screen. (Area (c) )
When 0 is set, the system default brightness is used.
A value of between 1 and 8 can be set. The smaller the set value, the
more the background is dimmed.
- 1334 -
NOTE
The LCD brightness is lowered at low ambient
temperatures. (Particularly, the LCD screen is dark
immediately after power-up.) This is a characteristic
of the LCD, and not a failure. As the ambient
temperature rises, the LCD screen becomes
brighter.
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
2248 SRV

[Data type] Bit
#0 SRV Specifies how the characters in the title and at the cursor on the
operation screen are displayed on a monochrome display (with a graphics
display function).
0: Display these characters normally (display in black).
1: Reverse these characters (display in white).
NOTE
2249 Brightness of the background color of the cursor/title line

[Data type] Integer
Set the brightness of the background color of the cursor and title line for a
monochrome display (with a graphics display function).
When 0 is input, the background color is displayed with the system standard
brightness.
2250 Brightness of the background color

[Data type] Integer
Set the brightness of the background of the screen for a monochrome display (with
a graphics display function).
When 0 is input, the background is displayed with the system standard brightness.
- 1335 -
12.1.26 Fine Torque Sensing
Overview
The CNC stores the disturbance torque data detected by a servo motor
or spindle motor to internal memory. The following manipulations are
possible for the stored torque data.
1. The stored torque data can be represented graphically on the

torque graph screen.
2. A detection level for an abnormal load detection alarm can be
specified on the torque graph screen. (The abnormal load
detection function is an option not included in fine torque
sensing.)
3. The stored torque data can be saved as sample data, and the
sample data can be represented graphically together with the
stored data for comparison at later time.
4. The stored torque data can be saved to a memory card.
NOTE
1 This function does not support analog spindles.
2 If the display unit of the CNC is monochrome and has
no graphic function, it displays neither the torque
graph screen nor the torque parameter screen.
Function details
Storing disturbance load torque data

While the torque sensing command signal is 1, the CNC holds the
disturbance load torque data detected by a servo motor or spindle motor
in internal memory. Up to four target axes can be specified in
parameter Nos. 4670 to 4673. Specifying a servo motor as a target axis
requires that bit 0 of servo parameter No. 1958 be set to 1.
If the sample data preservation function is enabled (parameter SPL (bit
2 of parameter No. 4660) = 1), the stored torque data can be saved as
sample data. The original torque data is called the "latest data" in
contrast with the sample data. The time during which the data can be
stored varies according to the number of storage target axes and the
storing interval, as listed below.
Storing interval 8ms 16ms 32ms
Number of target axes

1 About 69.9 About 139.8 About 279.6
minutes minutes minutes
2 About 34.9 About 69.9 About 139.8
3 or 4 About 17.4 About 34.9 About 69.9
- 1336 -
NOTE
1 The disturbance load torque data is represented as a
percentage of the rated torque.
2 If the sample data preservation function is enabled
(parameter SPL (bit 2 of parameter number 4660) =
1), the time during which the torque data can be
stored becomes half.
3 If the value in the above table is exceeded, no more
data will be stored, even if the torque sensing
command signal is 1.
4 The stored torque data is erased when the power is
switched off. If you want to keep the torque data after
the power is switched off, save it as sample data or
save it to a memory card.
5 When the torque sensing command signal is reset to
0, the CNC suspends storing the torque data. When
the signal is set to 1 again, the CNC restarts to store
the torque data from a point of break. To start storing
from scratch, input the store counter clear signal.
6 Even when an attempt is made to store the servo
motor torque data and the spindle motor torque data
at the same time, they are not for the same time. This
is because the servo motor data may delay by up to 9
ms.
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
4660 ATL SPL TQ2 TQ1

[Data type] Bit
#0 TQ1
#1 TQ2 This parameter specifies the intervals at which the fine sensing
function stores data.
Storing interval TQ2 TQ1

8ms 0 0
16ms 0 1
32ms 1 0
#2 SPL Specifies whether to enable the function for preserving the stored
disturbance torque data as sample data as follows:
0: Disable.
1: Enable.
- 1337 -
#4 ATL Specifies whether to allow the abnormal load detection alarm threshold
value to be changed on the fine torque sensing torque graph screen as
follows:
0: Do not allow.
1: Allow.
When this bit is 1, the abnormal load detection alarm threshold value
can be changed on the fine torque sensing graph screen, and the change
is reflected to parameter No. 1997 (servo axis) or 3341 (spindle).
4670 Fine torque sensing target axis 1

[Data type] Integer
These parameters specify the target axes for the fine torque sensing
function. For a servo axis, its controlled axis number is specified
within a range between 1 and the largest number of controlled axes.
For a spindle, the algebraic sign of the spindle axis number is inverted,
and the spindle number is specified in a range between -1 and -n (where
n is the largest number of controlled spindles).
NOTE
1 If a fine torque sensing target axis, N, is specified as
0, target axis N+1 and those that follow it are ignored
and assumed to be 0.
2 If a servo axis is a target axis for fine torque sensing,
it is necessary to set bit 0 of parameter No. 1958 for
the target controlled axis to 1. If this parameter is 0
for a controlled axis, the torque sensing command
signal does not work for that controlled axis.
- 1338 -
Signals
Torque sensing command signal
FTCMD<G149#0>
[Function] This signal directs that disturbance load torque data be stored.
[Operation] While the torque sensing command signal is "1", the CNC stores
disturbance torque data to memory. When the signal changes from "1"
to "0", the CNC stops storing the torque data. When the signal changes
back to "1", the CNC restarts to store the torque data. When new torque
data is to be stored, the store counter clear signal must be input.
Store counter clear signal

FTCLR<G149#2>
[Function] This signal clears the counter for the stored data.
[Operation] When the store counter clear signal becomes "1", the CNC deletes all
stored data, and clears the counter for the stored data. Newly starting to
store data requires that the store counter clear signal be input.
Store counter
(the quantity of stored data items)
Time
FTCMD
FTCLR
Signal addresses
#7 #6 #5 #4 #3 #2 #1 #0
G149 FTCLR FTCMD
Alarm and message

SR1055 ILLEGAL FINE TORQUE SENSING The setting of a fine torque sensing parameter is invalid.
PARAMETER An invalid controlled-axis number was specified for a target
axis.
- 1339 -
12.1.27 2-LCD-unit Connection Function
Description
Until now, it was only possible to display screens on a single LCD unit.
By using this function, it is now possible to simultaneously display the
same screen on two LCD units.
Optical fiber cable
1st LCD 2nd LCD
1st MDI 2nd MDI
Switches (connected to JA49)
- MDI switching
MDI switching is performed with switches (JA49) mounted on the
individual LCD units. Pressing the switch on one LCD unit causes the
MDI of that LCD unit to be enabled, allowing for key operations.
MLC, bit 3 of parameter No. 2219, allows the user to select between
two modes for determining the LCD unit to be selected at power on:
- Mode in which the LCD unit whose MDI is to be enabled first at
power on is selected with parameter No. 2221.
- Mode in which the LCD unit that was selected prior to the power
being disconnected is selected at power on.
Restrictions
- Memory card interface
Only the memory card interface of the first LCD unit is available.
Note the following:
NOTE
1 If a memory card or modem card is inserted into the
memory card interface of the first LCD unit, pressing
the switch on the second LCD unit does not switch
the system to the second LCD unit.
2 If a card is inserted into the memory card interface of
the first LCD unit after the system is switched to the
second LCD unit, this card cannot be used.
Before the memory card interface of the first LCD unit
can be used, switch the system back to the first LCD
unit.
- 1340 -
NOTE
3 If a card is inserted into the memory card interface of
the first LCD unit after the system is switched to the
second LCD unit, the system can be switched to the
first LCD unit at a later time. In this case, the memory
card interface of the first LCD unit is enabled after the
system is switched back to the first LCD unit.
4 From the BOOT and IPL screens displayed at power
on, the memory card interfaces of the LCD units
cannot be used. From these screens, use the
memory card interface of the main unit.
- RS232C/RS422 interfaces
When two LCD units are connected, the RS232C/RS422 interfaces on
these LCD units cannot be used.
Any attempt to use these interfaces results in BG0807, input/output I/F
parameter error.
- Touch panel
The touch panel cannot be used because the RS232C interfaces on the
LCD units cannot be used.
- Display control cards in the LCD units

The display control cards mounted in the LCD units must be identical.
If monochrome display control cards (monochrome VGA cards or
monochrome character cards) are used, the adjustments for brightness
of one LCD unit is stored in the corresponding card only. This means
that the two LCD units may differ in brightness. If this happens, adjust
the brightness using the following procedure:
1) For monochrome VGA cards, press and hold down the I and
G keys at the same time and turn the power on. This automatically
adjusts the brightnesses of the two cards to the medium.
After the system has started up, adjust the brightness on the display
color screen.
Adjusting the brightness here changes the brightnesses of the two
LCD units at the same time. It is not possible to select different
brightness settings for each individual unit.
2) For monochrome character cards, the brightness of only the LCD
unit selected with its JA49 switch, can be changed on the display
color screen after the system has started up. (Unlike with
monochrome VGA cards, different brightness settings are available
for LCD units.)
- 1341 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
2219 MLC

[Data type] Bit
#3 M LC At power on, the 2-LCD-unit connection function selects:

0: the LCD unit specified for parameter No.2221.
1: the LCD unit selected before the power was disconnected.
2221 Number of the LCD unit to be selected at power on

[Data type] Integer
[Valid data range] 0 and 1
Enter the number of the first LCD unit to be selected at power on using the 2-LCD-
unit connection function.
Entering 0 causes LCD unit 1 to be selected. Entering 1 causes LCD unit 2 to be
selected.
If a number larger than the number of mounted LCD units is entered, the last LCD
unit will be selected.
2222 Number of the LCD unit currently selected
[Input type] Locked parameter

[Data type] Integer
[Valid data range] 0 and 1
This parameter stores the number of the LCD unit, which is currently selected,
using the 2-LCD-unit connection function. 0 represents unit 1, and 1 represents
unit 2.
This parameter is used to identify the LCD unit, which was selected before the
power was disconnected, when MLC, bit 3 of parameter No. 2219, is 1.
This parameter is used internally in the CNC, and cannot be changed with MDI.
Reference items
FANUC Series Operator’s Manual 10.18 2-LCD-unit connection
15i/150i-MB (Operation) function
(B-63784EN-1)
Parameter Manual 4.13 2Display/MDI and EDIT

(B-63330EN) parameters
- 1342 -
12.1.28 Changing Blinking Displays in G05.1 Q1 Mode
Overview
In G05.1 Q1 mode (acceleration/deceleration mode before look-ahead
interpolation and fine HPCC mode), it is possible to display "STRT"
instead of "HPCC," which blinks in the status bar at the top of the
screen. It is also possible to cause any 7-character string to blink in the
upper middle section of the screen.
(Fig. 12.1.28, "H-SPEED" (example)")
Parameter Nos. 2590 to 2596 are used to specify seven characters.
Any code No. from 032 to 095 in the "Character versus Code Table"
can be specified in these parameters.
Fig. 12.1.28 (a) Display of "H-SPEED" (example)
In this case, "STRT" is displayed in the upper left section of the screen,
instead of "HPCC" that means the current mode is G05.1 Q1 mode
(acceleration/deceleration mode before look-ahead interpolation and
fine HPCC mode). In addition, a 7-character string ("H-SPEED" in the
above example) set up using parameter Nos. 2590 to 2596 can be
displayed and made to blink in the upper middle section of the screen.
- 1343 -
If parameter Nos. 2590 to 2596 are all reset to 0, the character string
"HPCC" is displayed and made to blink on the status bar across the top
of the screen.
(Fig. 12.1.28, "Display of "HPCC"")
Fig. 12.1.28 (b) Display of "HPCC"
- 1344 -
Parameters
2590 First character to be made to blink in G05.1 Q1 mode
2591 Second character to be made to blink in G05.1 Q1 mode
2592 Third character to be made to blink in G05.1 Q1 mode
2593 Fourth character to be made to blink in G05.1 Q1 mode
2594 Fifth character to be made to blink in G05.1 Q1 mode
2595 Sixth character to be made to blink in G05.1 Q1 mode
2596 Seventh character to be made to blink in G05.1 Q1 mode
NOTE
To enable changes made to these parameters, turn
the power off and on again.

[Data type] Integer
Specify the first to seventh characters that should blink in G05.1 Q1
mode (acceleration/deceleration mode before look-ahead interpolation
and fine HPCC mode) using ASCII codes in decimal format.
If all the parameters are reset to 0, the character string "HPCC" blinks.
Any code No. from 032 to 095 in the "Character versus Code Table"
can be specified in these parameters.
- 1345 -
12.1.29 M Code Commands for Displaying Operator Messages
Overview
The comment found in the same block as that containing the M code
command specified as a parameter may be displayed on the operator
message screen. At the same time, MF and the M code are reported to
the PMC. When a sequence notifies ,the OPEN CNC, therefore, it can
read the operator message using the appropriate window function.
Explanation
During the execution of a part program, any character string may be
reported to the OPEN CNC so that the application on the personal
computer can issue setup and other instructions to the operator.
The FS16/18/21 allow the comment in the currently executed block to
be read with the appropriate window function. Thus, if a comment is
specified in the same block as that containing an M code and a read
request is issued from a PMC sequence to the OPEN CNC, the
comment can be acquired on the personal computer.
On the FS15, no comment remains in the executed program display.
With this function, when the M code specified as a parameter is
executed, the comment specified in the same block is displayed on the
operator message screen (type: operator message by a custom macro
command). When a read request is issued from a PMC sequence to the
OPEN CNC, the comment can be read by using the operator message
read function "cnc_rdopmsg()" on the personal computer.
When this function is executed, the system does not automatically
switch to the operator screen. Nor does operation stop. When the PMC
returns a completion signal for the auxiliary function, the system starts
the execution of the next block.
The operator message is cleared at the next cycle start.
If operator message display with a custom macro is specified, the
system switches to this message.
- 1346 -
Execution example
If "55" is set in parameter No. 2433 and the block
M55 (ABCDEFG);
is executed, the M code number and the MF signal are reported to the
PMC.
And, with not screen switching, the character string "ABCDEFG" is
displayed on the operator message screen.
When decoding M55, the PMC issues a message read command to the
OPEN CNC. Upon receiving the message read command from the
PMC, the OPEN CNC reads the operator message (macro message),
using cnc_rdopmsg(). Upon the completion of the reading of the
message, the PMC issues a completion signal to the CNC.
The next block is executed with automatic operation not being stopped.
For the specifications of cnc_rdofsmsg(), refer to the FANUC OPEN
CNC Data Window Library Specifications (A02B-0207-K730:
fwlib32j.txt).
M command (comment) M55 (xxxx) ;

Operator message display
Code signal M55
Strobe signal MF
PMC operation (message read request
to OPEN CNC, completion check)
- 1347 -
Parameter
2433 M code for outputting operator message (macro message)

Specify the M code that will cause the comment specified in the same block to be
output as an operator message. If 0 is set, this function is disabled. M01, M02,
M30, M98, and M99 cannot be used as an M code for outputting an operator
message (macro message).
Example) If 55 is set in this parameter and the following program block is executed,
the comment "ABCDEFG" is displayed on the operator message screen.
M55 (ABCDEFG) ;
When M55 is decoded in a PMC sequence, the comment in the program block can
be sent to the outside by reading the contents of the operator message with the
appropriate window function.
Executing this function does not cause the program to stop. The system does not
automatically switch to the operator message screen, either.
Note
NOTE
An operator message will be cleared at a cycle start.
Thus, after this function is executed, the specified
character string remains displayed on the operator
message screen as long as operation continues.
The M code used with this function is treated as a
mask buffering M code.
If this function is used, more than one M code cannot
be specified in a single block.
Up to 26 characters can be displayed as an operator
message.
- 1348 -
12.1.30 Changing the CNC Screen Title Background Color
Overview
On a color display, each CNC screen has its title displayed on the top
line of that screen.
As standard, the background color of this title line is yellow. This color
can be changed with the appropriate parameter.
Parameter
2251 CNC screen title background color
NOTE
If the setting of this parameter is changed, the power must be turned off
and back on for the change to take effect.

[Data type] Integer
Specify the background color of the CNC screen title line.
0: Yellow 1: Red 2: Green 3: Yellow

4: Blue 5: Purple 6: Light blue 7: White
To change the background color of the CNC screen title line, set another value.
If a value out of the range is set, standard yellow is assumed.
Note
NOTE
This parameter does not change the background
color of the title line of a non-CNC screen.
Example) Conversational macro screen, C executor
screen etc.
- 1349 -
12.2 EDITING
12.2.1 Tape Length for Part Program Storage
General
The following tape lengths are supported:
80, 160, 320, 640, 1280, 2560, and 5120 m
Alarm and message

WARNING message Contents
NO MORE SPACE There is no enough program memory.
Delete unnecessary programs.
Reference item
Series15i/150i-MB Operator’s Manual II-10.1 Program display
(Operation)
(B-63784EN-1)
- 1350 -
12.2.2 Number of Programs Stored
General
The following lists the number of NC programs that can be stored for
each tape length:
Tape length (mm) 80 160 320 640 1280 2560 5120
Number of programs stored 100(100) 100(200) 100(400) 100(1000) 100(1000) 100(1000) 100(1000)
(expansion mode)
Alarm and message

TOO MANY PROGRAM An attempt was made to store more than
100, 200, 400, or 1000 programs. Delete
unnecessary programs.
Reference item
Series15i/150i-MB Operator’s Manual II-10.1 Program display
(Operation)
(B-63784EN-1)
- 1351 -
12.2.3 Memory Protection Keys
General
Memory protection keys can be provided so as not to inadvertently
store, change, or delete programs, offset values, parameters, settings,
and so forth.
Signal
Memory protection signals

KEY1-KEY4
<G005#4-#7>
[Function] These signals allow MDI panel operations that change the memory
contents. Four signals are used according to the manipulated memory
contents as follows:
1 KEY1: Allows the input of tool offset values and workpiece origin
offsets.
2 KEY2: Allows the setting of data input, macro variable input, and
absolute coordinate presetting.
3 KEY3: Allows program input and editing.
4 KEY4: Allows the input of PMC data (counter data tabe).
[Operation] If a memory protection signal is set to 0, the corresponding operation is
disabled.
If a memory protection signal is 1, the corresponding operation is
enabled.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 KEY4 KEY3 KEY2 KEY1
Alarm and message

WRITE PROTECT Key input is disabled by the memory
protection signal.
- 1352 -
12.2.4 Program Encryption
General
A password can be set by setting parameter No. 2210 (PSW) and
parameter No. 2211 (KEY) to lock program memory.
When program memory is locked (when PSW is other than 0, and PSW
ad KEY do not match), NC program display, editing, and input/output
are disabled.
When program memory is unlocked (when PSW is other than 0, and

PSW and KEY match), NC program display and editing are enabled
normally. When an NC program is input/output, the program is
encrypted.
When the password is invalid (when PSW is 0), NC program display
and editing are enabled normally. In this case, NC program
input/output can also be performed normally.
- Invalidating the password

Normally, the unlocked state is set by setting the parameters so that
PSW and KEY match, then the password is invalidated by setting PSW
to 0. The password can be invalidated forcibly by applying the
procedure explained below. When this procedure is used, PSW need
not be set to 0, but locked NC programs are erased
1. While holding down numeric key . 0 , CAN , start the NC
2. Message "ALL LOCKED PROGRAM DELETE OK?" appears
3. If address Y is pressed, NC programs are erased, and PSW is
set to 0.
4. If address key N is pressed, nothing is performed.
- 1353 -
Parameter
2210 Password (PSW)

[Data type] Integer
Specify a password (PSW). When a value other than 0 is specified, the
password is assumed. When the password is specified, the display of
this parameter becomes blank, and program edition is locked. This
parameter can be specified when password (PSW) = 0, i.e., the key is in a
normal state or when password (PSW) = key (KEY), i.e., the key is
unlocked.
2211 Key (KEY)

[Data type] Integer
Specifying the same value as the setting of PSW unlocks the key.
The specified value is not displayed.
When the power is turned on, this parameter is automatically initialized
to 0. If, therefore, the power is turned off with the key unlocked, and
then turned on again, the key is automatically unlocked.
- 1354 -
2212 Minimum value for the program protection range (PMIN)
2213 Maximum value for the program protection range (PMAX)

[Data type] Integer
Programs in the range specified by these parameters can be
protected.
Specify the range of program numbers to be protected.
PMAX must be greater than PMIN.
The range can be specified when password (PSW) = 0, i.e., the key is
in a normal state or when password (PSW) = key (KEY), i.e., the key
is unlocked.
When PMIN is set to 0, it is regarded to be 9000. When PMAX is set

to 0, it is regarded to be 9999. Thus, with the default settings of
these parameters, programs 09000 to 09999 are protected.
Alarm and message

WRITE PROTECT An attempt was made to create a program
having a program number within the
protected range. Set the unlocked state
before creating programs.
INVISIBLE PROGRAM An attempt was made to select a program
within the protected range. Set the unlocked
state before selecting programs.

PS0580 ENCODE ALARM The password does not match that on the
(PSWD&KEY) encrypted tape that was read.
Make the password ineffective before
attempting to read the tape.
PS0581 ENCODE ALARM An attempt was made to punch an encrypted
(PARAMETER) program in the EIA punch code (bit 4 of
parameter No. 0000 = 1).
Before punching the encrypted program, set
the punch code to ISO (bit 4 of parameter No.
0000 = 0).
Reference item
Series15i/150i-MB Operator’s Manual II-8.1.4 Keys and program
(Operation) encryption
(B-63784EN)
- 1355 -
12.2.5 Background Editing
General
Editing a program while another program is being executed or edited is
referred to as background editing.
In background editing, program operations such as search, editing,
registration, and deletion can be performed in the same manner as
normal editing (foreground editing).
Alarm and message

PROGRAM IN OPERATION An attempt was made in the background to
edit a program selected in the foreground.
Select another program.
START An attempt was made in the foreground to
REJECT(BACKGROUND run a program being edited in the
EDITTING) background. Select another program, or
terminate the background editing.

BGxxx xxxxxxxx A BG alarm is issued with the same number
as a PS alarm issued during foreground
program editing. Modify the program.
PS0077 PROGRAM IN USE An attempt was made in the foreground to
execute a program being edited in the
background.
The currently edited program cannot be
executed, so end editing and restart program
execution.
NOTE
Alarms issued during background editing do not
affect foreground operation. An alarm issued during
background editing can be reset by pressing soft key
[Cancel] on the alarm screen without affecting the
foreground operation.
Reference item
Series15i/150i-MB Operator’s Manual II-8.14 Background editing
(Operation)
(B-63784EN-1)
- 1356 -
12.2.6 Playback
General
With the playback function, desired machine positions set by making
manual movements along axes in teach-in mode can be registered in a
machining program.
Teach-in mode, which is set when EDIT mode and manual mode are
selected at the same time, permits NC program editing and manual
movements along axes to be performed simultaneously.
When an axis address is entered in teach-in mode to insert the axis
address into a machining program, the axis address automatically
followed by absolute coordinates is registered in the program. A
machining program can be created by registering the machine positions
set by manually moving the tool as program coordinates in the
machining program. Program addresses including O, N, G, M, S, T, P,
Q, and R, other than axis addresses, can be registered and edited in the
same manner as normal part program storage and edit operations.
Signal
Teach-in select signal

TCHIN<G002#3>
[Function] Selects teach-in mode
[Operation] Teach-in mode can be divided into five operation modes depending on
the manual mode with which it is being used. The operation modes and
the mode select input signal states are shown below.
Mode select input signal

MOVL TCHIN AGJ EDT MEM T D J H S
1 0 1 0 1 0 0 0 1 0 0
2 0 1 0 1 0 0 0 0 0 1
3 0 1 0 1 0 0 0 0 1 0
4 0 1 0 1 0 0 0 1 1 0
5 0 1 0 1 0 0 0 0 1 1
1. Teach-in Jog feed

2. Teach-in Incremental feed
3. TEACH-IN MANUAL HANDLE FEED
4. Teach-in Jog feed and manual handle feed
5. Teach-in Incremental feed and manual handle feed
- 1357 -
Teach-in select confirmation signal

MTCHIN<F002#3>
[Function] Posts notification that teach-in mode is selected.
[Output condition] This signal is set to 1 when teach-in mode is set.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G002 TCHIN
F002 MTCHIN
Reference item
Series15i/150i-MB Operator’s Manual II-8.19 Play back
(Operation)
(B-63784EN-1)
- 1358 -
12.2.7 Automatic Sequence Number Insertion
General
Each time a block is inserted during program creation, a sequence
number is inserted automatically.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 SQN

[Data type] Bit
#1 SQN Specifies whether sequence numbers are automatically inserted.

0: Do not insert.
1: Insert.
0031 Initial value used for automatic setting of sequence Nos.

[Data type] Integer
0032 Increment used for automatic setting of sequence No.

[Data type] Integer
If the increment is set to 0, no sequence Nos. are inserted.
Reference item
Series15i/150i-MB Operator’s Manual II-8.20 Automatic insert of the
(Operation) sequence number
(B-63784EN-1)
- 1359 -
12.2.8 Editing a Running Program
General
When a program running in automatic operation mode is edited, the
program can be stopped by the feed hold or single block function.
After editing, automatic operation can be restarted.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2201 EDT

[Data type] Bit
#6 EDT Specifies whether program edition is enabled when the mode selector
is set to the MEMORY position.
0: Disabled
1: Enabled
Reference item
Series15i/150i-MB Operator’s Manual II-8.16 Editing the program
(Operation) during operation
(B-63784EN-1)
- 1360 -
12.2.9 DO Signal Output by Soft Key
Overview
A DO signal can be output by pressing a soft key. When any CNC
screen is displayed, a DO signal can be output by soft key operation.
This allows the machine tool builder to assign desired functions to soft
keys.
The character strings to be displayed on soft keys are set on the custom
soft key setting screen.
NOTE
When a PMC screen, PMC-C management screen,
user-created C screen, or conversational macro
screen is displayed, DO signal output by soft key is
disabled.
DO signal output
- Function
On an arbitrary CNC screen, place the soft keys in the function
selection state. Press soft key [CUSTOM SOFT KEY]. Then, the
custom soft keys for DO signal output are displayed.
Up to 80 custom soft keys can be defined. Ten custom soft keys can be
displayed at the same time. To change custom soft key pages, use the
operation menu key.
Each custom soft key is assigned to a DO signal. Pressing a soft key

outputs the assigned DO signal.
There are two DO signal output types as follows:
1. Toggle type
A press of a custom soft key sets a DO signal to 1, while a second
press of the custom soft key sets the DO signal to 0. While the
signal is 1, the soft key is displayed as if it were held down.
2. One-shot type
While a custom soft key is pressed, the DO signal is set to 1.
The output types of DO signals are set on the custom soft key setting
screen.]
With bit 4 (CTR) of parameter No. 2007, when the CNC is turned on,
you can restore the DO signal status that existed before the previous
power-off operation. When preparation completion signal-MB is set to
1, the states of the DO signals for custom soft keys before the power-off
are restored.
- 1361 -
NOTE
1 When bit 1 (NAP) of parameter No. 8000 is 0, an
alarm causes the screen to switch to the alarm
message screen, placing the soft keys in the alarm
cancel state.
If such a condition is encountered when a one-shot
type custom soft key is held on, the DO signal
corresponding to the pressed custom soft key is set
to 0.
2 If a warning occurs when custom soft keys are
displayed, the soft keys are placed in the warning
cancel state. If such a condition is encountered when
a one-shot type custom soft key is held on, the DO
signal corresponding to the pressed custom soft key
is set to 0.
- Output signals
The custom soft keys are assigned to DO signals as follows:
< Key 1 Key 2 Key 3 Key 4 Key 5 Key 6 Key 7 Key 8 Key 9 Key 10 +
Page 1 CTSF00 CTSF01 CTSF02 CTSF03 CTSF04 CTSF05 CTSF06 CTSF07 CTSF08 CTSF09
2 CTSF10 CTSF11 CTSF12 CTSF13 CTSF14 CTSF15 CTSF16 CTSF17 CTSF18 CTSF19
Setting
This section explains how to make settings for enabling DO signal
output by soft keys.
Settings are made on the custom soft key setting screen.
- Displaying the setting screen

Method 1
1 Press the function menu key to place the soft keys in the function
selection state.
2 In the function selection state, press [SYSTEM] to place the soft

keys in the chapter selection state.
3 Press [CHAPTER] several times, then press [CUSTOM

SOFTKY]. Then, the custom soft key setting screen appears.
- 1362 -
Method 2
Press MDI SYSTEM key several times until the custom soft key
setting screen appears.
Page No. Signal output type
Soft key name
Soft key No.
Fig. 12.2.9 (a) Custom Soft Key Setting Screen
- Setting soft key names

Set the names to be displayed on custom soft keys.
Half-size alphanumeric and katakana characters can be used. Two-byte
characters can also be used by directly specifying a code. For
information about the 2-byte character code, refer to the "Kanji and
hiragana character code table" in the operator's manual (programming).
On each soft key, up to 12 characters on two lines, six characters per
line, can be displayed.
- Input of a new character string

When soft key [INPUT] is pressed, the currently set character
string is replaced by a new character string.
- Additional input
When soft key [+INPUT] is pressed, a new character string is
added to the end of the currently set character string.
In both of the above cases, if the character string exceeds 12

characters, the excess characters are ignored.
- Empty input
To delete a currently set character string, press soft keys
[INPUT] and then [EXEC] with the key-in buffer empty.
You cannot perform empty input with MDI key INPUT .
- 1363 -
Input of half-size katakana characters

When the display language of the CNC is Japanese, pressing soft key
[ALPHANUMERIC/KANA] switches between half-size
alphanumeric input mode and half-size katakana input mode. The
current input mode is indicated in the lower left part of the screen.
In half-size katakana input mode, data input from MDI is automatically
converted to katakana characters according to the table for conversion
between half-size katakana and roman characters.
Two-byte character code input

When inputting 2-byte character code, set half-size alphanumeric input
mode.
Enclose character codes (each consisting of four characters) with "@".
For example, to display the following on a custom soft key:
" "
Input the following:
"F1@7765 812A 8272@"
NOTE
1 When the input mode is switched from half-size
alphanumeric input mode to half-size katakana input
mode or vice versa, the key-in buffer contents are
cleared. To input a character string consisting of
half-size alphanumeric and katakana characters, use
soft key [+INPUT].
2 When the display is changed to another screen while
half-size katakana input mode is set, the mode
changes to half-size alphanumeric input mode, and
the key-in buffer contents are cleared.
3 Because "@" is used to identify 2-byte character
codes, it cannot be used as a character to be
displayed on custom soft keys.
- Setting the output type

Set the DO signal output type.
0 Disables the output of a DO signal.

Even if a character string is set as the soft key name, it is not
displayed on that custom soft key.
1 Toggle type
Pressing of a custom soft key sets the DO signal to 1, while
another press of the key sets the DO signal to 0.
2 One-shot type
While a custom soft key is being pressed, the DO signal is set to 1.
- 1364 -
Table for Conversion between Half-Size Katakana and Roman Characters (1)
Table for Conversion between Half-Size Katakana and Roman Characters (2)
- 1365 -
In the conversion of a choked sound, double consonants

(except N and M) after the choked sound.
Example: "IPPAI" → " "
Setting data input/output
Custom soft key setting data may be output to an external input/output

device. Output data may be input to the CNC by following the
procedures explained below.
- Procedures for outputting setting data

Method 1 (when neither an output file nor file number is specified)
(1) Press soft key [PUNCH].
Method 2 (when an output file name is specified)

(2) Press soft key ["FILE NAME].
(3) Enter a file name.
(4) Press soft key [FILE NAME"].
Method 3 (when a file number is specified (1))

(2) Press soft key [(FILE #)].
(3) Enter a file number.

(2) Press address key N .


NOTE
When setting data is output using method 1 (when
neither an output file name nor file number is
specified), the file name is SOFT_DO.TXT.
- 1366 -
- Procedures for inputting setting data

Method 1 (when neither the file name nor file number of an input file is
specified)
(1) Press soft key [READ].
Method 2 (when an input file is specified with a file name)

(2) Press soft key ["FILE NAME].
(3) Enter a file name.
(4) Press soft key [FILE NAME"].
Method 3 (when an input file is specified with a file number (1))

(2) Press soft key [(FILE #)].



Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2007 CTR

[Data type] Bit
#4 CTR At power-on, the status of the toggle-type custom soft key function signal
(CTSF) immediately before the previous power-off is:
0: Not restored.
1: Restored.
- 1367 -
Signals
Custom soft key function signals

CTSF00 to CTSF79<F349 to F358>
[Function] In the soft key DO signal output function, each signal posts that the
corresponding custom soft key is pressed.
CTSFmn: The (n+1)th custom soft key on the (m+1)th page
[Output condition] The signals are set to 1 as follows:
- For the toggle type
Pressing a custom soft key sets a DO signal to 1, while pressing
the custom soft key again sets the signal to 0.
- For the one-shot type
While a custom soft key is pressed, a DO signal is set to 1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F349 CTSF07 CTSF06 CTSF05 CTSF04 CTSF03 CTSF02 CTSF01 CTSF00
- 1368 -
12.3 READER/PUNCHER INTERFACE
Overview
The following data input/output operations can be done using the
reader/punch interface.
- Part program registration/output
- Tool compensation and workpiece origin offset input/output
- Tool life management data input
- Custom macro common variable input/output
- Pitch error compensation data input/output
- Parameter input/output
Usually, a screen is selected according to what is input or output; for

example, the parameter screen is selected to input/output parameters
from/to an external input/output device, and the program screen is
selected to input/output programs. However, a single RS-232C screen
can be used to input/output programs, parameters, offset values, and
macro variables. The input/output devices explained below can be
connected to the reader/punch interface.
Input/output devices
- FANUC FLOPPY CASSETTE

This device can save data to a floppy disk. It can also supply data from
a floppy disk to the CNC.
- FANUC PROGRAM FILE Mate

This device contains a hard disk. It can save data to the hard disk and
supply data from the hard disk to the CNC via the reader/punch
interface. The storage capacity of the hard disk is as large as about
50,000 m of paper tape. The hard disk can hold up to 1,024 command
programs.
Connecting a remote buffer to the device realizes a high transfer rate of
up to 86.4 kbps.
Because the device is hermetically sealed, it can be used in a factory
environment.
- FANUC Handy File

This device is a handy, versatile floppy disk input/output device
intended to be used in conjunction with various FA units. Programs
can be transferred and edited from this device and remotely from a unit
connected to the device.
Because the device operates on 3.5-inch floppy disks, it is free from
problems typical to paper tape, such as being noisy during input/output,
being likely to be broken, and being voluminous. More than one
program (up to 1.44 MB large, or equivalent to 3600 m of paper tape)
can be saved to one floppy disk.
- 1369 -
Input/output ports
The CNC has several ports for connecting input/output devices.
Name Reader/punch interface A Reader/punch interface B Reader/punch interface C

RS-232-C × 1 RS-232-C × 1
Interface type RS-232-C × 2
RS-422 × 1 RS-422 × 1
Installation location Main board Display unit Additional-axis board
RS-232-C RS-232-C RS-232-C RS-422 RS-232-C RS-422
Channel No.
channel 1 channel 2 channel 3 channel 1 channel 4 channel 2
Input/output device
1 2 3 13 20 21
interface number (*)
* Device number to be set in parameter Nos. 0020 to 0023
- 1370 -
Parameters
Transferring data (such as programs and parameters) with external
input/output devices via an I/O device interface (RS-232C serial port)
or remote buffer interface requires that the parameters described below
be set up.
Of the devices connected to the four channels, which device to use is
specified using parameter Nos. 0020 to 0023.
In addition, the specifications (such as specification number, baud rate,
and stop bits) of an input/output device connected to each channel are
previously set in the parameter corresponding to the channel.
The following diagram shows the relationships among the parameters
related to the input/output device interface corresponding to each
channel.
Channel No. Device No.
0020 1 5001 5110 Device specification

Foreground 1 5111 Number of stop bits
0021 2 5002 5112 Baud rate
5120 Device specification

0022 3 5003
2 5121 Number of stop bits
Background
5122 Baud rate
0023 13 5013
3 :
4 :
Indicates the Indicates the device 5 :
channel used by number used for an 5160 Device specification
the input/output individual channel.
device. 6 5161 Number of stop bits
5162 Baud rate
contains a parameter number.
CNC
Main board Display unit Additional-axis board
Channel 1 Channel 2 Channel 3 Channel 13 Channel 20 Channel 21

JD5A JD5B JD36A JD6A JD5C JD6B
RS-232-C RS-232-C RS-232-C RS-422 RS-232-C RS-422
Reader/ Reader/ Host Host Host Host

punch punch computer computer computer computer
I/O CHANNEL=1 I/O CHANNEL=2 I/O CHANNEL=3 I/O CHANNEL=13 I/O CHANNEL=20 I/O CHANNEL=21
- 1371 -
#7 #6 #5 #4 #3 #2 #1 #0
0000 EIA NCR ISP CTV TVC

[Data type] Bit
#0 TVC Specifies whether to make a TV check as follows:

0: Do not make a check.
1: Make a check.
#1 CTV Specifies whether to count characters for a TV check when the machine is
out of control, as follows:
0: Count characters.
1: Do not count characters.
#2 ISP Specifies whether the ISO code to be used has a parity bit, as follows:
0: With a parity bit
1: With no parity bit
The parity bit position for the ISO code on punched tape is channel 8.
#3 NCR Specifies how to represent the EOB for the ISO code, as follows:
0: Punch LF, CR, and CR.
1: Punch LF.
#4 EIA Specifies what punch code to use, as follows:
0: ISO code
1: EIA code
- 1372 -
0020 Interface number for a foreground input device

[Data type] Integer
This parameter specifies an interface number for a foreground input device.
The device numbers for each device are listed below:
Device number Device name
1 RS-232-C channel 1 (JD5A on the main CPU board)
2 RS-232-C channel 2 (JD5B on the main CPU board)
3 RS-232-C channel 3 (JD36A on the display unit)
8 Memory card
9 PMC C board
10 Remote buffer
12 Remote Diagnose
13 RS-422 channel 1 (JD6A on the display unit)
14 Data server
15 Open CNC DNC operation interface
16 Open CNC Upload/Download interface
20 RS-232-C channel 4 (JD5C on the additional-axis board)
21 RS-422 channel 2 (JD6B on the additional-axis board)
0021 Interface number for a foreground output device

[Data type] Integer
This parameter specifies an interface number for a foreground output device.
See the descriptions about parameter No. 0020 for the device numbers.
If screen hard copy is enabled (parameter HDC (bit 7 of parameter No. 2240) = 1),
this parameter must be set with 8 (memory card).
0022 Interface number for a background input device

[Data type] Integer
This parameter specifies an interface number for a background input device.
- 1373 -
0023 Interface number for a background output device

[Data type] Integer
This parameter specifies an interface number for a background output device.
5001 Device number for a reader/punch attached to JD5A on the main CPU board

[Data type] Integer
This parameter specifies the device number for a reader/punch attached to
connector JD5A.
The specification data numbers for devices corresponding to reader/punch
device numbers 1 to 6 are specified in parameter Nos. 5100 to 5162.
5002 Device number for a reader/punch attached to JD5B on the main CPU board

[Data type] Integer
connector JD5B.
5003 Device number for a reader/punch attached to JD36A on the display unit side

[Data type] Integer
connector JD36A.
5013 Device number for a reader/punch attached to JD6A on the display unit side

[Data type] Integer
connector JD6A (RS422 interface).
- 1374 -
5020 Device number for a reader/punch attached to JD5C on the additional-axis

board

[Data type] Integer
connector JD5C.
The specification data numbers for devices corresponding to reader/punch device
numbers 1 to 6 are specified in parameter Nos. 5100 to 5162.
5021 Device number for a reader/punch attached to JD6B on the additional-axis

board

[Data type] Integer
connector JD6B.
The specification data numbers for devices corresponding to reader/punch device
numbers 1 to 6 are specified in parameter Nos. 5100 to 5162.
#7 #6 #5 #4 #3 #2 #1 #0
5040 DSW

[Data type] Bit
#0 DSW Specifies which to issue, BG alarm or warning message, when an error has
occurred in data server operations (except read and punch) as follows:
0: BG alarm
1: Warning message
- 1375 -
5110 Specification number for a reader/punch unit corresponding to device

number 1

[Data type] Integer
This parameter specifies a specification number for a reader/punch unit
corresponding to device number 1.
The following table lists specification numbers and the corresponding
reader/punch unit specifications.
Specification
Reader/punch unit specification
number
1 Control codes (DC1 to DC4) are used. Feed codes are
punched. Tape reader.
2 Control codes (DC1 to DC4) are not used. Feed codes are
punched.
3 Control codes (DC1 to DC4) are used. Feed codes are not
punched.
4 Control codes (DC1 to DC4) are not used. Feed codes are
not punched.
5 Portable tape reader
6 PPR, handy file (local mode)
7 FANUC cassette (bubble cassette)
8 Floppy cassette, PROGRAM FILE Mate, handy file (remote
mode)
5111 Number of stop bits for a reader/punch unit corresponding to device number
1

[Data type] Integer
This parameter specifies the number of stop bits for a reader/punch unit
corresponding to device number 1.
5112 Baud rate for a reader/punch unit corresponding to device number 1

[Data type] Integer
This parameter specifies a baud rate for a reader/punch unit corresponding
to device number 1.
The following tables list the numbers set in the parameter and the
corresponding actual baud rates.
Set number Baud rate Set number Baud rate
1 50 7 600
2 100 8 1200
3 110 9 2400
4 150 10 4800
5 200 11 9600
6 300 12 19200
- 1376 -
5120 Specification number for a reader/punch unit corresponding to device number 2
5121 Number of stop bits for a reader/punch unit corresponding to device number 2

[Data type] Integer
These parameters (parameter Nos. 5120 to 5162) are specified in the same
manner as for the specification of an input/output device corresponding to
device number 1.
- 1377 -
Alarms and messages

SR0805 ILLEGAL COMMAND An attempt was made to specify an illegal command during
I/O processing on an I/O device.
SR0806 DEVICE TYPE MISS-MBTCH An operation not possible on the I/O device that is currently
selected in the setting was specified.
This alarm is also generated when file rewind is instructed
even though the I/O device is not a FANUC Cassette.
SR0807 PARAMETER SETTING ERROR An I/O interface option that has not yet been added on was
specified.
The external I/O device and baud rate, stop bit and protocol
selection settings are erroneous.
SR0822 OVERRUN ERROR(1) The next character was received from the I/O device
connected to reader/punch interface 1 before it could read
a previously received character.
SR0823 FRAMING ERROR(1) The stop bit of the character received from the I/O device
connected to reader/punch interface 1 was not detected.
SR0824 BUFFER OVERFLOW(1) The NC received more than 10 characters of data from the
I/O device connected to reader/punch interface 1 even
though the NC sent a stop code (DC3) during data
reception.
reception.
reception.
Reference
Series15i/150i -MB Operator's Manual II-12 Inputting/Outputting
(Operation) Data
(B-63784EN-1)
- 1378 -
B-63783EN-1/01 13.MEASUREMENT
13 MEASUREMENT
- 1379 -
13.MEASUREMENT B-63783EN-1/01
13.1 TOOL LENGTH MANUAL MEASUREMENT
General
The value displayed as a relative position can be set in the offset
memory as an offset value by a soft key.
Call offset value display screen on the CRT. Relative positions are also
displayed on this screen. Then select the reference tool and set it at the
fixed point on the machine by manual operation. Reset the displayed
relative position to zero. Set the tool for measurement at the same fixed
point on the machine by manual operation. The relative position
display at this point shows difference between the reference tool and
the tool measured and the relative position
display value is then set as offset amounts.
Reference
tool This difference is set
as offset amount
Fixed point
Reference item
Series15i/150i-MB Operator’s Manual II-9.8 Tool length manual
(Operation) measurement
(B-63784EN-1)
- 1380 -
13.2 WORKPIECE ORIGIN MANUAL SETTING
General
By directly entering the value of the deviation measured between the
workpiece coordinate system assumed during programming and the
actual coordinate system, the offset required to change the actually
measured value into a specified value is entered as the workpiece origin
offset at the cursor position.
Reference item
(Operation) workpiece zero point
(B-63784EN-1) offset value
- 1381 -
13.3 TOOL LENGTH/WORKPIECE ORIGIN MEASUREMENT
General
As the functions for measuring the tool length, the following methods
are provided: method by which the tool length is automatically
measured with the program command (G37) (automatic tool length
measurement (See Operator’s Manual (Programming) II-16.5)) and the
method by which the tool length is measured by moving the tool by
manual feed and bringing it into contact with, for example, the top face
of the workpiece (manual tool length measurement (See Operator’s
Manual (Operation II-9.8)). With tool length/workpiece origin
measurement, the operation required for manual tool length
measurement has been simplified, so that machining setup can be
performed easily and in a short time. In addition, the workpiece origin
offset can be measured easily.
- Tool length measurement

When the tool is moved by manual feed so that it contacts the
workpiece or reference block, the tool length compensation can be
measured.
On the tool length compensation measurement screen, manual numeric
commands can be used to specify the T code, M code, and reference
position return commands.
- Workpiece origin measurement

The following workpiece origin offsets can be easily measured: a
workpiece origin offset for the axis in the tool length direction, Z axis,
and workpiece origin offsets for X and Y axes on the plane orthogonal
to the Z axis. Workpiece origin offsets for X and Y axes can be
measured assuming that the workpiece origin is on the workpiece-
mounted surface, or that the workpiece origin is the center of a
machining hole.
Signal
Tool offset measurement mode selection signal GOQSM<G028#7>

[Function] Selects tool offset value measurement mode.
[Operation] When the signal goes "1" in manual operation mode, tool offset
measurement mode is selected. The screen is automatically replaced
with the tool geometry compensation screen. In the status display field
at the bottom of the screen, "OFST" blinks to indicate that tool offset
measurement mode has been selected.
- 1382 -
Tool offset number selection signals OFN0-OFN9<G028#0-#5, G030#0#1#6#7>

[Function] Selects a tool offset number.
[Operation] In tool offset measurement mode, the cursor automatically moves to the
tool offset number selected by the tool offset number input signal.
NOTE
This signal is valid only when the QNI bit (bit of 6
parameter No. 6002) is set to 1.
Workpiece origin offset measurement mode selection signal WOQSM<G028#6>

[Function] Selects workpiece coordinate system shift measurement mode.
[Operation] When the signal goes "1" in manual operation mode, workpiece origin
offset measurement mode is selected. The screen is automatically
replaced with the workpiece coordinate system setting screen. In the
status display field at the bottom of the screen, "WOFS" blinks to
indicate that workpiece origin offset measurement mode has been
selected.
Skip signal SKIP<X011#6>, SKIP1<G000#3>

[Function] Stores the momentary position where the signal goes "1" in the
workpiece origin offset measurement, as a measurement point. At the
same time, the axial movement is stopped.
[Operation] When the skip signal is brought to "1" while the measurement probe is
touching the reference plane or the external edge of the reference hole
in the workpiece origin offset value measurement, the momentary
machine coordinates are stored as the position of the measurement
point. At the same time, the axial movement by manual handle feed or
jog feed stops.
Until the skip signal is brought to "0", the interlock prevents the
movement in the direction in which the measurement probe was
brought to the current measurement point.
NOTE
High-speed skip signals (HDI0 to HDI7) can not be
used in this function.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 SKIP1
G028 GOQSM WOQSM OFN5 OFN4 OFN3 OFN2 OFN1 OFN0
G030 OFN7 OFN6 OFN9 OFN8
#7 #6 #5 #4 #3 #2 #1 #0
X011 SKIP
- 1383 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6002 QNI

[Data type] Bit
#6 QNI Specifies whether, in tool length measurement, a tool offset number is

specified by operation on the MDI unit (cursor-based selection) or by a
signal (tool offset number input signal (OFN0 to OFN5)) from the
machine.
0: Specified by operation on the MDI unit (cursor-based selection).
1: Specified by a signal (tool offset number input signal (OFN0 to
OFN5)) from the machine.
#7 #6 #5 #4 #3 #2 #1 #0
6003 WMC WMH WMA TMA TC3 TC2

[Data type] Bit
Bit 5 (WMC) to bit 0 (TC2) are valid only when the tool length/workpiece origin measurement
function is provided.
#0 TC2
#1 TC3 When soft key [ MEASURE ] or [ MEASUR+ ] is selected to set a tool
length compensation amount during the measurement of the tool length,
the tool automatically moves to the tool change position. TC2 and TC3
set the tool change position at one of the reference positions.
TC3 TC2 Tool change position
0 0 First reference position
0 1 Second reference position
1 0 Third reference position
1 1 Fourth reference position
#2 TMA
0: A tool length measurement is made only for the Z-axis.
1: A tool length measurement can be made for each axis.
#3 WMA Specifies whether a workpiece origin offset measurement is made for the
Z-axis only or can be made for each axis.
0: Z-axis only.
1: Each axis.
- 1384 -
#4 WMH Specifies whether a workpiece origin offset measurement is made for end
faces only or for both end faces and hole centers.
0: End faces only.
1: Both end faces and hole centers.
#5 WMC Specifies whether an axis for workpiece origin offset measurement is

specified by axis name input or selected with the cursor.
0: Specified by axis name input.
1: Selected with the cursor.
- 1385 -
6024 Distance (L) from reference tool tip position to the reference measurement
surface

table(A))
This parameter is used for tool length/workpiece zero point measurement. For
each axis, this parameter sets the distance from the reference tool tip position to the
reference measurement surface (L in the figure below) when the machine is at the
machine zero point.
Machine zero
point
Tool Tool
T01 T01
OFSL OFSL
(Tool tip
position of
reference tool)
Zm
Zt Zm
L
Measurement surface
Workpiece
Hm
Measurement
surface
Reference block Hm
Reference
measurement
surface
Table on the machine Table on the machine
L : Distance from the reference tool tip to the reference measurement surface (machine coordinates of
the reference measurement surface)
Hm : Distance from the reference measurement surface to actual measurement surface
Zm : Distance from the tool tip of the measured tool at the machine zero point to the measurement surface
Zt : Distance from the tool tip of the measured tool at the machine zero point to the reference
measurement surface
OFSL : Tool length compensation (OFSL = Zm-Hm-L)
- 1386 -
#7 #6 #5 #4 #3 #2 #1 #0
7697 WNM

[Data type] Bit
#2 WNM After the manual numerical command or measurement in the tool length/
workpiece zero point measurement, automatic zero point return is :
0: Valid.
1: Invalid.
Reference item
Series15i/150i-MB Operator’s Manual II-9.10 Tool length/workpiece
(Operation) origin measurement
(B-63784EN-1)
- 1387 -
13.4 AUTOMATIC TOOL LENGTH MEASUREMENT (G37)
By issuing G37 the tool starts moving to the measurement position and
keeps on moving till the approach end signal from the measurement
device is output. Movement of the tool is stopped when the tool tip
reaches the measurement position.
Difference between coordinate value when tool reaches the
measurement position and coordinate value commanded by G37 is
added to the tool length offset amount currently used.
A (Start position)
Rapid Measurement position is
traverse commanded with G37
B (Deceleration position)
Measurement
feedrate
C (Measurement position)
The tool stops when the approach end signal
goes on.
0 X
Compensation data = (Current compensation data) + [(Measurement position reach

signal detection position) - (Coordinate value specified by G37)]
when the MDC bit (bit 0 of parameter 7300) is set to 1
- Setting the workpiece coordinate system

Set the workpiece coordinate system so that a measurement can be
made after moving the tool to the measurement position. The
coordinate system must be the same as the workpiece coordinate
system for programming.
- Specifying G37
Specify the absolute coordinates of the correct measurement position.
Execution of this command moves the tool at the rapid traverse rate
toward the measurement position, reduces the federate halfway, then
continuous to move it until the approach end signal from the measuring
instrument is issued. When the tool tip reaches the measurement
position, the measuring instrument sends an approach end signal to the
CNC which stops the tool.
- 1388 -
- Changing the offset value

When the MDC bit (bit 0 of parameter 7300) is set to 1 (default), the
difference between the coordinate value of the position where the tool
reaches the measurement position and the coordinate value specified
by G37 is added to the current tool compensation data.
Compensation data = (Current compensation data) + [(Measurement
position reach signal detection position) - (Coordinate value specified
by G37)
If the MDC bit (bit 0 of parameter 7300) is set to 0, subtraction can be
performed here. The compensation data can be manually changed to
the desired value.
Signal
Measuring position reached signals XAE1 <X008#3>, AE1 <G001#2>

[Function] If the measuring position specified by a program command differs from
the measuring position which a tool has reached in practice, that is, the
position at the moment the measuring position reached signal has just
been turned "1", the difference in the coordinate value is added to the
current tool compensation value to update the compensation value. The
tool is first fed to the specified measuring position by rapid traverse in a
block where one of the following commands has been specified G37.
The tool decelerates and temporarily stops at the distance g before the
measuring position.
The tool then moves to the measuring position at the speed preset by a
parameter No. 7311. If the measuring position reached signal
corresponding to the G code is turned "1" after the tool has approached
within distance e of the measuring position and before the tool
overshoots the measuring position by distance e, the control unit
updates the compensation value and terminates the move command for
the block. If the measuring position reached signal is not turned "1"
even after the tool has overshot the measuring position by distance e,
the control unit enters an alarm state and terminates the move command
for the block without updating the compensation value.
Feedrate Coordinate value commanded in G37
Rapid traverse
rate
Rapid traverse Measuring

speed
ε ε
Start point
Measuring position reached signal
- 1389 -
[Operation] When the signal is turned "1", the control unit works as follows:
- Reads the position of the tool along the axis currently specified
and updates the current compensation value based on the
difference between the specified measuring position and the read
measuring position in the following case: When the measuring
position reached signal corresponding to the G code is turned on
in a block where G37 is specified after the tool is within distance e
of the measuring position specified by a program and before the
tool overshoots the measuring position by distance e. The control
unit then stops the tool, and terminates the move command for the
block.
- Enters an alarm state and terminates the move command for the
block without updating the compensation value in the following
case: When the measuring position reached signal corresponding
to the command is turned "1" in a block where G37 is specified
after the tool is within distance g of the measuring position but
before the tool is within distance e of the measuring position.
NOTE
1 The measuring position reached signal requires at least 10
msec.
2 The delay and dispersion of measurement position reach
signal detection is 0 to 2 msec on the CNC alone,
excluding those on the PCM. Thus, the measurement
error is equal to the sum of 2 msec and the delay and
dispersion of the transfer of the skip signal on the PMC
(including the delay and dispersion of the receiver)
multiplied by the feedrate set for parameter No. 7311.
3 After measurement position reach signal detection, the
delay and dispersion that may occur until the feed is
stopped is 0 to 8 msec.
4 The CNC directly reads the skip signal XAE1<X008#3>
from the machine tool; the PMC no longer requires to
process the signal.
5 If automatic tool length measurement is not used, the
PMC can use the signal terminals corresponding to the
measuring position reached signal as the general-purpose
input signals.
6 Instead of the rise, the state of the measurement position
reach signal is monitored. If, therefore, the measurement
position reach signal remains "1" and the corresponding
automatic tool length measurement (G37) is executed, the
CNC will issue alarm PS0415 before the measurement
position, when the tool has moved to position γ.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X008 XAE1
#7 #6 #5 #4 #3 #2 #1 #0
G001 AE1
- 1390 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7300 SEB MDC

[Data type] Bit
#0 MDC Specifies whether the result of an automatic tool length measurement is

subtracted from or added to the current offset value.
0: Subtracted.
1: Added.
NOTE
The standard setting is 1.
#7 SEB Specifies whether to reflect the number of accumulated pulses due to

acceleration/deceleration and positional deviation when the skip signal or
measurement position arrival signal is turned on in skip operation or
automatic tool length measurement.
0: Do not reflect.
1: Reflect for compensation.
The input position of the skip signal (measurement position arrival
signal) is found by reflecting the number of accumulated pulses due to
actual acceleration/deceleration and positional deviation present when
the skip signal (measurement position arrival signal) is turned on.
Namely, this is the same as type B of FS15B. Note that there is no
method equivalent to type A (method of determination from a time
constant and gain) of FS15B.
7311 Feedrate during automatic tool length measurement

[Data type] Real
- 1391 -
7321 Deceleration position in automatic tool length measurement (value of γ)

[Data type] Real
7331 Allowable measurement position arrival signal range in automatic tool

length measurement (value of ε)

[Data type] Real
Alarm and message

PS0410 G37 IMPROPER AXIS COMMAND No axis or 2 or more axes were specified in the automatic
tool measurement instruction (G37) block.
PS0411 G37 SPECIFIED WITH H CODE An H code was specified in the same block as an automatic
tool-length measurement instruction (G37).
PS0412 G37 OFFSET NO. UNASSIGNED PS0412
No H code was specified in the automatic tool
measurement instruction (G37) block.
PS0415 G37 MEASURING POSITION The measurement position arrival signal became "1" before
REACHED SIGNAL IS NOT or after the area specified by parameter No. 7331 in
PROPERLY INPUT automatic tool length measurement (G37).
Reference item
Series15i/150i-MB Operator’s Manual II-16.5 Tool length automatic
(Programming) measurement
(B-63784EN)
- 1392 -
13.4.1 High-speed Measuring Position Reached Signal
General
The skip function operates based on a high-speed skip signal (HAE1 to
HAE8 : connected directly to the CNC; not via the PMC) instead of an
ordinary measuring position reached signal. In this case, up to eight
signals can be input.
Delay and error of measuring position reached signal input is 0 to 2
msec at the CNC side (not considering those at the PMC side).
This high-speed measuring position reached signal input function
keeps this value to 0.1 msec or less, thus allowing high precision
measurement.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7200 SRE

[Data type] Bit
#6 SRE Specifies whether to use the rising edge or falling edge to assume signal
input when the high-speed skip signal or high-speed measurement
position arrival signal is used.
0: Use the falling edge (contact close -> open) to assume signal input.
1: Use the rising edge (contact open -> close) to assume signal input.
NOTE
If this parameter is set to 0 (or 1), and the contact of the high-
speed skip signal is already open (or closed) when skip operation
is specified, the input of the skip signal is assumed at that time.
In this case, skip operation is performed immediately, and the
block is terminated.
This also applies to the high-speed measurement position arrival
signal for automatic tool length measurement.
#7 #6 #5 #4 #3 #2 #1 #0
7300 AMH

[Data type] Bit
#1 AMH Specifies whether to use the high-speed measurement position arrival

0: Do not use. Instead, the conventional measurement position arrival
signal is used.
1: Use.
- 1393 -
#7 #6 #5 #4 #3 #2 #1 #0
7301 1A8 1A7 1A6 1A5 1A4 1A3 1A2 1A1

[Data type] Bit
1A1 to 1A8 A high-speed measurement position arrival signal to be used for G37 (tool
length automatic measurement command) is set.
Parameter Corresponding high-speed
measurement position arrival signal
1A1 HAE1
1A2 HAE2
1A3 HAE3
1A4 HAE4
1A5 HAE5
1A6 HAE6
1A7 HAE7
1A8 HAE8
0: A corresponding high-speed measurement position arrival signal is invalid.
1: A corresponding high-speed measurement position arrival signal is valid.
Reference item
Series15i/150i-MB Operator’s Manual II-16.5 Tool length automatic
(Programming) measurement
(B-63784EN)
- 1394 -
13.5 SKIP FUNCTION
13.5.1 Skip Function
General
Linear interpolation can be commanded by specifying axial move
following the G31 command, like G01. If an external skip signal is
input during the execution of this command, execution of the command
is interrupted and the next block is executed.
The skip function is used when the end of machining is not
programmed but specified with a signal from the machine, for example,
in grinding. It is used also for measuring the dimensions of a
workpiece.
The coordinate values when the skip signal is turned on can be used in
a custom macro because they are stored in the custom macro system
variable #5061 to #5068, as follows:
#5061 First axis coordinate value
#5062 Second axis coordinate value
#5063 3rd axis coordinate value
:
:
#5080 20th axis coordinate value
- Feedrate
Two types of feedrate can be selected for the G31 block, using
parameter SFP (bit 3 of No. 1400).
(1) Feedrate specified with address F (may be specified before or in
the G31 block)
(2) Feedrate set for parameter No. 1428
If the feedrate with the G31 command is to conform to the feedrate set
for the parameter to improve the tool position precision when the skip
signal is input, automatic acceleration/deceleration is not performed.
- Compensation for the servo delay

With the input of the skip signal, the current position is stored within
the CNC. The current position within the CNC, however, contains the
delay in the servo system and, therefore, differs from the machine
position by the delay in the servo system. This difference can be
determined from the position deviation of the servo and the remaining
amount due to feedrate acceleration/deceleration performed within the
CNC. If this difference is taken into consideration, the delay in the
servo system need not be included in the measurement error.
- 1395 -
Pnc
Q P
Origin of the
coordinate
system
Skip signal input position
Pnc : Current position within the CNC when the skip signal turns on (in mm
or inches)
P : Distance to be measured (in mm or inches)
Q : Servo delay (in mm or inches)
Using parameter SEB (bit 7 of No. 7300), the following calculation is

performed within the CNC:
P = Pnc - Q
The distance to be measured, P, can be read with a macro variable.
Thus, the measurement error is only the dispersion that may occur
when the SKIP signal is sensed.
Signal
Skip Signal SKIP <X011#6> SKIP1<G000#3>

[Function] This signal terminates skip cutting. That is, the position where a skip
signal turns to "1" in a block containing G31 is stored in a custom
macro variable, and the move command of the block is terminated at
the same time.
[Operation] When a skip signal turns to "1", the control unit works as described
below.
- When a block contains a skip cutting command G31, the control
unit reads and stores the current position of the specified axis at
that time. The control unit stops the axis, then cancels the
remaining distance that the block was supposed to be moved.
NOTE
1 The skip signal width requires at least 10 msec.
2 The delay and dispersion of skip signal detection is 0
to 2 msec on the CNC alone, excluding those on the
PCM. Thus, the measurement error is equal to the
sum of 2 msec and the delay and dispersion of the
transfer of the skip signal on the PMC (including the
delay and dispersion of the receiver) multiplied by
the current feedrate.
3 After skip signal detection, the delay and dispersion
that may occur until feed is stopped is 0 to 8 msec.
To calculate the excess amount, the delay of
acceleration/deceleration, the delay in the servo,
and the delay in the PMC must be taken into
consideration.
- 1396 -
NOTE
4 The CNC directly reads the skip signal
SKIP<X011#6> from the machine tool; the PMC no
longer requires to process the signal.
5 If the skip function G31 is not used, the PMC can
use the signal terminal SKIP< X011#6>
corresponding to the skip signal as a general
purpose input signal.
6 Instead of the rise, the state of the skip signal is
monitored. If, therefore, the signal remains "1" and
skip cutting is executed, it is assumed that the skip
condition is satisfied immediately.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X011 SKIP
#7 #6 #5 #4 #3 #2 #1 #0
G000 SKIP1
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 SFP

[Data type] Bit
#3 SFP Specifies the feedrate of the skip function (G31).

0: Feedrate specified by the F code in the program
1: Feedrate specified by parameter No. 1428
NOTE
See the item on bit 5 of parameter No. 7200 for multi-step and
high-speed skip.
- 1397 -
1428 Skip function (G31) feedrate

[Data type] Real
Set the feedrate for the skip function (G31). This parameter is valid
when SKF, a bit of parameter No. 1400, is set to 1, namely the skip
function feedrate is the value set in this parameter.
NOTE
See parameter Nos. 7211 to 7214 for multi-step and high-speed
skip.
#7 #6 #5 #4 #3 #2 #1 #0
7200 HSS

[Data type] Bit
function or multi-step skip function is used.
#7 #6 #5 #4 #3 #2 #1 #0
7300 SEB

[Data type] Bit

acceleration/deceleration and positional deviation when the skip signal is
turned on in skip operation.
0: Do not reflect.
The input position of the skip signal is found by reflecting the number of
accumulated pulses due to actual acceleration/deceleration and positional
deviation present when the skip signal is turned on. Namely, this is the
same as type B of FS15B. Note that there is no method equivalent to
type A (method of determination from a time constant and gain) of
FS15B.
- 1398 -
Alarm and message

PS0151 CANNOT USE G31 The alarm occurs in the following cases:
- The G31 code cannot be specified. The G code in group
07 (e.g. cutter compensation) is not canceled.
- The torque limit was not specified by the torque limit skip
instruction (G31 P98/P99). Either specify the torque limit
in the PMC window, or specify torque limit override by
address Q.
Note
NOTE
If the G31 command is issued in cutter compensation
mode, an alarm (PS0151) occurs. Before issuing
G31, cancel cutter compensation using G40.
Reference item
Series15i/150i-MB Operator’s Manual II-16.1 Skip function
(Programming)
(B-63784EN)
- 1399 -
13.5.2 High-speed Skip Signal
General
The skip function operates based on a high-speed skip signal (HDI0 to
HDI7 : connected directly to the CNC; not via the PMC) instead of an
ordinary skip signal. In this case, up to eight signals can be input.
Delay and error of skip signal input is 0 to 2 msec at the CNC side (not
considering those at the PMC side).
This high-speed skip signal input function keeps this value to 0.1 msec
or less, thus allowing high precision measurement.
Signal
High-speed Skip Status Signal HDO0 to HDO7<F047>

[Function] This signal informs the PMC of the input status of the high-speed skip
signal. The signal-to-bit correspondence is as follows:
High-speed skip signal ___ Bit name
HDI0 ___ HDO0
HDI1 ___ HDO1
HDI2 ___ HDO2
HDI3 ___ HDO3
HDI4 ___ HDO4
HDI5 ___ HDO5
HDI6 ___ HDO6
HDI7 ___ HDO7
[Output condition] Each bit is set to 1 when:

- The corresponding high-speed skip signal is logical 1.
Each bit is set to 0 when:
- The corresponding high-speed skip signal is logical 0.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F047 HDO7 HDO6 HDO5 HDO4 HDO3 HDO2 HDO1 HDO0
Parameter
See “Parameter” in the Multi-step Skip
Reference item
Series15i/150i-MB Operator’s Manual II-16.3 High-speed skip
(Programming)
(B-63784EN)
- 1400 -
13.5.3 Multi-step Skip
General
In a block specifying G31.1 to G31.4, the multi-step skip function
stores coordinates in a custom macro variable and cancels the
remaining distance that the block was supposed to be moved when a
skip signal (4 points) or high-speed skip signal (8 points) is turned on.
Also in a block specifying G04, this function skips a dwell when the
skip signal has turned on.
A skip signal from equipment such as a fixed-dimension size
measuring instrument can be used to skip programs being executed.
In plunge grinding, for example, a series of operations from rough
machining to spark-out can be performed automatically by applying a
skip signal each time rough machining, semi-fine machining, fine-
machining, or spark-out operation is completed.
- Feedrate
Two types of feedrate can be selected for a multistage skip, using
parameter SFN (bit 5 of No. 7200).
(a) Feedrate specified with the address F (may be specified before or
in the multistage skip block)
(b) Feedrate set for a parameter from No. 7211 to 7214
If the feedrate with the G31 command is to conform to the feedrate set
for the parameter to improve the tool position precision when the skip
signal is input, automatic acceleration/deceleration is not performed.
- Correspondence to skip signals

Parameter Nos. 7205 to 7208 can be used to specify whether the 4-point
or 8-point skip signal is used (when a high-speed skip signal is used).
Specification is not limited to one-to-one correspondence. It is
possible to specify that one skip signal correspond to two or more G
codes. Also, of parameter No. 7209 can be used to specify dwell.
Signal
Skip Signals SKIP1<G000#3> SKIP2<G001#5> SKIP3<G001#6> SKIP4<G001#7>
[Function] These signals terminate skip cutting. That is, the position where a skip
signal turns to "1" in a command program block containing G31, G31.2,
G31.3, or G31.4 is stored in a custom macro variable, and the move
command of the block is terminated at the same time. Furthermore, in a
block containing G04, the dwell command of the block is terminated.
In either case, until all other commands (such as miscellaneous
functions) of the block are completed, machining never proceeds to the
next block.
Which of the four skip signals (or eight signals if high-speed skip
signals are used) is to be enabled can be specified using a parameter
from No. 7205 to 7208. The eight skip signals can correspond to the G
codes on a one-to-one basis. One skip signal can also be made
applicable to multiple G codes. Conversely, multiple skip signals can
be made applicable to one G code.
- 1401 -
[Operation] When a skip signal turns to "1", the control unit functions as described
below.
- When a block contains a G code from (G31, G31.1 to G31.4) for
skip cutting, and the skip signal is made applicable by parameter
setting to the command, the control unit reads and stores the
current position of the specified axis at that time. The control unit
stops the axis, then cancels the remaining distance that the block
was supposed to be moved.
- When a block contains a G04 code for dwell, and the skip signal is
made applicable by parameter setting to the command, the control
unit stops dwell operation, and cancels any remaining dwell time.
NOTE
1 The skip signal width requires at least 10 msec.
2 The delay and dispersion of skip signal detection is 0
to 2 msec on the CNC alone, excluding those on the
PCM. Thus, the measurement error is equal to the
sum of 2 msec and the delay and dispersion of the
transfer of the skip signal on the PMC (including the
delay and dispersion of the receiver) multiplied by
the current feedrate.
3 After skip signal detection, the delay and dispersion
that may occur until feed is stopped is 0 to 8 msec.
To calculate the excess amount, the delay of
acceleration/deceleration, the delay in the servo,
and the delay in the PMC must be taken into
consideration.
4 The skip cutting functions G31.1, G31.2, G31.3, and
G31.4 are all the same except that they correspond
to different skip signals. G31 is equivalent to G31.1.
5 When the skip function (G31) and multistage skip
functions (G31.1, G31.2, G31.3, and G31.4) are not
used, the signal pin corresponding to skip signal
SKIP <X011#6> can be used for a general-purpose
input signal in the PMC.
6 Instead of the rise, the state of the skip signal is
monitored. If, therefore, the signal remains "1" and
skip cutting or dwell is executed, it is assumed that
the skip condition is satisfied immediately.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X011 SKIP
#7 #6 #5 #4 #3 #2 #1 #0
G000 SKIP1
G001 SKIP4 SKIP3 SKIP2
- 1402 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7200 SRE SFN HSS

[Data type] Bit
function or multi-step skip function is used.

#5 SFN Specifies a feedrate that is used during execution of the multi-step skip
function or skip function using the high-speed skip signal (with bit 4
(HSS) of parameter No. 7200 set to 1).
0: Feedrate of the F code specified in the program
1: Feedrate set in parameter No. 7211 to No. 7214
NOTE
For the skip function not using the high-speed skip signal (with bit
4 (HSS) of parameter No. 7200 set to 0), see the description of bit
3 of parameter No. 1400.
#6 SRE Specifies whether to use the rising edge or falling edge to assume signal
input when the high-speed skip signal or high-speed measurement
position arrival signal is used.
0: Use the falling edge (contact close -> open) to assume signal input.
1: Use the rising edge (contact open -> close) to assume signal input.
NOTE
If this parameter is set to 0 (or 1), and the contact of the high-
speed skip signal is already open (or closed) when skip operation
is specified, the input of the skip signal is assumed at that time.
In this case, skip operation is performed immediately, and the
This also applies to the high-speed measurement position arrival
- 1403 -
#7 #6 #5 #4 #3 #2 #1 #0
7205 1S8 1S7 1S6 1S5 1S4 1S3 1S2 1S1

[Data type] Bit
1S1 to 1S8 A skip signal to be used for the G31 skip command or G31.1 multi-step
skip command is set.
- Skip command (G31)
(HSS(No.7200#4)=1) (HSS(No.7200#4)=0)
1S1 HDI0
1S2 HDI1
1S3 HDI2 SKIP1 is always valid
1S4 HDI3 regardless of the settings
1S5 HDI4 in parameter 1S1 to 1S8.
1S6 HDI5
1S7 HDI6
1S8 HDI7
- Multi-step skip command (G31.1, G31.2, G31.3, G31.4)
(HSS(No.7200#4)=1) (HSS(No.7200#4)=0)
1S1 HDI0 SKIP1
1S2 HDI1 SKIP2
1S3 HDI2 SKIP3
1S4 HDI3 SKIP4
1S5 HDI4
1S6 HDI5
1S7 HDI6
1S8 HDI7
- 1404 -
#7 #6 #5 #4 #3 #2 #1 #0
7206 2S8 2S7 2S6 2S5 2S4 2S3 2S2 2S1

[Data type] Bit
2S1 to 2S8 A skip signal to be used for the G31.2 multi-step skip command is set.
(HSS(No.7200#4)=1) (HSS(No.7200#4)=0)
2S1 HDI0 SKIP1
2S2 HDI1 SKIP2
2S3 HDI2 SKIP3
2S4 HDI3 SKIP4
2S5 HDI4
2S6 HDI5
2S7 HDI6
2S8 HDI7
#7 #6 #5 #4 #3 #2 #1 #0
7207 3S8 3S7 3S6 3S5 3S4 3S3 3S2 3S1

[Data type] Bit
(HSS(No.7200#4)=1) (HSS(No.7200#4)=0)
3S1 HDI0 SKIP1
3S2 HDI1 SKIP2
3S3 HDI2 SKIP3
3S4 HDI3 SKIP4
3S5 HDI4
3S6 HDI5
3S7 HDI6
3S8 HDI7
- 1405 -
#7 #6 #5 #4 #3 #2 #1 #0
7208 4S8 4S7 4S6 4S5 4S4 4S3 4S2 4S1

[Data type] Bit
(HSS(No.7200#4)=1) (HSS(No.7200#4)=0)
4S1 HDI0 SKIP1
4S2 HDI1 SKIP2
4S3 HDI2 SKIP3
4S4 HDI3 SKIP4
4S5 HDI4
4S6 HDI5
4S7 HDI6
4S8 HDI7
#7 #6 #5 #4 #3 #2 #1 #0
7209 DS8 DS7 DS6 DS5 DS4 DS3 DS2 DS1

[Data type] Bit
DS1 to DS8 When the multi-step skip option is provided, a skip signal to be used for
the G04 dwell command is set.
(HSS(No.7200#4)=1) (HSS(No.7200#4)=0)
DS1 HDI0 SKIP1
DS2 HDI1 SKIP2
DS3 HDI2 SKIP3
DS4 HDI3 SKIP4
DS5 HDI4
DS6 HDI5
DS7 HDI6
DS8 HDI7
- 1406 -
7211 Feedrate of the skip function (G31 or G31.1)
7212 Feedrate of the skip function (G31.2)

[Data type] Real
Set the feedrate of the skip function for each G code.
These parameters are valid when bit 5 (SFN) of parameter No. 7200 is
set to 1.
#7 #6 #5 #4 #3 #2 #1 #0
7300 SEB

[Data type] Bit

acceleration/deceleration and positional deviation when the skip signal is
turned on in skip operation.
0: Do not reflect.
The input position of the skip signal is found by reflecting the number of
accumulated pulses due to actual acceleration/deceleration and positional
deviation present when the skip signal is turned on. Namely, this is the
same as type B of FS15B. Note that there is no method equivalent to
type A (method of determination from a time constant and gain) of
FS15B.
Reference item
Series15i/150i-MB Operator’s Manual II-16.4 Multi-step skip
(Programming)
(B-63784EN)
- 1407 -
13.5.4 Torque Limit Skip
General
When a move command following G31P99 (or G31P98) is executed
with the torque limit(*1) of a servo motor overridden, cutting feed can
be performed in the same manner as when linear interpolation (G01) is
applied. During movement with this move command, when the torque
of the servo motor attains the torque limit (the servo motor torque limit
overridden) because of, for example, pressure against the movement, or
when a skip signal (or a high-speed skip signal) is input, the remaining
movement is canceled, and the next block is executed. (The operation
that cancels the remaining movement and executes the next block is
hereinafter called a skip operation.)
The torque limit of a servo motor can be overridden using one of the
following methods:
(1) Specify the torque limit override command in the PMC
window.
(2) In the block containing the G31P99 (or G31P98) command,
specify address Q.
*1 : The torque limit of a servo motor is set according to the motor
type setting.
- Conditions for skip operation
Condition Command
G31P98 G31P99
When torque limit is attained O O
When skip signal is input X O
O : Skip operation is performed.
X : Skip operation is not performed.
- Torque limit skip operation
When a torque limit command is issued to a servo motor, then a

movement is made on the specified axis to cause pressure against
something like a prepared part, the torque limit skip function performs
a skip operation as the servo motor attains the torque limit. A skip
operation is performed when the servo motor detects the torque limit.
Therefore, unlike the ordinary skip function, the torque limit skip
function does not require the input of a skip signal using a device such
as a sensor.
- 1408 -
Example:
N1 G31 P99 Q50 Z400.0 F100.0 ;
N2 G01 X300.0 F500.0 ;
X
A : Machine stop position
300.0 B : Current CNC position when the
torque limit has been attained
N2 C : N1 command end position
200.0
Error amount
100.0
N1 A B C
100.0 200.0 300.0 400.0 Z
(1) At point A, the machine touches a measurement object then

stops. At this point, the torque limit has not yet been attained.
So, a move command is output continuously without a skip
operation, thus updating the current position of the CNC.
(2) Although the move command is still output, the machine
remains stopped. As a result, an inconsistency (error) is
generated between the current CNC position and machine
position, and a torque is applied to the servo motor at the
same time.
(3) As the torque attains the torque limit, skip operation is
performed from machine stop position, point A, after which
N2 is specified. Let point B be the current position of the
CNC when the torque limit is attained. Then, the error at the
time of the torque limit skip is (A - B).
- 1409 -
- Torque limit command
If no torque limit override value is specified with address Q in the

torque limit skip command, and no torque limit command is specified
in the PMC window and so forth, a PS alarm (PS151) is issued.
When no torque limit is specified, the torque limit override value is 0%

or 100%.
When no torque limit override value is specified with address Q in the

torque limit skip command block, specify a torque limit as shown in the
program example given below.
(Program example)
O0012
:
Mxx(Specify torque limit from PMC via window.)
:
G31 P99 X200. F100.(Torque limit skip command)
:
G01 X100. F500.(Move command with torque limit kept applied)
:
Myy(Cancel torque limit from PMC.)
:
M30
- Positional deviation limit when a torque limit command is specified
During the execution of a torque limit skip command, the positional

deviation limit check based on the settings of parameter Nos. 1828 and
1829 is not made. Instead of this check, a positional deviation limit
check is performed according to the setting of parameter No. 1843. If
the positional deviation exceeds the limit, an SV alarm (SV0109) is
issued, and the machine stops immediately.
- 1410 -
- Custom macro variables
When a torque limit skip command is executed, the coordinates of the

end point of skip operation are stored in custom macro system variables
(#5061 to #5080: Skip signal position; for a system consisting of 20
axes or more, variables #100151 to #100174 are used). When a skip
operation has been executed, there is a difference in the servo delay
between the machine position and current CNC position. This
difference can be obtained from the servo positional deviation. Bit 1
(TSE) of parameter No. 7203 is used to specify whether the skip signal
position to be stored in the system variables is corrected considering a
Position at skip operation
Current CNC position
Machine position Error amount
Origin Stop point
Position corrected considering delay
Position without considering delay
servo error (positional deviation).
Signal
Torque limit attain signal TRQL1<F066#0>, TRQL2<F070#0>, ...

[Function] Reports that the torque limit has been attained.
TRQLx
x : 1 ..... The torque limit has been attained on the first axis.
2 ..... The torque limit has been attained on the second axis.
3 ..... The torque limit has been attained on the third axis.
: :
[Output condition] The signal is set to 1 when:
- The torque has attained the torque limit.
The signal is set to 0 when:
- The torque is below the torque limit.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F066 TRQL1
The above address is the signal address for the first axis. For the signal
addresses for the second and subsequent axes, see the BMI interface
address table for Series 15i in Section A.1.
- 1411 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7203 TSE

[Data type] Bit
#1 TSE Specifies a skip position to be stored in the system variables (#5061 to

#5080) when the torque limit skip command (G31P98/P99) is specified.
0: Position reflecting a servo error (positional deviation)
1: Position not reflecting a servo error
Position of skip
Current CNC position
Machine position Error amount
Origin Stop point

Position after
compensation considering
Position without considering delay
#7 #6 #5 #4 #3 #2 #1 #0
1802 TQO

[Data type] Bitaxis
#4 TQO Specifies whether to enable the torque override function.

0: Disable the function. (100% override)
- 1412 -
1843 Position deviation limit at torque limit skip

Set the position deviation limit during a torque limit skip command for
each axis. If the position deviation exceeds the position deviation limit,
SP alarm (SV0109) is issued and the system stops instantly.
Alarm and message

PS0150 G31 FORMAT ERROR • No axis is specified or tow or more axes are specified in
the torque limit switch instruction (G31P98/P99).
• The specified torque Q value in the torque limit switch
instruction is out of range. The torque Q range is 1 to 99.
PS0151 CANNOT USE G31 The alarm occurs in the following cases:
• The G31 code cannot be specified. The G code in group
07 (e.g. cutter compensation) is not canceled.
• The torque limit was not specified by the torque limit skip
instruction (G31 P98/P99). Either specify the torque limit
in the PMC window, or specify torque limit override by
address Q.
SV0109 EXCESS ERROR (G31) The position deviation during execution of torque limit
switch operation exceeds the limit setting of parameter No.
1843.
Reference item
Series15i/150i-MB Operator’s Manual II-16.6 Torque limit skip
(Programming)
(B-63784EN)
- 1413 -
13.6 CHANGING ACTIVE OFFSET VALUE WITH MANUAL MOVE
If you want to perform roughing or semi-finishing with a single tool,

you may fine-adjust the tool length compensation or cutter
compensation. Moreover, you may want to fine-adjust the setting of
the workpiece origin offset that was already set up. This function can
change the offset (such as tool length compensation, cutter
compensation, or workpiece origin offset) for the currently valid offset
number or workpiece coordinate system among those specified, by
adding an amount of axis movement made by manual feed
automatically.
Explanation
- Active offset change mode
This mode is specified by an active offset change mode signal
(specified from the machine operator's panel). In this mode, an amount
of axis movement made by manual feed is automatically added to the
offset (such as tool length compensation, cutter compensation, and
workpiece origin offset) for the currently valid offset number or
workpiece coordinate system among those specified. The types of
manual feed valid with this function include manual handle feed,
incremental feed, and jog feed.
- Specifying an offset to be changed

An active offset selection signal (specified from the machine operator's
panel) is used to select a tool length compensation, cutter compensation,
or workpiece origin offset. In active offset change mode, the selected
offset is indicated by blinking its status indication as listed below.
Selected offset Status indication

Tool length compensation
Cutter compensation
Workpiece origin offset
- 1414 -
- Changing the tool length compensation

This function can change the tool length compensation identified by the
offset number corresponding to an H code specified during automatic
operation. If there is no valid tool length compensation (for example,
just after a reset is executed or when no H code has been issued since
cycle start), no tool length compensation change takes place even when
axis movement is made manually.
The tool length compensation can be changed by movement along the
basic three axes (X, Y, Z) and any axis parallel to one of them (that is,
an axis with parameter No. 1022 set to a nonzero value). It cannot be
changed using rotation axis movement. When the tool length
compensation is being changed, manual feed cannot cause movement
along more than one axis at a time.
Example
The compensation at offset number 10 becomes
54.700 + (-2.583) = 52.117 mm under the following
conditions:
- Specified H code: H10
- Value set at offset number 10: 54.700 mm
- Amount of movement caused by manual feed
along the Z-axis: -2.583 mm
- Changing the cutter radius compensation

This function can change the cutter radius compensation identified by
the offset number corresponding to a D code specified during
automatic operation. If there is no valid cutter compensation (for
example, just after a reset is executed or when no D code has been
issued since cycle start), no cutter compensation change takes place
even when axis movement is made manually.
The cutter radius compensation can be changed by movement along the
basic three axes (X, Y, Z) and any axis parallel to one of them (that is,
an axis with parameter No. 1022 set to a nonzero value). It cannot be
changed using rotation axis movement. When the cutter compensation
is being changed, manual feed cannot cause movement along more than
one axis at a time. If the machine is stopped in cutter radius
compensation mode to change the cutter radius offset value, the
compensation is increased by an amount of movement along the axis
along which movement is possible, no matter which direction the
compensation vector is in when the machine is stopped.
Example
The compensation at offset number 15 becomes
6.500 + 2.379 +
(-0.572) = 8.307 mm under the following conditions:
- Specified D code: D15
- Value set at offset number 15: 6.500 mm
along the X-axis: 2.379 mm
along the Y-axis: -0.572 mm
- 1415 -
- Changing the workpiece origin offset

This function can change the workpiece origin offset of an individual
axis of the workpiece coordinate system corresponding to G54 to G59
or G54.1P1 to P48 specified during automatic operation. There is a
currently valid workpiece coordinate system even in a reset state. So,
axis movement made by manual feed causes the workpiece origin
offset of that workpiece to be changed. In addition, movement along
any axis (regardless of axis types, such as basic three axes, parallel axes,
and rotation axes) can change the workpiece origin offset. Moreover,
manual feed can be made along more than one axis at a time, when the
workpiece origin offset is being changed.
Example
Assume the following conditions:
- Specified workpiece coordinate system: G56
- G56 workpiece origin offset (X-axis): 50.000
- G56 workpiece origin offset (Y-axis): -60.000
- G56 workpiece origin offset (Z-axis): 5.000
- G56 workpiece origin offset (A-axis): 5.000
- G56 workpiece origin offset (B-axis): 15.000
- Amount of manual feed-based movement along
the X-axis: -10.000 mm
the Y-axis: -5.000 mm
the Z-axis: 10.000 mm
the A-axis: 8.000 mm
the B-axis: -2.000 mm
Under the above conditions, the workpiece origin

offset for G56 is changed as follows:
- X-axis : 50.000 + (-10.000) = 40.000
- Y-axis : -60.000 + (-5.000) = -65.000
- Z-axis : 5.000 + 10.000 = 15.000
- A-axis : 5.000 + 8.000 = 13.000
- B-axis : 15.000 + (-2.000) = 13.000
- 1416 -
- Operations specific to individual tool offset memory types

The offset to be changed varies with what tool offset memory (A, B, or
C) is used, as listed below.
Tool offset Offset to be changed
memory
A The tool length compensation and cutter compensation are
processed in the same way. If the currently valid H code and D
code have the same value, the offset at the same offset
number is changed.
B The tool length compensation and cutter compensation are
processed in the same way. If the currently valid H code and D
code have the same value, the offset at the same offset
number is changed.
Either tool geometry compensation or wear compensation is
changed according to the setting of parameter ASG (bit 4 of
C The tool compensation and cutter compensation at the offset
numbers corresponding to the currently valid H code and D
code, respectively, are changed separately.
Either tool geometry compensation or wear compensation is
changed according to the setting of parameter ASG (bit 4 of
- Presetting the relative position indicator

Setting parameter APL (bit 7 of parameter No. 2214) to 1 can preset the
relative position indicator (counter) to 0 automatically when active
offset change mode is selected. In this case, performing manual feed
until the relative position indicator (counter) becomes 0 can restore the
previous value of the offset.

If a tool management option is available, compensation is carried out
using the T code (tool group number), M06 (tool change command),
and H99/D99 (or H code/D code set in parameter No. 7443 or 7444). In
this case, a change is made to the compensation corresponding to the
compensation number made valid by these commands. If there is no
currently valid compensation number (for example, just after a reset is
executed of when no T code or tool change command has been
executed since cycle start), manual feed-caused axis movement does
not affect the compensation.

If a tool offset by tool number option is available, and setting parameter
NOT (bit 5 of parameter No. 0011) = 0, compensation is carried out
using the T code (tool number) and M06 (tool change command) rather
than the H or D code. In this case, a change is made to the
compensation corresponding to the currently valid tool number. If
there is no currently valid tool number (for example, just after a reset is
executed of when no T code or tool change command has been
executed since cycle start), manual feed-caused axis movement does
not affect the compensation.
- 1417 -
- Emergency stop and SV alarm

If the servo power is switched off (for example, when the machine is
brought to an emergency stop or an SV alarm occurs), axis movement
caused by follow-up is reflected to the offset during active offset
change mode.
NOTE
If the tool length compensation or cutter
compensation has been selected as an offset to be
changed, follow-up-caused axis movement around
a rotation axis (that is, an axis for which parameter
No. 1022 is 0) is not reflected to the offset.
Restrictions
- Manual operations that cannot be used with active offset change
If a selected manual operation meets a condition listed below, the
manual feed-based active offset change mode cannot be selected. So,
such a manual operation cannot be used for active offset change.
1. Manual reference point return mode
2. Manual feed through an arbitrary angle
3. Three-dimensional handle feed (tool axial-direction handle mode,
tool radial-direction handle mode, tool tip center handle mode,
tool axial-direction tool length compensation change handle
mode)
4. Simultaneous automatic-manual operation
Signals
Active offset change mode signal CHGAO<G153#4>
[Function] This signal selects the manual feed-based active offset change mode.
[Operation] When all the following conditions are satisfied, setting this signal to
"1" selects the manual feed-based active offset change mode.
- Automatic operation is at pause or stop (STL<F000#4> is "0").
- Neither manual reference point return mode/manual feed through an
arbitrary angle/three-dimensional handle feed nor simultaneous
automatic-manual operation is selected.
If axis movement is performed based on manual handle feed,
incremental feed, or jog feed in this mode, the currently valid offset
that is selected with the active offset selection signal AOFS0 to
AOFS3<G153#4 to #7> is changed by the amount of axis movement.
Setting parameter APL (bit 7 of parameter No. 2214) to 1 presets the
relative position indicator (counter) to 0 automatically, when this
signal selects the active offset change mode. In this case, resetting the
relative position indicator (counter) to 0 by manual feed can restore the
previous value of the offset.
- 1418 -
Active offset selection signal AOFS1,AOFS2<G153#5,#6>

[Function] This signal selects the type of an offset to be changed in the manual
feed-based active offset change mode.
[Operation] Tool length compensation, cutter compensation, or workpiece origin
offset is selected in the manual feed-based active offset change mode
according to the following list.
AOFS2 AOFS1 Offset to be changed

0 0 Tool length compensation
0 1 Cutter compensation
1 0 Workpiece origin offset
Active offset changing signal MCHAO<F154#5>

[Function] This signal indicates that the manual feed-based active offset change
mode has been selected and the offset is being changed.
[Output condition] The signal becomes "1" when all the following conditions are satisfied:
- The active offset change mode signal CHGAO<G153#4> is "1".
- Automatic operation is at pause or stop (STL<F000#4> is "0").
- Neither manual reference point return mode/manual feed through an
arbitrary angle/three-dimensional handle feed nor simultaneous
automatic-manual operation is selected.
The signal becomes "0" when at least one of the above conditions is not
satisfied, and the offset change is finished.
NOTE
Before restarting automatic operation, make sure
that this signal is "0".
- 1419 -
The following timing chart shows how the input and signals behave.
A command such as Hxxx, Dxxx, or G54

specifies what tool length/cutter
Operation is put at pause (stop) Operation restarts with
compensation numbe r or workpiece
to change the offset. the new offset.
coordinate system is to be made valid.
Automatic operation starting

signal (STL)
Manual feed
(handle/incremental/jog)
mode
Active offset change mode

signal (CHGAO)
Active offset changing

signal (MCHAO)
The offset selected by the active offset

selection signal (AOFS1 or AOFS2) is
changed by manual feed.
Signal addresses
#7 #6 #5 #4 #3 #2 #1 #0
G153 AOFS2 AOFS1 CHGAO
F154 MCHAO
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
0014 ASG

[Data type] Bit
#4 ASG Specifies what compensation is to be changed in the Changing Active

Offset Value with Manual Move mode for offset memory B/C, as follows:
0: Wear compensation
1: Geometry compensation
This parameter is valid for offset memory B/C.
- 1420 -
#7 #6 #5 #4 #3 #2 #1 #0
2214 APL

#7 APL Specifies whether to preset the relative position indicator automatically

when the manual feed-based active offset change mode is selected, as
follows:
0: Do not preset.
1: Preset.
This bit is used to restore the previous value of an offset when it has been changed
in the Changing Active Offset Value with Manual Move mode. Making axis
movement by manual feed in such a way that the relative position indicator
(counter) becomes 0 can restore the previous value of the offset.
Caution
CAUTION
1 The handling of the changed tool offset amount
depends on the parameter EVO (No.6000#0).
2 The handling of the manual intervention amount for
the tool offset changing depends on the manual
absolute switch and the parameter ABS
(No.2409#3).
3 The tool length compensation and cutter
compensation can be changed for the basic three
axes (X, Y, Z) and any axis parallel to one of them.
If you do not want to change the offset for
movement along any axis, interlock the axis in the
PMC (ladder).
- 1421 -
14.PMC CONTROL FUNCTION B-63783EN-1/01
14 PMC CONTROL FUNCTION
- 1422 -
B-63783EN-1/01 14.PMC CONTROL FUNCTION
14.1 PMC AXIS CONTROL
General
The PMC can directly control any given axis, independently of the
CNC. In other words, moving the tool along axes that are not
controlled by the CNC is possible by entering commands, such as those
specifying moving distance and feedrate, from the PMC. This enables
the control of turrets, pallets, index tables and other peripheral devices
using any given axes of the CNC.
Whether the CNC or PMC controls an axis is determined by the input
signal provided for that particular axis.
The PMC can directly control the following operations:
(1) Rapid traverse with moving distance specified
(2) Cutting feed - feed per minute, with moving distance specified
(3) Cutting feed – sec/block specification, with moving distance
specified
(4) Dwell
(5) Reference position return
(6) Feedrate control
(7) Auxiliary function
(8) Selection of the machine coordinate system
(9) Torque control
(10) Cutting feed - feed per revolution, with moving distance specified
(11) Skip - feed per minute, with moving distance specified
(12) Continuous feed
(13) 1st. reference position return
(14) 2nd. reference position return
(15) 3rd. reference position return
(16) 4th. reference position return
(17) External pulse synchronization (spindle)
For cutting feed with an amount of travel specified, as described in (2),
(3) and (10), the following are possible:
- Specification of the feedrate and override
- Simultaneous start of cutting feed on multiple PMC control axes
PMC CNC
BMI
Motor
First axis First axis control Pulse Servo control
PMC axis
control data
Motor
Second axis Second axis Pulse Servo control
Command PMC axis

control data
Motor
Third axis Third axis Pulse Servo control
PMC axis
control data
......
......
......
....
- 1423 -
The names of the input/output signals related to PMC axis control

contain lowercase letter x. An example is PMCAx. In reality, however,
a signal named PMCAx does not exist. PMCA1, PMCA2, PMCA3,
and so on, with the x replaced by 1, 2, 3, and so on, actually exist.
These signals are for the first, second, and third axes, and so on,
respectively. PMCAx represents PMCA1, PMCA2, PMCA3, and so
on.
Basic procedure
(1) To release an axis from CNC control and control the axis directly
by the PMC, set PMC axis control signal PCAXx to "1."
(2) The axis control command code signals (CDxX7 to CDxX0)
specify the type of operation. The axis control feedrate
specification signals (FDxX15 to FDxX0) specify the feedrate.
The axis control data signals (DTxX31 to DTxX0) specify the
moving distance and other data.
These signals, together with block stop prohibition signal MSBKx
(described later), determine one complete operation, which is
tantamount to one block executed during CNC-controlled
automatic operation. These signals may be collectively called the
axis control block data signals.
List of Signals Determining Data, Tantamount to One Block for PMC

Axis Control
Generic name Signal name Symbol Data type
Block stop prohibition MSBKx Bit type
signal
Axis control command CDxX7 - CDxX0 Byte type
Axis control
code signal
block data
Axis control feedrate FDxX15 - FDxX0 Word type
signals
signal
Axis control data signal DTxX31 - DTxX0 Two-word
type
(3) Upon the completion of the specification of an operation

corresponding to one block, the logical level of the axis control
command read strobe signal PMCAx is inverted. That is, if
PMCAx is currently 0, it is set to 1; if PMCAx is currently 1, it is
set to 0.
The logical level of PMCAx, however, cannot be inverted unless
the logical level of axis control command read completion signal
CNCAx, a signal output from the CNC, is the same as that of the
PMCAx signal.
- With the PMC axis control function, command blocks from the
PMC are buffered in the CNC so that multiple operations
specified by the PMC can be performed continuously. Even when
a command is being executed, a next command block is read into
the CNC provided the buffer in the CNC is not full.
- 1424 -
The figure below shows that command [1] is being executed, [2]
is placed in the buffer in the CNC, and [3] has already been
specified (the axis control block data signal has been set).
Setting of axis control
PMC command block data signal Registers in CNC
Block 1 Command [1] Input register

[3] [2] (execution wait buffer)
Block 2 Command [2]
Block 3 Command [3]
Block 4 Command [4]
Execution-in-progress
~ ~ [1]
register
Block n
When the execution of command [1] terminates:

Command [2] : Transferred from the input register to execution-in-
progress register.
Command [3] : Transferred from the command block (axis control
block data signal) to the input register.
After command [3] has been transferred to the input buffer, command
[4] can be issued to the CND (by setting the axis control block data
signal).
The timing chart for the command operation is shown below.
[1] [2] [3] [4]
Command block
(input)
PMCAx
(input) (1) (2) (3) (4)
CNCAx
(output)
Execution wait [2] [3]

buffer
Execution- [1] [2]

progress
Start End Start
register
(1), (2), (3), (4) : During these periods (while PMCAx and CNCAx
differ in their logical levels), a next block cannot be
specified.
- The CNC buffer status can be determined by exclusive-ORing the

axis control command read strobe signal PMCAx which is an
input signal from the PMC and the axis control command read
completion signal CNCAx which is an output signal from the
CNC.
- 1425 -
PMCAx CNCAx Exclusive OR

Buffer status in CNC
(XOR)
0 0 The previous command block has been read, and
0
1 1 the PMC can specify another block.
The previous command block has not yet been read.
The command block is being read into the buffer.
0 1
Alternatively, the buffer is full, and the command
block is waiting until the buffer becomes available. In
1
this case, the PMC cannot specify a next block. In
addition, the PMCAx signal must not be inverted. If
1 0
the signal is inverted in this buffer status, any block
that has already been specified is invalidated.
(4) Repeat steps (2) and (3) as necessary.

Once the last block has been specified, and further commands no
longer need to be specified, set the PMC axis control signal
PCAXx to 0.
Note that the PCAXx signal must be set to 0 after the currently
executed block and the block placed in the execution wait buffer
terminate. If the PCAXx signal is set to 0 when there is a block
being executed or when a block is placed in the execution wait
buffer, the remaining commands in the block being executed and
the execution wait buffer are immediately cleared and placed
under the control of the CNC. Whether the execution wait buffer
is empty can be determined by checking that buffer full signal
BUFx is 0. Whether there is no currently executed block can be
determined by checking that the distribution end signal DENx is 1.
For those axes used for controlling turrets, pallets, ATC, and so
forth which are always controlled by the PMC without switching
control between the PMC and CNC, the PCAXx signal is held to 1.
The PCAXx signal need not be set to 0 under the above mentioned
condition even after command transfer is completed. Once the
specified blocks have all been executed, and there is no block to
execute, the operation will terminate automatically.
(5) When the PMC axis control signal PCAXx makes a 1-to-0
transition, the axis is placed under the control of the CNC again.
- Simultaneous multiple-axis operation

A PMC axis command for a single axis can be used to move multiple
axes. Parameter No. 1070 is used to specify the axis to be moved by a
command for a given axis.
- Ignoring a separate detector disconnection alarm

It is possible to ignore a separate detector disconnection alarm that may
occur during high-speed rotation in velocity command mode.
NOTE
1 If this function is used, perform a manual reference
position return after the command mode is switched
from velocity to position.
2 This function cannot be used with an absolute
position detector.
- 1426 -
- Diameter/radius programming for the PMC axis

A parameter can be used to select which PMC axis command type
(diameter or radius command) is to be used for an axis to be controlled
using a diameter command. See the description of parameter NDI (bit
7 of parameter No. 1404) for details.
- In case of OT alarm for PMC axis

If an overtravel alarm occurs on the PMC axis, the axis stops
immediately, and a PMC axis overtravel signal (±EOTx) is output.
After a reset is caused by the PMC axis reset signal (RSTx), the PMC
axis is allowed to move in the opposite direction in PMC axis mode.
Signal
Signal list
No. Symbol Signal name
(1) PCAXx PMC axis control signal
(2) CDxX7 - CDxX0 Axis control command code signal
(3) FDxX15 - FDxX0 Feedrate specification signal
(4) DTxX31 - DTxX0 Axis control data signal
(5) PMCAx Axis control command read strobe
signal
(6) CNCAx Axis control command read completion
signal
(7) RSTx Reset signal
(8) STPx Axis control stop signal
(9) SBKx Block stop signal
(10) MSBKx Block stop prohibition signal
(11) AFnX7 - AFnX0 (NOTE) Auxiliary function BCD code signal
(12) MFnX (NOTE) Auxiliary function read signal
(13) FINnX (NOTE) Auxiliary function completion signal
(14) ROV1E, ROV2E PMC axis control rapid traverse
override signal
(15) DENx Distribution end signal
(16) BUFx Buffer full signal
(17) *±EDx External deceleration signal
(18) VCSKPx Feedrate command skip signal
PMC axis control override signal for
(19) OVxX7 - OVxX0
each axis
PMC axis control override signal in
(20) OVA7 - OVA0
simultaneous start mode
(21) TRQMx Torque control mode signal
(22) PCSKP PMC axis skip signal
(23) NDCALx Separate detector disconnection alarm
ignore signal
(24) ±EOTx PMC axis overtravel signal
NOTE
Lowercase letter n denotes an auxiliary function
selection number (n= 1, 2, 3).
- 1427 -
Signal details
(1) PMC axis control signal
PCAX1<G66#3>, PCAX2<G70#3>, ...
[Function] Enables PMC axis control.
PCAXo
o : 1 ..... The first axis is placed under PMC axis control.
2 ..... The second axis is placed under PMC axis control.
3 ..... The third axis is placed under PMC axis control.
: :
: :
[Operation] While the signal is 1, PMC axis control is enabled, and commands
issued by the CNC are ignored. While the signal is 0, on the other hand,
PMC axis control is disabled.
(1) Switching from CNC-controlled axis to PMC-controlled axis
(from 0 to 1)
When a move command in automatic operation mode is specified
for a PMC-controlled axis, setting bit 5 (NPA) of parameter No.
2405 to 1 can invalidate the input command.
If this parameter is set to 0, alarm "PS450 IN PMC AXIS MODE"
is issued. When a movement is already being performed in
automatic operation or manual operation mode, the command
pulses are invalidated.
(2) When a CNC command is executed after switching from a PMC-
controlled axis to CNC-controlled axis (from 1 to 0)
Automatic operation: Enabled from the first buffering block
Manual operation: After switching, perform mode selection
again.
NOTE
Before changing the logical level of a PMC axis
control signal, confirm that no movement is being
made along the corresponding axis.
- 1428 -
(2) Axis control command code signal

CD1X7 - CD1X0<G385#7 - 0>, CD2X7 - CD2X0<G393#7 - 0>, ...
[Function] Specifies the operations listed below for each axis.
CD0oX7 - CDoX0
o : 1 ..... Axis control command code for the first axis
2 ..... Axis control command code for the second axis
3 ..... Axis control command code for the third axis
: :
: :
Axis control
command Operation
(hex code)
Rapid traverse (linear acceleration/deceleration)
00h
Causes the same operation as G00 issued from the CNC.
Cutting feed - feed per minute
(Exponential acceleration/deceleration or linear
01h acceleration/deceleration after interpolation)
Causes the same operation as G94 G01 issued from the
CNC.
Cutting feed - sec/block specification
(Exponential acceleration/deceleration or linear
acceleration/deceleration after interpolation)
02h
Causes the same operation as G94 G01 issued from the
CNC. However, a movement time for a block, instead of a
feedrate, is specified.
Reference position return
A rapid traverse is made in the reference position return
05h direction set by bit 5 (ZMI) of parameter No. 1006. Then,
the same operation as that performed for manual reference
position return controlled by the CNC is performed.
Machine coordinate system selection (rapid traverse)
06H
Dwell
07H
Auxiliary function
08H Causes the same operation as the auxiliary function (M
function) of the CNC.
Simultaneous start ON
0Ah
Turns on simultaneous start mode.
Simultaneous start OFF
0BH
Turns off simultaneous start mode.
Override change
0Ch
Changes an override value
Feedrate command (linear acceleration/deceleration)
0Dh
Performs continuous feed at a specified feedrate.
Torque control
0Eh
Performs continuous feed by torque control.
Cutting feed--feed per revolution (mm/rev)
12h
Performs the same operation as "G95 G01" for the CNC.
- 1429 -
Axis control
command Operation
(hex code)
Skip--feed per minute
13h
Performs the same operation as "G31 G01" for the CNC.
Continuous feed (exponential acceleration/deceleration)
Continuously feeds the tool along the controlled axis in a
16h fixed direction.
Performs the same operation as continuous feed in JOG
mode for the CNC.
1st. reference position return
Performs the same operation as movement to the
17h
reference position from the "G28" intermediate point for the
CNC.
2nd. reference position return
18h
reference position from the "G30 P2" intermediate point for
the CNC.
3rd. reference position return
19h
the CNC.
4th. reference position return
1Ah
the CNC.
External pulse synchronization--main spindle
1Bh
Synchronizes with the main spindle.
- Rapid traverse rate

When rapid traverse is specified (CDxX7 to CDxX0: 00h), the rapid
traverse rate to be used can be selected with bit 2 (RPD) of parameter
No. 1409. RPD specifies whether the rapid traverse rate used is set to
the same feedrate as in the CNC which is set in parameter No. 1420 or
set to the feedrate set by FDxX15 to FDxX0 of the PMC axis interface
independently of the CNC.
- Machine coordinate system selection

When machine coordinate system selection (CDxX7 to CDxX0: 06h)
is specified, the tool moves at a rapid traverse rate to a position
specified in the machine coordinate system in absolute mode. Use this
command when the tool is to be moved to a position defined
specifically for the machine such as the tool change position.
A short-cut command cannot be specified for a rotation axis.
Before specifying machine coordinate system selection, cancel cutter
compensation, tool length compensation, and tool offset.
Since the machine coordinate system must have been set when the
command is specified, a manual reference position return or a reference
position return by G28 must be performed once after the power is
turned on. When an absolute-position detector is installed, the machine
position is stored, so that reference position return after power-up is not
needed.
- 1430 -
- Feedrate command
PMC BMI CNC
Axis Axis control Axis management

block data (rotation axis)
control
signal
Feedrate
Feedrate command
Velocity Servo
command Rotation Motor
control control
speed data
Axis control data
Feedrate
Stop command Signal
command skip signal
PMC axis control

Override override signal
When this signal is turned on,
Fig. 14.1 (a) Block Diagram for Feedrate Command Specification
The feedrate command (CDxX7 to CDxX0: 0Dh) can be specified

only for rotation axes. This command is useful when a rotation axis
merely needs to keep rotating. When this command is specified for a
rotation axis, the axis will turn at a constant speed without interrupting
the pulse distribution.
The rotation axis being turned by the feedrate command is stopped by
setting the feedrate command skip input signal VCSKPx corresponding
to this axis to 1. As the CNC accepts this signal, the CNC terminates
the specified feedrate command block and, if a second PMC axis
control command block is present, the CNC executes this block.
For the axis controlled by the feedrate command, make the rotation axis
setting by using bit 0 (ROT) of parameter No. 1006.
(1) Successive specification of the feedrate command

When blocks specifying a feedrate command are specified
successively, these blocks can be executed continuously without
stopping movement between the blocks.
To enable continuous execution, observe the following:
1. Set the block specifying the next feedrate command in the
buffer.
2. Then, set the feedrate command skip command to 1 to stop
the execution of the previous block.
When the skip signal is set to 1, the feedrate
Feedrate changes without stopping movement.
Time
N1 N2
- 1431 -
(Example)
Suppose that the following commands are issued:
M80 ; M function selecting a feedrate command
S200 ; Specify a rotation speed of 200 min-1.
:
:
:
:
M81 ; Cancel feedrate command.
The PMC sequence is shown below.
S200 S300 S100

Feedrate
command
SF
Command block
PMCAx
CNCAx
BUFx
(buffer)
Feedrate
command skip
signal
Actual S300
feedrate S200
Time
Fig. 14.1 (b) Sequence in Which Feedrate Changes without Stopping

Movement
- 1432 -
(2) Acceleration/deceleration for a feedrate command

When the feedrate command function of the PMC axis control
function is used, linear acceleration/deceleration can be applied to
the specified feedrate at the start and end of a movement. As a
result, a movement can be started and stopped smoothly. In
addition, when the movement feedrate changes, acceleration/
deceleration is applied automatically, allowing the feedrate to
change smoothly. When the reverse rotation of a rotation axis is
specified, linear deceleration is applied to the speed to reduce it to
0, then, linear acceleration is applied until the feedrate reaches a
specified feedrate.
When the feedrate is changed with the rotation direction left as is,
the current feedrate changes to a specified feedrate through linear
acceleration/deceleration, and the feedrate does not become 0.
Feedrate
V2
V1
V3
Fr
Time
Tr
V4
Fr Fr : Feedrate resulting from

Tr (parameter No. 1644)
Tr : Time required for
If time parameter No. 1645, used to set acceleration/deceleration

for each axis, is set to 0, this function is disabled.
An override signal can be issued during acceleration/deceleration.
The overridden feedrate is then accelerated/decelerated.
When a reset signal, axis control stop signal, or block stop signal
is issued, movement is decelerated then stopped.
- Torque control command

When the torque control command (CDxX7 to CDxX0: 0Eh) is
specified, a PMC-controlled axis which is under position control can be
placed under torque control. Then, the servo motor outputs the torque
specified by the NC.
(1) Switching from position control to torque control
a. Setting an axis to be placed under torque control
Bit 7 (TQX) of parameter No. 1951 is set to specify whether
to perform torque control for an axis. Also, a torque constant
is set in parameter No. 1998 for the axis for which torque
control is to be performed. In this parameter, the motor-
specific value is set automatically.
- 1433 -
b. Position management in torque control mode

Whether to perform follow-up in torque control mode can be
specified by bit 3 (TQF) of parameter No. 1409.
When the parameter is set such that follow-up is not
performed, a servo alarm (SV0126) is issued if the
cumulative amount of travel (error counter) is greater than
the setting made in parameter No. 7767. Even if the
parameter is set not to perform follow-up, follow-up is
performed when position control mode is resumed.
Even in torque control mode, the CNC performs position
management; therefore, reference position return need not be
performed after switching from torque control mode to
position control mode.
c. Movement direction and feedrate in torque control mode
In torque control mode, a torque specified by the axis control
data signal is to be output. While no object for torque
generation is present, or while the output torque has not yet
attained the specified torque, movement takes place in the
direction indicated by the + or - sign of the torque data; the
positive (+) and negative (-) directions are the same as those
in position control mode. When the movement speed
exceeds a feedrate specified by the feedrate specification
signal, servo alarm SV0125 is issued.
d. Timing for switching to torque control mode
Switching from a given mode to torque control mode is
performed when the positional deviation enters the in-
position state.
e. Rewriting specified torque data
Specified torque data can be changed in torque control mode.
To do this, set axis control block data containing desired
torque data in the execution wait buffer, and skip the
currently executed block by issuing the VCSKIPx feedrate
command skip signal.
f. Alarm in torque control mode
If a servo alarm is issued on any axis in torque control mode,
or if an OT alarm is issued on an axis operating in torque
control mode, torque control mode is canceled. For other
alarms and resets, torque control mode is not canceled.
g. Output of the torque control mode signal
When torque control mode is set, torque control mode signal
TRQMx is set to 1.
(2) Switching from torque control to position control

(Canceling torque control mode)
When one of the following occurs, torque control is canceled:
1) When the execution wait buffer contains a command block
specifying no torque control command (or when the buffer
is empty), feedrate command skip signal VCSKPx is set to
1.
2) PMC axis control signal PCAXx is set to 0 to switch from
PMC axis control to CNC axis control.
- 1434 -
3) Reset signal RSTx is set to 1.

4) A servo alarm is issued.
5) An OT alarm is issued on an axis subjected to torque
control.
6) An emergency stop occurred.
7) A controlled-axis is detached by controlled axis detach
signal DTCHx or the setting parameter.
8) The servo motor is turned off by servo off signal *SVFx.
a. Timing for canceling torque control
Torque control in PMC axis control is canceled in different
ways depending on whether bit 3 (TQF) of parameter No.
1409 specifies follow-up. If follow-up is specified by
parameter setting, satisfying any cancellation condition
immediately sets the torque control mode signal TRQMx to
0, and position control mode is set again. Then, after the
positional deviation enters the in-position state, execution
terminates. If follow-up is not specified by parameter setting,
satisfying any cancellation condition sets the torque control
mode signal TRQMx to 0, after which follow-up starts.
When the positional deviation becomes equal to or less than
the cancellation limit set in parameter No. 7768, position
control is resumed. After the positional deviation enters the
in-position state, execution terminates.
b. Command after cancellation
After torque control mode is canceled, normal position
control is resumed. Since position management is performed
in torque control mode, the machine coordinates are not
shifted. Workpiece coordinates and machine coordinates,
however, shift. Therefore, the shift amount must be canceled
by, for example, workpiece coordinate system presetting.
CAUTION
1 When a movement is made along a torque-
controlled axis in torque control mode, set bit 3
(TQF) of parameter No. 1409 to 1 to perform
follow-up.
2 If torque control is canceled while a movement is
being made along a torque-controlled axis, a
mechanical shock is generated upon switching from
torque control to position control. As the speed of
the movement increases, the degree of the shock
becomes larger. Therefore, before canceling torque
control, decelerate the movement to the lowest
speed possible, or stop the movement.
3 In torque control mode, do not detach a controlled
axis by issuing controlled-axis detach signal DTCHx
or using the setting parameter.
- 1435 -
- Feed per revolution

Cutting feed--Specifying feed per revolution (CDxX7 to CDxX0: 12h)
requires the specification of the threading and feed-per-revolution
options.
- Skip--feed per minute

This operation does not save the skip position in a macro variable,
unlike ordinary G31-based skip.
- 1st. to 4th. reference position returns

If the reference position return function is enabled (parameter ZRN (bit
0 of parameter No. 1005) = 0), but no manual reference position return
has been made since power-on, performing a first reference position
return (CDxX7 to CDxX0: 17h) results in an alarm (OT0450) being
issued. If parameter ZRN (bit 0 of parameter No. 1005) = 1, no alarm is
issued. Instead, the machine is set to the first reference position in the
machine coordinate system according to the current machine
coordinate data.
If no manual reference position return has been made since power-on,
performing a second to fourth reference position return (CDxX7 to
CDxX0: 18h to 1Ah) does not result in an alarm being issued even if
the reference position return function is enabled (parameter ZRN (bit 0
of parameter No. 1005) = 0). Instead, the machine is set to the second
to fourth reference position in the machine coordinate system
according to the current machine coordinate data.
In addition, the first to fourth reference position return for PMC axis
control does not set the reference position return completion signal
(ZP1x to ZP4x) to “1” even after the machine is set to the reference
position.
- External pulse synchronization

If external pulse synchronization (CDxX7 to CDxX0: 1Bh) is
specified, the machine moves in the reverse direction when the external
pulse value is negative.
- 1436 -
- Correspondence between axis control commands and specified data

The following table lists the axis control commands and corresponding
command data:
Command block
Axis control command
Operation code signal Command data
CDxX7 to CDxX0
Rapid traverse 00h Total travel: DTxX31 to DTxX0
Rapid traverse rate: FDxX15 to FDxX0
The rapid traverse rate is valid when bit 2 (RPD) of parameter
No. 1409 is set to 1.
Cutting feed - feed per minute 01h
Total travel: DTxX31 to DTxX0
Cutting feed - sec/block
02h Cutting feedrate FDxX15 to FDxX0
specification
Reference position return 05h None
Setting of machine coordinate system (absolute value)
DTxX31 to DTxX0
Machine coordinate system
06h Rapid traverse rate: FDxX15 to FDxX10
selection
The rapid traverse rate is valid when bit 2 (RPD) of parameter
No. 1409 is set to 1.
Dwell 07h Dwell time: DTxX31 to DTxX0
Auxiliary function 08h Auxiliary function code: DTxX15 to DTxX0
Simultaneous start mode ON 0Ah Simultaneous start axis specification: FDxX15 to FDxX0
Simultaneous start mode OFF 0Bh None
Override change 0Ch Override value: DTxX7 to DTxX0
Feedrate command 0Dh Continuous feedrate: FDxX15 to FDxX0
Maximum feedrate: FDxX15 to FDxX0
Torque control 0Eh
Torque data: DTxX31 to DTxX0
Cutting feed Total amount of travel DTxX31 - DTxX0
12h
--feed per revolution Feedrate per revolution FDxX15 - FDxX0
Skip Total amount of travel DTxX31 - DTxX0
13h
--feed per minute Feedrate per minute FDxX15 - FDxX0
Feed direction DTxX31
Continuous feed 16h
Continuous-feed rate FDxX15 - FDxX0
First reference position return 17h
Rapid traverse rate FDxX15 - FDxX0
2nd. reference position return 18h
The rapid traverse rate is valid when parameter RPD (bit 2 of
3rd. reference position return 19h
parameter No. 1409) is set to 1.
4th. reference position return 1Ah
External pulse synchronization 1Bh Pulse weight FDxX15 - FDxX0
--main spindle
- 1437 -
(3) Feedrate specification signal

FD1X15 - FD1X0 <G387#7 - G386#0>, FD2X15 - FD2X0 <G395#7 - G394#0>, ...
[Function]
FDoX15 - FDoX0
o : 1 ..... Feedrate for the first axis
2 ..... Feedrate for the second axis
3 ..... Feedrate for the third axis
: :
: :
(1) Rapid traverse (CDxX7 to CDxX0: 00h)
(2) Machine coordinate system selection
(CDxX7 to CDxX0: 06h)
(3) 1st. reference position return (CDxX7 to CDxX0: 17h)
(4) 2nd. reference position return (CDxX7 to CDxX0: 18h)
(5) 3rd. reference position return (CDxX7 to CDxX0: 19h)
(6) 4th. reference position return (CDxX7 to CDxX0: 1Ah)
When bit 2 (RPD) of parameter No. 1409 is set to 1, a rapid
traverse rate is set using binary code. When the feedrate data for
an axis control command is used, PMC axis control override can
be specified.
For a 1st. reference position return command, however, the rapid
traverse rate specified in parameter No. 1420 is used provided no
manual reference position return has been made since power-on.
When bit 2 (RPD) of parameter No. 1409 is set to 0, a rapid
traverse rate set by parameter No.1420 is used.
[Unit of data]
Unit of data
unit
IS-A IS-B IS-C IS-D IS-E
Linear Metric input 10.0 1.0 0.1 0.01 0.001 mm/min
axis Inch input 1.0 0.1 0.01 0.001 0.0001 inch/min
Rotary axis 10.0 1.0 0.1 0.01 0.001 deg/min
NOTE
In case of PMC axis control by conversational
macros, bit 2 (RPD) of parameter No. 1409 is
invalid. Only the feedrate set in parameter No. 1420
is used for execution.
(7) Cutting feed - feed per minute (CDxX7 to CDxX0: 01h)

(8) For skip - feed per minute (CDxX7 to CDxX0: 13h)
A feedrate on an axis is set using binary code. The set feedrate
can be multiplied by ten by setting bit 1 (F10) of parameter No.
1409.
With the cutting feed command - feed per minute and skip - feed
per minute, override by the signal OVxX7to OVxX0 or override
change command (CDxX7 to CDxX0 : 0Ch) is effective.
- 1438 -
[Unit of data] When bit 1 (F10) of parameter No. 1409 is set to 0

Unit of data
unit
When bit 1 (F10) of parameter No. 1409 is set to 1

Unit of data
unit
CAUTION
1 If 0 is specified, no axis operation occurs with the
command buffered. In such a case, use reset signal
RSTx to cause a reset.
2 Cutting feedrate clamping is disabled.
3 When the specified feedrate exceeds the rapid
traverse rate, the feedrate is clamped to the rapid
traverse rate.
(9) Cutting feed - sec/block specification

Specify the time required for completing the execution of the
block.
[Unit of data] 0.1sec
CAUTION
1 In simultaneous start mode, linear interpolation can
be performed by setting the same value for each
axis.
2 If 0 is specified, the rapid traverse rate is used. It is
not overridden. Setting the override value to 0
causes a stop.
(10) Simultaneous start axis specification signal

(CDxX7 to CDxX0: 0Ah)
This signal is used to start movement along multiple PMC-
controlled axes simultaneously. When the simultaneous start
mode ON block (CDxX7 to CDxX0: 0Ah) is specified, axes
along which movements are to be started simultaneously are
specified by setting the bits corresponding to the controlled-axis
numbers of these axes to 1.
- 1439 -
FDxX0: Controlled axis 1 FDxX5: Controlled axis 6

Once the simultaneous start mode ON block is executed, the next

execution is not started until the subsequent command blocks for
the axes along which movement is to be started simultaneously are
all set in the execution wait buffer. Simultaneous start mode is
valid until a simultaneous start mode OFF block (CDxX7 to
CDxX0: 0Bh) is executed next.
A control command for any axis can be used to turn simultaneous
start mode on and off. When a second simultaneous start mode
ON block is specified while simultaneous start mode is already set,
that block is invalidated and terminated.
Example: Specifying a simultaneous start command for the first,

third, and fourth axes
CDxX7 to CDxX0 = 00001010 (= 0AH)
FDxX15 to FDxX0 = 0000000000001101 (= 000Dh)
PMC command Execution wait buffer Execution-in-

(for each axis) progress register
(for each axis)
[AX1_BLK] → [AX1] → [AX1_act]
[AX2_BLK] → →
[AX5_BLK] → →
1. Transfer to the execution wait buffer: The axis control block

data signal is sent as soon as the buffer becomes empty.
2. Transfer to the execution-in-progress register: Transfer to
[AXn_ACT] is performed as soon as [AXn_ACT] becomes
empty. [AXn] does not become empty.
Upon the completion of transfer to all of [AX1_act], [AX3_act],
and [AX4_act], [AX1], [AX3], and [AX4] are emptied, and the
execution of the execution-in-progress buffer contents is started at
the same time.
For all other axes, commands can be specified in an ordinary
manner.
CAUTION
1 The RSTx and STPx signals for individual axes can
be used independently, even in simultaneous start
mode.
2 When the SBKx signal for one of the simultaneous
start axes is set to 1, the activation of all the
simultaneous start axes is stopped.
- 1440 -
(11)Feedrate command (CDxX7 to CDxX0: 0Dh)

When a feedrate command is specified, the servo motor speed is
set using binary code. For forward rotation, a positive value is set.
For reverse rotation, a negative value (2's complement) is set.
When a new servo motor speed is set as the feedrate, and the axis
control command read strobe signal PMCAx state is inverted, the
servo motor accelerates (or decelerates) to attain the new speed.
Setting range Unit

-1
-32768 to +32767 min
(excluding 0)
CAUTION
When a feedrate command is specified, the
machine position is not lost. If the value converted
to a feedrate exceeds the maximum rapid traverse
rate in each increment system, however, the
machine position may be lost.
NOTE
1 A feedrate error is generated as follows:
Feedrate command
Amplifier Motor
↑
(b)
Axis
Detector ↑
(a)
(a) When a feedrate command of PMC axis control is specified, a feedrate for the
servo motor is given as the feedrate. When there is gearing between an axis and
its servo motor, the axis feedrate to be specified must be converted to the
feedrate for the servo motor. Since the feedrate must be specified with an integer,
the result of the conversion to the motor feedrate may have to be rounded to an
integer value, which generates an error.
(b) The least increment of the feedrate is expressed by the equation given below. It
must be an integer. A value smaller than this increment cannot be specified.
P×2 1
F min = ×
15 1000
Fmin : Least increment of the feedrate command
P : Number of pulses per rotation of the detector for feedrate feedback
The feedrate to be specified is obtained from the following equation:
N×P×2 1
F= ×
15 1000
F : Feedrate command (integer)
N : Servo motor rotation speed (min-1)
P : Number of pulses per rotation of the detector for feedrate feedback
2 In feedrate command mode, a feedrate after acceleration/deceleration is specified
for the servo control unit. Therefore, the feedrate of the servo motor is set with the
servo velocity loop gain.
In this case, the position control loop gain is invalid.
- 1441 -
(12) Torque control command (CDxX7 to CDxX0: 0Eh)

The maximum speed in torque control is specified in min-1. If there
is no object for torque generation, or if the movement speed
exceeds a specified value in torque control mode, servo alarm
SV0125 is issued. The maximum speed during torque control that
is specified in torque control mode can be changed. To do this, set
axis control block data containing the desired maximum speed in
the execution wait buffer, then skip the currently executed block
by using feedrate command skip signal VCSKPx.
Setting range Unit

-1
1 - 32767 min
NOTE
When a linear motor is used, the unit of data is
cm/min.
(13) Cutting feed--feed per revolution (CDxX7 to CDxX0: 12h)

The signal specifies how much the PMC axis is to be fed per
spindle rotation.
[Unit of data] Parameters FR1 and FR2 (bits 5 and 6 of parameter No. 1409) specify
the data listed below.
Parameter Metric input Inch input Rotary axis
FR2 FR1 (mm/rev) (inch/rev) (deg/rev)
1 1
0.01 0.0001 0.01
0 0
0 1 0.1 0.001 0.1
1 0 1 0.01 1
(The signals must satisfy the data listed below.)
Valid data range unit
Linear Metric input 0.01 - 500.00 mm/rev
axis Inch input 0.0001 - 9.9999 inch/rev
Rotary axis 0.01 - 500.00 deg/rev
CAUTION
1 The specified feedrate can be multiplied by 1, 10, or
100 depending on the settings of parameters FR1
and FR2 (bits 5 and 6 of parameter No. 1409).
2 Feedrate clamping uses the value set in parameter
No. 1430 as the upper limit.
3 Override is enabled, but dry run is not.
- 1442 -
(14) Continuous feed (CDxX7 to CDxX0: 16h)

An axis feedrate is specified in the same way as a cutting feed-
feed per minute (CDxX7 to CDxX0: 01h), but the feedrate can be
changed during continuous feed.
After the feedrate (FDxX15 to FDxX0) is specified, reversing the
logical state of axis control command read strobe signal PMCAx
makes the newly specified continuous feed rate valid.
In the same way as a cutting feed--feed per minute, the specified
feedrate can be multiplied by 10 according to the setting of
parameter F10 (bit 1 of parameter No. 1409). In continuous feed,
the feedrate can be further increased to 200 times depending on
the setting of parameter JFM (bit 7 of parameter No. 1409).
With the continuous feed command - feed per minute and skip -
feed per minute, override by the signal OVxX7to OVxX0 or
override change command (CDxX7 to CDxX0 : 0Ch) is effective.
[Unit of data] Same way as a cutting feed--feed per minute

NOTE
1 The feedrate data can be increased to 200 times the
specified feedrate only for a continuous feed
command (CDxX7 to CDxX0: 16h).
2 The actual feedrate may not be displayed normally
depending on the situation.
CAUTION
If a result of overriding does not fit the rapid traverse
rate, the actual feedrate is clamped to the rapid
traverse rate.
(15) External pulse synchronization--for main spindle (CDxX7 to

CDxX0: 1Bh)
A weight for the external pulse is specified.
A value obtained by multiplying the external pulse weight by 256
is specified in signals FDxX15 to FDxX0. So, the minimum unit
for weight specification is 1/256 times, and the range that can be
specified is from -127 times to +127 times.
If the specified pulse weight is a negative value, axis movement
occurs in the reverse direction. After a new pulse weight is
specified during axis movement based on external pulse
synchronization, reversing the state of axis control command read
strobe signal PMCAx causes axis movement to be based on the
new pulse weight.
[Unit of data] × 1/256

- 1443 -
CAUTION
The parameter for rapid traverse rate of each axis
(parameter No. 1420) is used for clamping.
NOTE
If specification by diameter is selected in parameter
DIA (bit 3 of parameter No. 1006), parameter NDI (bit
7 of parameter No. 1404) can be used to specify the
value (radius or diameter) that is to be used.
(4) Axis control data signal

DT1X31 - DT1X0<G391#7 - G388#0>, DT2X31 - DT2X0 <G399#7 - G396#0>, ...
[Function]
DToX31 - DToX0
o : 1 ..... Axis control data for the first axis
2 ..... Axis control data for the second axis
3 ..... Axis control data for the third axis
: :
(3) Cutting feed - sec/block specification
(5) Skip--feed per revolution (CDxX7 to CDxX0: 13h)
The incremental amount of travel in the input unit for an axis is
specified with binary code.
[Unit of data] Least input increment of each axis
[Valid data range]
IS-A IS-B - IS-E
Valid data range -99999999 - 99999999 -999999999 - 999999999
(6) Machine coordinate system selection

The amount of travel along an axis is specified with an absolute
position indicated by machine coordinates in the input unit.
[Unit of data] Least input increment for each axis
[Valid data range]
IS-A IS-B - IS-E
Valid data range -99999999 - 99999999 -999999999 - 999999999
(7) Dwell (CDxX7 to CDxX0: 07h)

The dwell time is specified using binary code.
[Unit of data] msec
- 1444 -
(8) Auxiliary function (CDxX7 to CDxX0: 08h)

The selection number of an auxiliary function signal used is
specified using two-digit binary code.
The auxiliary function code sent to the PMC is specified using
two-digit binary code.
DTxX15 to DTxX08 = selection number
DTxX07 to DTxX00 = auxiliary function code
(9) Override change (CDxX7 to CDxX0: 0Ch)

The override value to be applied to the cutting feed under PMC
axis control is specified using two-digit binary code.
DTxX07 to DTxX00 = override value
Unit of data: %
NOTE
1 Override is maintained until the change command
(CDxX7 to CDxX0: 0Ch) is executed. The override
value is set to 100% at power-on.
2 The override change command can be specified for
any PMC axis. When synchronization is to be
maintained by changing the override value during
linear interpolation in simultaneous start mode, the
override change command must be specified for a
PMC axis which is not a simultaneously started axis
and which has the largest or smallest controlled axis
number.
(10) Torque control command (CDxX7 to CDxX0: 0Eh)

Torque data is specified.
For the positive torque direction, a positive value is specified. For
the negative torque direction, a negative value is specified.
Specified torque data can be changed in torque control mode. To
do this, set axis control block data including the desired torque
data in the execution wait buffer, and skip the currently executed
block by using feedrate command skip signal VCSKPx.
[Unit of data] 0.0001 Nm
[Valid data range] -999999999 - 999999999
NOTE
When a linear motor is used, the unit of data is
0.001N.

The direction of continuous feed is specified using signal
DTxX31, as follows:
- 1445 -
(5) Axis control command read strobe signal

PMCA1<G66#7>, PMCA2<G70#7>, ...
[Function] Requests the CNC to read the PMC axis control command data for one
block. For the operation and procedure when this signal makes a 0-to-
1 or 1-to-0 transition, see "Basic procedure."
PMCAo
o : 1 Requests the CNC to read the command data for the first axis.
2 Requests the CNC to read the command data for the second axis.
3 Requests the CNC to read the command data for the third axis.
:
: :
(6) Axis control command read completion signal

CNCA1<F66#7>, CNCA2<F70#7>, ...
[Function] Reports that the CNC has read the PMC axis control command data for
one block and placed it in the execution wait buffer. For the output
conditions and procedure, see "Basic procedure."
CNCAo
o : 1 Command data for the first axis was placed in the execution
wait buffer.
2 Command data for the second axis was placed in the execution
wait buffer.
3 Command data for the third axis was placed in the execution
wait buffer.
: :
(7) Reset signal

RST1<G66#6>, RST2<G70#6>, ...
[Function] Resets an axis controlled by the PMC.
RSTo
o : 1 ..... Resets the first axis.
2 ..... Resets the second axis.
3 ..... Resets the third axis.
: :
[Operation] When this signal is set to 1:
(1) During movement along the axis: Movement along the axis is
decelerated then stopped.
(2) During dwell: Execution is stopped.
(3) During execution of an auxiliary function: Execution is stopped.
Then, the commands buffered at the same time are all invalidated.
While this signal is 1, any control command is invalidated.
- 1446 -
(8) Axis control stop signal

STP1<G66#5>, STP2<G70#5>, ...
[Function] When this signal is set to 1:
(1) During movement along the axis: Movement along the axis is
decelerated then stopped.
(2) During dwell: Execution is stopped.
(3) During execution of an auxiliary function: The execution
sequence is stopped.
The stopped operation is resumed by setting this signal to 0.
STPo
o: 1 The above operation is performed for the first axis.
2 The above operation is performed for the second axis.
3 The above operation is performed for the third axis.
: :
(9) Block stop signal

SBK1<G66#4>, SBK2<G70#4>, ...
(10) Block stop prohibition signal
MSBK1<G384#7>, MSBK2<G392#7>, ...
[Function] When block stop signal SBKx is set to 1 during the execution of a
command from the PMC, axis control is stopped upon the completion
of the block currently being executed.
When the block stop signal SBKx is set to 0, a buffered command is
executed.
When block stop prohibition signal MSBKx for a command block is set
to 1, the block stop signal SBKx for that command block is ignored.
SBKo
o : 1 Stops axis control for the first axis when the block currently
being executed terminates.
2 Stops axis control for the second axis when the block currently
3 Stops axis control for the third axis when the block currently
: :
MSBKo
o: 1 Ignores the block stop signal for the first axis.
2 Ignores the block stop signal for the second axis.
3 Ignores the block stop signal for the third axis.
: :
- 1447 -

8msec or longer
SBKx
i(input) [1] [2] [3]
Command block
i(input)
PMCAx
i(input)
CNCAx
(output)
Execution [1] [2]

wait buffer
Execution- [1]
in-progress Start
register
(11) Auxiliary function BCD code signal

AF1X7 - AF1X0<F141#7 - 0>, AF2X7 - AF2X0<F142#7 - 0>,
AF3X7 - AF3X0<F143#7 - 0>
(12) Auxiliary function read signal
MF1X<F46#0>, MF2X<F46#1>, MF3X<F46#2>
(13) Auxiliary function completion signal
FIN1X<F46#4>, FIN2X<F46#5>, FIN3X<F46#6>
[Function] When an auxiliary function (CDxX7 to CDxX0: 08h) is specified from
the PMC, the CNC sends auxiliary function code signal DTnX7 to
DTnX0 to auxiliary function BCD code signal AFnX7 to AFnX0, and
waits for auxiliary function completion signal FINnX.
Upon receiving the auxiliary function completion signal FINnX, the
CNC proceeds to the next command block. The timing for sending the
auxiliary function code and auxiliary function read signals and
receiving the auxiliary function completion signal is the same as that
for the auxiliary function (M function) under CNC control. Auxiliary
function selection code signals DTxX15 to DTxX8 specify the
selection number (n number) of an auxiliary function signal to be used.
If the n number is other than 1, 2, and 3, the relevant block is regarded
as being invalid and is terminated.
Auxiliary function command Next command
Command block
i(input)
AFnX7 to AFnX0
(output)
MFnX
(output)
FINnX
i(input)
- 1448 -
(14) PMC axis control rapid traverse override signal

ROV1E<G45#0>, ROV2E<G45#1>
[Function] Overrides the feedrate set for rapid traverse, reference position return,
and positioning in the machine coordinate system in axis control by the
PMC. This signal is a two-bit code signal. The following shows the
signal settings and corresponding override values.
Rapid traverse override signal

Override value
ROV2E ROV1E
0 0 100%
0 1 50%
1 0 F1% *1
1 1 F0 *2
*1 For F1, set a percentage within the range of 0% to 100% in

parameter No. 1412. (Common to all axes)
*2 For F0, set the absolute value of a feedrate within the range of 0 to
the rapid traverse rate set in parameter No. 1421. (For each axis)
[Operation] At the time of rapid traverse, reference position return, and positioning
in the machine coordinate system under PMC axis control, the feedrate
set in parameter No. 1420 is overridden by the value determined by this
signal.
To override the feedrate, set bit 1 (PRO) of parameter No. 1404 to 1.

Either the override signal dedicated to PMC axis control or the override
signal used for the CNC axes can be selected by setting bit 2 (POV) of
parameter No. 1404. When the override signal for the CNC axes is
used, either the ordinary rapid traverse override (F0, F1, 50%, or
100%) or a rapid traverse override set in 1% increments (0% to 100%)
can be used.
The table below shows the relationships between the feedrate used for
rapid traverse, reference position return, and positioning in the machine
coordinate system and the override.
Parameter
RPD PRO POV ROV Feedrate Override
(No.1409#2) (No.1404#1) (No.1404#2) (No.1402#0)
Parameter
0 -- -- None
(No.1420)
Parameter
0 ROV1, ROV2
(No.1420)
0 0
Parameter
-- 1 RV0B - RV6B
(No.1420)
Parameter
1 -- ROV1E, ROV2E
(No.1420)
PMC data PMC axis
1 -- -- --
feedrate control override
- 1449 -
(15) Distribution end signal

DEN1<F66#6>, DEN2<F70#6>, ...
[Function] While movement along an axis is being made by a command from the
PMC, this signal state is 0. When movement is stopped, the signal is
set to 1. When execution of a move command is stopped by axis
control stop signal STPx, however, this signal is not set to 1.
DENo
o: 1 The first axis is in the stopped state.
2 The second axis is in the stopped state.
3 The third axis is in the stopped state.
: :
NOTICE
The signal DENx is set to 1 even if the actual motion
remains due to the acceleration/deceleration delay.
Therefore, in order to confirm that the axis has
actually stopped, use the In Position Signal (INPx) or
Axis Moving Signal (MVx) at the same time.
(16) Buffer full signal

BUF1<F66#5>, BUF2<F70#5>, ...
[Function] When there is a command block in the input buffer, this signal is set to
1.
BUFo
o : 1 There is a command block in the input buffer for the first axis.
2 There is a command block in the input buffer for the second axis.
3 There is a command block in the input buffer for the third axis.
: :
- 1450 -
(17) External deceleration signal

*+ED 1<G64#2>, *+ED2<G68#2>, ...
*-ED1<G64#3>, *-ED2<G68#3>, ...
[Function] This signal is also used with the CNC.
Whether to apply external deceleration in a particular direction of a
particular controlled axis can be specified. The sign +/- in the signal
name indicates the direction, and the number at the end of the name
indicates the number of the controlled axis.
* ¡ ED o
o: 1 Performs deceleration on the first axis.
2 Performs deceleration on the second axis.
3 Performs deceleration on the third axis.
: :
¡ : + Decelerates feed made in the positive direction.
- Decelerates feed made in the negative direction.
[Operation] When the signal is set to 0, the feedrate in the corresponding direction
on the corresponding axis is decelerated to the feedrate set in parameter
No. 1427. If the specified feedrate is lower than the feedrate to be
attained by external deceleration, the specified feedrate is used for feed
operation.
If bit 6 (PED) of parameter No. 1001 is 1, the external deceleration
function is enabled for the following axis control commands:
(3) Reference position return (CDxX7 to CDxX0: 05h)
(4) Machine coordinate system selection (CDxX7 to CDxX0: 06h)
(6) 1st. reference position return (CDxX7 to CDxX0: 17h)
(7) 2nd. reference position return (CDxX7 to CDxX0: 18h)
(8) 3rd. reference position return (CDxX7 to CDxX0: 19h)
(9) 4th. reference position return (CDxX7 to CDxX0: 1Ah)
When this signal is 0, the feedrate in the corresponding direction during

axis movement can be forcibly decelerated to a certain feedrate set in
parameter No. 1427 (the feedrate attained by external deceleration).
If a specified feedrate is lower than the feedrate to be attained by
external deceleration, the specified feedrate is used for feed operation.
The feedrates for the axes for which the signal is not set to 0 are not
affected.
NOTE
1 When a PMC axis control feedrate command is
being executed for an axis, external deceleration is
not performed for that axis.
2 In simultaneous start mode, external deceleration
can be performed for each axis.
- 1451 -
(18) Feedrate command skip signal

VCSKP1<G67#6>, VCSKP2<G71#6>, ...
[Function] When this signal is set to 1, the following operation is performed:
(1) When a feedrate command (CDxX7 to CDxX0: 0Dh) is executed,
the rotation by the feedrate command stops, and the command
(2) When a torque control command (CDxX7 to CDxX0: 0Eh) is
executed, torque control is canceled if the execution wait buffer
contains a command block specifying no torque control command
(or if the execution wait buffer is empty).
When axis control block data including new torque data or a
maximum feedrate in torque control is set in the execution wait
buffer, the torque data or the maximum feedrate in torque control
is changed.
VCSKPo
o: 1 The above operation is performed for the first axis.
2 The above operation is performed for the second axis.
3 The above operation is performed for the third axis.
: :
[Operation] When this signal is set to 1, the feedrate or torque control command is
terminated. If this signal is already 1 when a feedrate or torque control
command block starts, the signal is ignored.
Therefore, this signal must be set to 0 once.
(19) PMC axis control override signal for each axis

OV1X7 - OV1X0<G368#7 - 0>, OV2X7 - OV2X0<G369#7 - 0>, ...
[Function] Overrides the feedrate for each PMC-controlled axis.
This is an 8-bit binary code signal. The relationship between this signal
and the override value is expressed by the following equation:
( 2 × Vi )
7
Override value = å
i
%
i=0
When OVxVi is 0, Vi = 0. When OVxXi is 1, Vi = 1.
This signal has the following weight:

OVxX0 : 1% OVxX4 : 16%
OVxX1 : 2% OVxX5 : 32%
OVxX2 : 4% OVxX6 : 64%
OVxX3 : 8% OVxX7 : 128%
When all the signal bits are set to 0, the override value is regarded as
being 0% in the same way as when all the signal bits are set to 1.
An override value of between 0% and 254% can be set in 1%
increments.
OVoX7 - OVoX0
o: 1 PMC axis control override for the first axis
2 PMC axis control override for the second axis
3 PMC axis control override for the third axis
: :
- 1452 -
[Operation] In actual operation, a feedrate specified in PMC axis control is

overridden by the value selected by this signal.
When movement is being made along an axis in response to a feedrate
command, the feedrate can be overridden by this signal.
Feedrate
Time
Override
160%
100%
80%
100%Þ160% 160%Þ80% Time
NOTE
In addition to the override by the signal mentioned
above, an override can be specified in a command
block under PMC axis control. These two types of
override, however, cannot be used at the same time.
Using bit 2 (POD) of parameter No. 1402, the type of
override to be used can be selected.
- 1453 -
(20) PMC axis control override signal in simultaneous start mode

OVA7 - OVA0<G383#7 - 0>
[Function] In simultaneous start mode, the feedrate in PMC axis control can be
overridden by using this signal.
This signal is an 8-bit binary code signal. The relationship between the
signal and override value is expressed by the following equation:
( 2 × Vi )
7
Override value = å
i
%
i =0
When OVAi is 0, Vi = 0. When OVAi is 1, Vi = 1.
This signal has the following weight:

OVA0 : 1% OVA4 : 16%
OVA1 : 2% OVA5 : 32%
OVA2 : 4% OVA6 : 64%
OVA3 : 8% OVA7 : 128%
When all the signal bits are set to 0, the override value is regarded as
being 0% in the same way as when all the signal bits are set to 1.
An override value of between 0% and 254% can be set in 1%
increments.
[Operation] In actual operation, a feedrate specified in PMC axis control is
overridden by a value selected by this signal.
(21) Torque control mode signal

TRQM1<F66#1>, TRQM2<F70#1>, ...
[Function] Indicates the axes placed in torque control mode when a torque control
command is specified under PMC axis control.
TRQMo
o: 1 The first axis is in torque control mode.
2 The second axis is in torque control mode.
3 The third axis is in torque control mode.
: :
(22) PMC axis skip signal PCSKP <G45#2>

[Function] When this signal is set to 1 during the execution of the skip cutting
command, the execution of the current block is terminated, and the
execution of the next block is started. Parameter SKE (bit 7 of
parameter No. 2005) can be used to specify which signal (SKIP signal
valid for both the PMC and CNC or PCSKP signal valid only for the
PMC) to use.
- 1454 -
(23) Separate detector disconnection alarm ignore signal

NDCAL1<G67#5>, NDCAL2<G71#5>, ...
[Function] If this signal is 1 in velocity command mode, no alarm is issued in the
event of a hardware disconnection in the separate detector.
If the signal changes from 1 to 0, the internally held status information
about a hardware disconnection alarm is cleared.
1
HNG(No.1954#4) 0
1
Signal NDCALx 0
Servo velocity command

Servo position command
The servo software does not issue a

hardware disconnection alarm during
this period.
Rotational speed command
NOTE
1 This signal must be changed from 1 to 0 before
switching occurs from the velocity command to the
position command.
2 Once switching occurs from the velocity command to
the position command, make a manual reference
position return before the axis is moved.
3 This function cannot be used with an absolute
position detector.
4 To enable this signal, set parameter HNG (bit 4 of
parameter No. 1959) to 1.
- 1455 -
(24) PMC axis overtravel signals

+EOT1<F65#6>, +EOT2<F69#6>, ...
-EOT1<F65#7>, -EOT2<F69#7>, ...
[Function] If an overtravel alarm condition is detected,
When the positive-side stroke limit is exceeded:
Positive direction signal +EOTx becomes 1.
When the negative-side stroke limit is exceeded:
Negative direction signal -EOTx becomes 1.
To reset the alarm, perform either of the following operations.
1 Resetting an alarm in PMC axis mode

First set the reset signal RSTx to 1, then reset it to 0. This resets
the overtravel signal to 0.
Move the axis to within the stroke limit using the PMC axis
control command, then reset the CNC.
Only the following commands can be used to move the axis back
to within the stroke limit while an overtravel alarm condition
exists.
(2) Cutting feed--feed per minute (CDxX7 to CDxX0: 01h)
2 Resetting an alarm in CNC axis mode

Reset the signal PCAXx to 0 to switch to the CNC axis. This
resets the overtravel signal to 0.
Move the axis to within the stroke limit using a CNC axis move
command (such as manual continuous feed or handle feed), then
reset the CNC.
In the above case, use the reset button on the MDI panel, the
external reset signal ERS, or emergency stop signal *ESP, rather
than the reset signal RSTx, to "reset the CNC."
- 1456 -
Signal address
→CNC
PMC→
Non-axis type signals
#7 #6 #5 #4 #3 #2 #1 #0
G045 PCSKP ROV2E ROV1E
G046 FIN3X FIN2X FIN1X
G383 OVA7 OVA6 OVA5 OVA4 OVA3 OVA2 OVA1 OVA0
Axis-type signals
#7 #6 #5 #4 #3 #2 #1 #0
G064 *-ED1 *+ED1
G066 PMCA1 RST1 STP1 SBK1 PCAX1
G067 VCSKP1 NDCAL1
G368 OV1X7 OV1X6 OV1X5 OV1X4 OV1X3 OV1X2 OV1X1 OV1X0
G384 MSBK1
G385 CD1X7 CD1X6 CD1X5 CD1X4 CD1X3 CD1X2 CD1X1 CD1X0
G386 FD1X7 FD1X6 FD1X5 FD1X4 FD1X3 FD1X2 FD1X1 FD1X0
G388 DT1X7 DT1X6 DT1X5 DT1X4 DT1X3 DT1X2 DT1X1 DT1X0
For the signal addresses for the second and subsequent axes, see the
BMI interface address table for Series 15i in Section A.1.
- 1457 -
→PMC
CNC→
Non-axis type signals
#7 #6 #5 #4 #3 #2 #1 #0
F046 MF3X MF2X MF1X
F141 AF1X7 AF1X6 AF1X5 AF1X4 AF1X3 AF1X2 AF1X1 AF1X0
Axis type signals

#7 #6 #5 #4 #3 #2 #1 #0
F065 -EOT1 +EOT1
F066 CNCA1 DEN1 BUF1 TRQM1
For the signal addresses for the second and subsequent axes, see the
BMI interface address table for Series 15i in Section A.1.
- 1458 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1001 PED

[Data type] Bit
#6 PED Specifies whether to enable the external deceleration function in

PMC axis control.
0: Disables the external deceleration function.
1: Enables the external deceleration function.
1070 Synchronous control axis of each axis in PMC axis control

Set the axis number of the axis to which each axis is to be
synchronized.
(Example)
If the first to fifth axes are PMC axes, and the third and fourth axes
are to be synchronized with the first (the second and fifth axes are
not synchronized)
Set the following values for the respective axes:

1st Axis: 0
2nd Axis: 0
3rd Axis: 1
4th Axis: 1
5th Axis: 0
#7 #6 #5 #4 #3 #2 #1 #0
1402 POD ROV

[Data type] Bit
#0 ROV Specifies override of the rapid traverse feedrate.

0: The override is F0, F1, 50%, or 100%, as specified by input
signals ROV1 and ROV2.
1: The override is determined by seven input signals *RV0B to
*RV6B (in 1% units) within a range from 0% to 100%.
#2 POD Selects how to specify the PMC axis control override.
0: Specify in PMC axis control command block.
1: Specify directly by input signal from PMC.
- 1459 -
#7 #6 #5 #4 #3 #2 #1 #0
1404 NDI POV PRO

[Data type] Bit
#1 PRO Specifies whether to enable override for rapid traverse, reference
position return, and positioning in the machine coordinate system in
axis control by PMC.
0: Disables override.
1: Enables override.
#2 POV Specifies the override signals that can be used for rapid traverse,
reference position return, and positioning in the machine coordinate
system in axis control by PMC.
0: ROV1 and ROV2, or RV0B to RV6B (signals for CNC axes)
1: ROV1E and ROV2E (signals for PMC axes only)
- 1460 -
#7 NDI Specifies the behavior of PMC-based axis control when diameter

programming is used for the PMC controlled axis, as follows:
0: The actual amount of travel becomes twice the specified value,
but the feedrate remains as specified.
1: The actual amount of travel remains as is, but the feedrate
becomes half the specified value.
The parameter affects the amount of travel specified in the Rapid
traverse (00h), Cutting feed (feed per minute) (01h), Cutting feed
(sec/block specification) (02h), Feed per revolution (12h), Skip
(13h), and External pulse synchronization (1Bh) commands.
It also affects the feedrate specified in the Cutting feed (feed per
minute ) (01h), Feed per revolution (12h), and Skip (13h) commands.
If parameter RPD (bit 2 of parameter No. 1409) = 1, the feedrate
specified in the Rapid traverse (00h), Machine coordinate system
selection (06h), and 1st. to 4th. reference position return (17h to
1Ah) commands are also affected by this parameter, because the
rapid traverse rate is specified using the PMC signal. If parameter
RPD (bit 2 of parameter No. 1409) = 0, the actual feedrate is not
affected by this parameter, because it is set to the rapid traverse rate
specified in the corresponding parameter.
For the Cutting feed (sec/block specification) (02h) command, the
travel time remains unchanged from the value specified in
command; it is not affected by this parameter.
For the Machine coordinate system selection (06h) command, the
target position is not affected by this parameter. Instead, it is
specified in diameter, if bit 3 of parameter No. 1006 (specification
by diameter) = 1.
(Example) If the specified amount of travel is 100.000 mm and the specified
feedrate is 100 mm/min
PMC signal-based command Memory operation-
NDI = 0 NDI = 1 based command
Feedrate 100mm/min 50mm/min 100mm/min
Position display 200.000mm 100.000mm 100.000mm
Actual machine travel 100.000mm 50.000mm 50.000mm
Travel time 60 sec 60 sec 30 sec
CAUTION
1 This parameter is valid only when parameter DIA
(bit 3 of parameter No. 1006) = 1.
2 If a programmable diameter/radius switching is
used, that is, parameter PDC (bit 5 of parameter
No. 1001) = 1, parameter PDA (bit 3 of parameter
No. 1009) usually specifies whether diameter or
radius is to be used. For the PMC axis, however,
parameter NDI and parameter DIA (bit 3 of
parameter No. 1006) are used to determine the
amount of travel and the feedrate. On the other
hand, whether the position display is displayed as
a diameter or radius is determined by parameter
PDA (bit 3 of parameter No. 1009).
- 1461 -
#7 #6 #5 #4 #3 #2 #1 #0
1409 JFM FR2 FR1 TQF RPD F10

[Data type] Bitaxis
#1 F10 Specifies the unit of feedrate data specified in the Cutting feed (feed
per minute), Skip--feed per minute, and Continuous feed commands
under PMC-based axis control, as follows:
0:
Unit of data
unit
1:
Unit of data
unit
#2 RPD Sets the feedrate of PMC-controlled axis in rapid traverse, machine

coordinate system selection, and 1st to 4th reference position return
in axis control by PMC.
0: Feedrate set in parameter No. 1420
1: Feedrate specified as the feedrate data in the axis control
command
#3 TQF Specifies whether to perform follow-up for torque control.

0: Not performed.
1: Performed.
#5 FR1
#6 FR2 FR1 and FR2 specify the unit of the feedrate data specified in the
cutting feed (feed per revolution) command under PMC axis control.
FR2 FR1 Metric input Inch input

0 0 0.01 mm/rev 0.001 inch/rev
0 1 0.1 mm/rev 0.01 inch/rev
1 0 1 mm/rev 0.1 inch/rev
- 1462 -
#7 JFM This sets the command increment of feedrate data in the continuous
feed command (16H) during PMC axis control.
0: The unit of feedrate data depends on the setting of parameter F10

1:
Unit of data
unit
NOTE
If this parameter is set to 1, parameter F10 (bit 1 of
parameter No. 1409) must also be set to 1.
1412 Percentage value for rapid traverse override F1

[Data type] Integer
[Unit of data] %
Set the percentage value to use for rapid traverse override F1.

override is 100%.
1421 F0 feedrate for each axis for rapid traverse override

Set the F0 feedrate for each axis for rapid traverse override.
1427 External deceleration rate for each axis during rapid traverse
- 1463 -

This parameter sets the external deceleration feedrate used in rapid
traverse.
1430 Upper limit on the feedrate for feed per minute under PMC axis control

This parameter specifies the upper limit on the feedrate for feed per
minute under PMC axis control.
1644 Parameter 1 to set acceleration/deceleration for each axis when a constant

feedrate command for PMC axis control is specified

[Unit of data] rpm
Feedrate
Parameter 1
(No.1644)
Time
Parameter 2
(No.1645)
1645 Parameter 2 to set acceleration/deceleration for each axis when a constant

feedrate command for PMC axis control is specified

[Unit of data] msec
Specify the time it takes to reach the feedrate set in parameter 1.
NOTE
When this parameter is set to 0, the
acceleration/deceleration function is disabled.
- 1464 -
#7 #6 #5 #4 #3 #2 #1 #0
1951 TQC

[Data type] Bitaxis
#7 TQC Specifies whether to perform torque control for the relevant axis.
0: Torque control is not performed for the axis.
1: Torque control is performed for the axis.
#7 #6 #5 #4 #3 #2 #1 #0
1959 HNG

[Data type] Bitaxis
#4 HNG Specifies whether to detect a separate detector disconnection alarm

in feedrate command mode under PMC axis control, as follows:
0: Separate detector disconnection alarm to be detected
1: Separate detector disconnection alarm not to be detected
1998 Torque constant

[Unit of data] 0.00001Nm/(1 torque command)
This parameter is set according to the torque character of the motor.
NOTE
In case of using linear motor, the data unit is
0.001N/(1 torque command).
#7 #6 #5 #4 #3 #2 #1 #0
2005 SKE DIT

[Data type] Bit
#1 DIT Specifies whether to enable the all-axis/axis-by-axis interlock

function for the axes controlled by PMC axis control.
0: Enable the all-axis/axis-by-axis interlock function along axes
under PMC control.
1: Disable the all-axis-axis-by-axis interlock function along axes
under PMC control. (Movements along the axes are not
stopped.)
- 1465 -
#7 SKE Specifies which skip signal is to be used for PMC axis control as
follows:
0: SKIP1 (same skip signal as that for the CNC)
1: PCSKP (signal specific to PMC axis control)
#7 #6 #5 #4 #3 #2 #1 #0
2405 NPA

[Data type] Bit
#5 NPA When movement along the PMC control axis is specified by an NC

program:
0: The alarm PS0450 occurs.
1: The alarm PS0450 does not occur.
NOTE
If 1 is selected, the CNC move command is
ignored.
7767 Allowable cumulative movement value for torque control

Set an allowable cumulative movement value in the torque control
mode.
If the cumulative movement value exceeds the value set in this
parameter, a servo alarm (SV0126) is issued.
NOTE
This parameter is valid when bit 3 (TQF) of
- 1466 -
7768 Torque control cancellation limit

Set a cancellation limit value used to cancel the torque control
mode.
When the torque control mode is canceled, position control is
resumed if the positional deviation becomes equal to or less than
the setting of this parameter.
NOTE
This parameter is valid when bit 3 (TQF) of
Alarm and message

PS0450 IN PMC AXIS MODE The PMC axis control mode, the CNC issued a move
instruction for the PMC axis.
A move instruction can be issued on one axis from only
either the PMC or the CNC.
This alarm is generated when a move instruction is issued
from both.
This alarm can be suppressed by setting NPA of parameter
No. 2405#5 to "1".
SV0125 EXCESS VELOCITY IN TORQUE In torque control, the specified permissible speed was
exceeded.
SV0126 EXCESS ERROR IN TORQUE In torque control, the maximum accumulated speed
specified in parameters was exceeded.
OT0184 PARAMETER ERROR IN TORQUE An invalid parameter was set for torque control.
The torque constant parameter is set to "0".
OT0450 ZERO RETURN NOT FINISHED The first reference position return (CDxX7 to CDxX0: 17h)
command was executed if the reference position return
function is enabled (parameter ZRN (bit 0 of parameter No.
1005) = 0) and no manual reference
position return has been performed since power-on.
- 1467 -
Warning
WARNING
1 If the reference position return function is disabled
(parameter ZRN (bit 0 of parameter No. 1005) = 1)
and no manual reference position return has been
performed since power-on, executing the first
reference position return (CDxX7 to CDxX0: 17h)
command does not cause an alarm. Instead, it sets
the machine to the first reference position in the
machine coordinate system according to the machine
coordinate data that is current when the command is
executed. Keep in mind that this position differs from
the actual reference position.
2 If no manual reference position return has been
performed since power-on, executing the second to
fourth reference position return (CDxX7 to CDxX0:
18h to 1Ah) command does not cause an alarm, even
if the reference position return function were to be
enabled (parameter ZRN (bit 0 of parameter No.
1005) = 0). Instead, it sets the machine to the second
to fourth reference position in the machine coordinate
system according to the machine coordinate data
that is current when the command is executed. Keep
in mind that this position differs from the actual
reference position.
3 For a PMC axis command issued for an axis for which
specification is made by diameter, the amount of
travel varies depending on the setting of parameter
NDI (bit 7 of parameter No. 1404). See the
descriptions of parameter NDI for details.
- 1468 -
Caution
CAUTION
1 Movements and operations under PMC axis control are not
affected by the CNC states such as mode selection, CNC
reset, feed hold, and single-block mode.
2 Emergency stop, machine lock, and machine lock for each
axis can be used.
3 The mirror image function (setting, parameters, and input
signals) is disabled.
4 When cutting feed blocks are specified successively,
deceleration is not performed between blocks (if different
feedrates are specified, however, acceleration/deceleration
is performed), and execution proceeds to the next block
without waiting for the in-position state. For blocks other
than cutting feed blocks, deceleration is performed at the
end of each block and, after deceleration termination, the
in-position state is confirmed. Then, the next block is
executed.
5 In PMC axis control, every command is treated as an axis
command. Even when an auxiliary function is performed,
the in-position check is enabled.
6 If the setting of a workpiece coordinate system (G54 to G59)
is specified in the CNC while movement along an axis is
being made by the PMC, the coordinate system cannot be
set correctly.
7 The all-axis interlock and each-axis interlock functions can
be enabled or disabled by setting bit 1 (DIT) of parameter
No. 2005.
8 When PMC-to-CNC axis switching is performed by an M
code during automatic operation, the workpiece coordinate
system is shifted by the amount of travel made along the axis
under PMC control. Therefore, after PMC-to-CNC axis
switching, perform presetting of the workpiece coordinate
system (G92.1) before specifying a move command.
Note
NOTE
1 The use of the actual feedrate indication axis selection
signal *ACTFx allows the indication of the actual feedrate
without considering movement along the PMC-controlled
axes.
2 The distance to go is not displayed in PMC axis control
mode. (The corresponding display field remains set to 0.)
3 A first to fourth reference position return for PMC axis
control sets the reference position return completion signal
(ZP1x to ZP4x) to 1 after the machine is set to the reference
position.
- 1469 -
14.2 EXTERNAL DATA INPUT
General
Data can be input and output between CNC and PMC, using signals
such as the following:
External data input External data output
Input signal Output signal Input signal Output signal
Address signal EIA0-EIA7 EOA0-EOA7
Data signal EID0-EID47 EOD0-EOD47
Data output ERDRQ
request signal
Strobe signal EISTB EOSTB
Read completion EIREND EOREND
signal
Search signal ESEND
External data input and external data output are roughly symmetrical.
External data input sends data from the PMC to the CNC, whereas
external data output sends data from the CNC to the PMC. Before
external data output, a request for data must be sent from the PMC to
the CNC, using external data input.
- Basic procedure for external data input

The basic external data input procedure is described below:
1. The PMC sets address signals EIA0 to EIA7 that indicate the data
type and data signals EID0 to EID47. Data output request signal
ERDRQ must always be set to "0."
2. he PMC sets strobe signal EISTB to "1".
3. When the EISTB signal is set to "1", the control unit reads the
address, data, and data output request.
4. After reading the address, the control unit sets read completion
signal EIREND to "1".
5. When the EIREND signal is set to "1", the PMC sets the EISTB
signal to 0.
6. When the EISTB signal is set to "0", the control unit sets the
EIREND signal to 0.
This completes the data input procedure. New data can now be
entered.
(1) (2) (3) (4) (5) (6)

Address signal EIA0 to 7
Data signal EID0 to 47
Data output signal ERDRQ “0”
Strobe signal EISTB
Data input (NC)
Input end signal EIREND
- 1470 -
- Basic procedure for external data output

The basic external data output procedure is described below:
1. PMC sets address EIA0 to EIA7 indicating the type of data
required. Data output request signal ERDRQ must always be set
to "1." Depending on the data, part of data EID0 to EID47 must
also be set.
2. he PMC sets strobe signal EISTB to "1".
3. When the EISTB signal is set to "1", the control unit reads the
address, data, and data output request.
4. After reading the address, the control unit sets read completion
signal EIREND to "1".
5. When the EIREND signal is set to "1", the PMC sets the EISTB
signal to 0.
6. When the EISTB signal is set to "0", the control unit sets the
EIREND signal to 0. (Steps 1 to 6 above are basically the same as
those for external data input, except that ERDRQ must be set to
"1.")
7. Upon deciding, in step 3, that the request is an external data output
request (the data output request is "1"), the CNC sets address
EOA0 to EOA7 of the requested data, as well as data EOD0 to
EOD47.
8. Then, set output data strobe signal EOSTB to "1."
9. When strobe signal EOSTB is set to "1," the PMC reads the
address and data.
10. Upon the completion of reading, the PMC sets the read
completion signal EOREND to "1."
11. When the EOREND signal is set to "1," the CNC sets strobe signal
EOSTB to "0" to report that it has received the EOREND signal.
12. When strobe signal EOSTB is set to "0," the PMC sets read
completion signal EOREND to "0."
13. When read completion signal EOREND is set to "0," the external
data output sequence is completed.
- 1471 -
These steps are shown in the timing chart in the figure below.
(1) (2) (3) (4) (5) (6)

Address signal EIA0-7
Data signal EID0-47
Data output signal ERDRQ
Strobe signal EISTB
Data input (NC)
Input end signal EIREND
(7) (8) (9) (10) (11) (12) (13)

Data set (CNC)
Address signal EOA0-7
Data signal EOD0-47
Data output signal ERDRQ
Strobe signal EOSTB
Data input (NC)
Input end signal EOREND
External data input for a data output request and external data output do
not necessarily occur in succession. If the CNC takes time to prepare
the output data, external data output may be delayed. During this time,
any new external data input is not accepted and must wait. Thus, even
after EISTB is set to "1," the CNC does not read data until the external
data output terminates, issuing alarm OT124.
- Data that can be input/output by external data input/output
1 Program number
[Input] A program number can be specified to search for a program to be
executed in memory command mode. A program number within the
range of 1 to 99999999 can be specified, using binary codes.
NOTE
A search can be performed only when the following
1 MEM mode is selected.
2 Automatic operation is reset. (Automatic operating
signal OP is 0.)
3 The system is not being reset. (Resetting signal RST
is 0.)
[Output] The number of the main program currently being executed can be
output.
- 1472 -
2 Sequence number
[Input] A sequence number can be specified to search for the block to be
executed in memory command mode. A sequence number within the
range of 1 to 99999999 can be specified, using binary codes.
NOTE
A search can be performed only when the following
1 MEM mode is selected.
2 Automatic operation is reset. (Automatic operating
signal OP is 0.)
3 The system is not being reset. (Resetting signal RST
is 0.)
[Output] The sequence number of the block currently being executed can be
output.
3 Tool offset value
[Input] An offset number can be specified to change the tool offset value. The
following specifications are possible, using part of an address:
1. For milling systems, whether cutter compensation amount or tool
length compensation amount.
For lathe systems, whether X-axis position compensation amount,
Z-axis position compensation amount, tool-nose radius
compensation amount, or Y-axis position compensation amount.
2. Whether geometric or wear.
3. Whether an absolute value or incremental value. If an absolute
value, the value specified in the data section is directly used as the
new tool offset value. If an incremental value, the value equal to
the current offset value plus the specified value is assumed to be
the new tool offset value.
An offset number can be specified using binary codes between 0 and
999. If a number other than those provided by the compensation
amount memory (which depend on the option used) is specified, an
alarm is issued. If 0 is specified as an offset number, the tool offset
number currently selected for execution is selected. A compensation
amount can be specified with binary codes within the range of 0 to
±999999999, with the least input increment used as the units.
[Output] An offset number can be specified to output the current tool offset
value.
Upon an output request, an offset number must be specified. The
specification is the same as that at input. The output data includes the
corresponding offset number. If offset number 0 is specified, not 0 but
the offset number currently selected for execution is output. In the
address section, the specification of whether the value is absolute or
incremental has no meaning.
- 1473 -
4 Workpiece origin offset

[Input] A controlled axis number and a coordinate system number can be
specified to change the workpiece origin offset. The specification of
whether a value is absolute or incremental is possible. For an absolute
value, the value specified in the data section is directly used as the new
workpiece origin offset. For an incremental value, the value equal to
the current offset plus a specified value is assumed to be the new
workpiece origin offset. A controlled axis number can be specified
using 4-bit binary codes. Controlled axis numbers correspond to
controlled axes, as follows:
Controlled axis number Controlled axis
0 First axis
1 Second axis
2 Third axis
3 Fourth axis
4 Fifth axis
: :
9 Tenth axis
A coordinate system number can be specified using 8-bit binary codes.

Coordinate system numbers correspond to workpiece origin offsets, as
follows:
Coordinate system number Workpiece origin offset to be selected
0 Workpiece origin offset of the currently
active workpiece coordinate system
1 Workpiece origin offset of G54
255 Common workpiece origin offset
For extended workpiece origin offsets, the following coordinate system

numbers can be specified:
Coordinate system number Workpiece origin offset to be selected
0 Workpiece origin offset of the currently
active workpiece coordinate system
1 Workpiece origin offset of G54.1 P1
: :
255 Common workpiece origin offset
If 0 is specified as a coordinate system number, the workpiece

coordinate system that is currently selected for execution is selected.
The offset with coordinate system number 255 is the common
workpiece origin offset, which is effective to all coordinate systems. A
compensation amount is specified with binary codes in the range of 0 to
±999999999, with the least input increment being used as the units.
- 1474 -
[Output] A controlled axis number and a coordinate system number can be

specified to output the current workpiece origin offset. Upon an output
request, a controlled axis number and a coordinate system number must
be specified. The specification is the same as that made for input. The
output data includes the corresponding controlled axis number and
coordinate system number. If coordinate system number 0 is specified,
not 0 but the coordinate system number that is currently selected for
execution is output. The specification of whether the value is an
absolute value or an incremental value has no meaning.
5 Machine zero point shift amount

[Input] A controlled axis number can be specified to input a machine zero point
shift amount. Upon input, compensation is immediately performed on
the corresponding axis to move the machine. A controlled axis number
can be specified in the same way as that for a workpiece origin offset.
A compensation amount is specified with binary codes within the range
of 0 to +9999, with the detection units being used as the units. This
compensation amount is always absolute, and the amount by which the
machine moves at input is the difference from the previous amount. If a
large compensation amount is applied at one time, an alarm such as an
excessive error at stop time may be issued. To apply a large
compensation amount, divide it into several amounts and input them
separately.
[Output] A controlled axis number can be specified to output the current

machine zero point shift amount. At an output request, a controlled
axis number must be specified. The specification is the same as that at
input.
6 Alarm message
[Input] An alarm number can be input to place the CNC in an alarm state. Then,
message text can be sent to display the alarm message on the alarm
screen of the display unit (setting an alarm). In addition, an alarm
number can be specified to cancel the previously input alarm (clearing
of an alarm). Whether an alarm is to be set or cleared can be specified
in the address section. An alarm number in the range of 0 to 4095 can
be specified, with binary codes. For identification, the CNC adds the
characters "EX" to the beginning of this number and displays the
number before the alarm message text. Message text can be input as
described in "Message text," below. Up to 30 characters of text can be
accepted per alarm. The CNC can accept up to four external alarm
messages at a time. Once set, the alarms are not cleared by resetting the
CNC. To clear an external alarm message, its number and the clearing
of a message must be specified and the external alarm message must be
entered.
[Output] There is no corresponding output. Thus, ERDRQ must always be set to

0.
- 1475 -
7 Operator message
[Input] A message number can be input to register an external operator
message with the CNC. Then, message text can be sent to display the
message on the operator message screen on the display unit (setting of
an operator message). In addition, a message number can be specified
to cancel a previously input operator message (clearing of an operator
message). Whether an operator message is to be set or cleared can be
specified in the address section. An operator message number in the
range of 0 to 4095 can be specified, with binary codes. For
identification, if the number is between 0 and 99, the control unit adds
the characters "EX" to the beginning of this number, and displays the
number before the operator message text. If the number is 100 or
greater, only the message text is displayed, without the message
number. Message text can be input as described in "Message text,"
given later. Text of up to 256 characters can be accepted per message.
The CNC can accept up to four external operator messages at a time.
Once set, the messages are not cleared by resetting the CNC. To clear
an external operator message, its number and the clearing of a message
must be specified and the external operator message must be entered.

0.
8 Message text
[Input] Immediately after setting an external alarm message or external
operator message, message text can be input. If the immediately
preceding external data input does not set either message, the input of
message text is ignored. Using the data section, up to six characters can
be sent per input. Eight bits are used to represent one character. Refer
to the character code table. (The table conforms to the JIS code table.)
A character code of 00 is ignored. Thus, any number of characters (up
to six) can be sent at a time. When characters LF (codes 0000 1010) are
sent, the following characters start on a new line on the screen. L and F
themselves cannot be displayed. At the end of the message, characters
ETX (codes 0000 0011) must be sent. All of the preceding message
text is regarded as being consecutive. The following restrictions are
imposed on the length of text:
Alarm message text: Up to 30 characters
Operator message text: Up to 256 characters

0.
- 1476 -
9 Tool offset with a tool number (tool number)

[Input] To input and output a pot number and tool offset value, the target tool
data must be specified using the tool number. Once input, the tool
number is effective until the next tool number is input or the power is
turned off.
[Output] When a pot number and tool offset value are input and output, the tool
number of the target tool data (specified with the above input) is output.
In addition, it is possible to output the number of the tool for which
compensation is currently enabled (after the M06 command) and the
selected tool number (before the M06 command).
10 Tool offset with a tool number (pot number)

[Input] A pot number can be input, with the tool data specified by tool number
input as the target. Upon the start of automatic operation, a pot number
cannot be entered.
[Output] A pot number can be output, with the tool data specified by tool number
input as the target.
11 Tool offset with a tool number (tool offset value)

[Input] A tool offset value can be input, with the tool data specified by tool
number input as the target.
[Output] A tool offset value can be output, with the tool data specified by tool
number input as the target.
12 Number of required parts

[Input] The number of required parts can be input.
[Output] The number of required parts can be output.
13 Accumulated number of machined parts

[Input] The accumulated number of machined parts can be input.
[Output] The accumulated number of machined parts can be output.
- External data input/output time signal configuration tables

Depending on the data types described above, the address and data
sections of external data input/output are configured differently. The
signal configuration tables are shown below.
In the tables, the following notations are used:
1. 0: Represents a signal of "0." 1: Represents a signal of "1."
2. The ERDRQ column indicates the states that can be specified as
ERDRQ.
0: Only external data input is possible.
1: Only external data output is possible.
0/1: Both external data input and output are possible.
3. In the EID/EOD column, - indicates an unused portion. For future
expansion, the unused portion must be set to "0." At output, "0" is
output.
- 1477 -
1 Program number
#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 0 0 0 0 0 0 0
(G34/F34) - - - - - - - -
(G35/F35) - - - - - - - -
EID/EOD (G36/F36)
(G37/F37) Program number
(G38/F38) (1 to 99999999)
(G39/F39)
2 Sequence number
#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 0 0 0 0 0 0 1
(G34/F34) - - - - - - - -
(G35/F35) - - - - - - - -
EID/EOD (G36/F36)
(G37/F37) Sequence number
(G38/F38) (1 to 99999999)
(G39/F39)
3 Tool offset value (M series)

#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 0 0 1 a/i g/w 0 r/1
(G34/F34) Tool offset number
(G35/F35) (0 to 999)
EID/EOD (G36/F36)
(G37/F37) Tool offset value
(G38/F38) (0 to ±999999999)
(G39/F39)
a/i : absolute(1) / incremental(0)
Specify whether the offset is input as an absolute value
(absolute) or incremental value (incremental).
g/w :geometry(1) / wear(0)
Specify whether the tool offset value is geometric (geometry)
or wear (wear).
r/l :radius(1) / length(0)
Specify whether the tool offset value (M series) is a cutter
compensation amount (radius) or tool length compensation
amount (length).
- 1478 -
4 Work origin offset value

When G54 to G59 #7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 0 1 0 Axis number
(0,1,2,3,4...)
(G34/F34) a/i - - - - - - -
(G35/F35) Specify whether the tool offset value (M
system) is a cutter compensation amount
(radius) or tool length compensation amount
(length).
EID/EOD (G36/F36)
(G37/F37) Work origin offset value
(G38/F38) (0 to ±999999999)
(G39/F39)
When G54.1P1 to G54.1P48 #7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
(0,1,2,3,4...)
(G34/F34) a/i - - - - - - 1
(G35/F35) Coordinate system (0: offset of the currently
active workpiece coordinate system, 1-48:
offset of P1 to P48, 255: common offset)
EID/EOD (G36/F36)
(G37/F37) Work origin offset
(G38/F38) (0 to ±999999999)
(G39/F39)
a/i : absolute(1)/incremental(0)
Specify whether the offset is input as an absolute value
(absolute) or incremental value (incremental).
5 Machine origin shift value
#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
(0,1,2,3,4...)
(G34/F34) - - - - - - - -
(G35/F35) - - - - - - - -
EID/EOD (G36/F36)
(G37/F37) Machine origin shift value
(G38/F38) (0 to ±9999)
(G39/F39)
6 Alarm message
#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0
EIA(G33) / EOA(F33) 0 1 0 0 0 0 0 c/s
(G34/F34) - - - - - - - -
(G35/F35) - - - - - - - -
EID/EOD (G36/F36)
(G37/F37) Alarm message
(G38/F38) (0 to 4095)
(G39/F39)
c/s : clear(1)/set(0)
Specify wither to clear (clear) or set (set) a message.
- 1479 -
7 Operator message
#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0
EIA(G33) / EOA(F33) 0 1 0 0 0 1 0 c/s
(G34/F34) - - - - - - - -
(G35/F35) - - - - - - - -
EID/EOD (G36/F36)
(G37/F37) Operator message number
(G38/F38) (0 to 4095)
(G39/F39)
c/s : clear(1)/set(0)
Specify wither to clear (clear) or set (set) a message.
8 Message text
#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0
EIA(G33) / EOA(F33) 0 1 0 0 0 1 1 0
(G34/F34) Character 1
EID/EOD (G36/F36) Character 3
9 Tool offset with a tool number (tool number)

#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 1 1 0 0 0 0 0
(G34/F34) - - - - - - - -
(G35/F35) emp 0 0 0 0 0 t-type
EID/EOD (G36/F36)
(G37/F37) Tool number
(G38/F38) (0 to 99999999)
(G39/F39)
emp
1. At input
Must always be set to 0.
2. At output
1 is output if:
- No tool number has been input since the power was turned on.
- The number of the tool for which compensation is currently
enabled or the selected tool number does not exist.
t-type
1. At input, specify one of the following types:
00 ... Specification of a tool number using EID0 to EID31
01 ..Specification of the number of the tool for which
compensation is currently enabled
10 ... Specification of the selected tool number
2. At output, specify one of the following types:
00... Output of the tool number of the tool data to be input/output
- 1480 -
01 ...Output of the number of the tool for which compensation is

currently enabled.
10 ... Output of the selected tool number
10 Tool offset with a tool number (pot number)

#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 1 1 0 0 0 0 1
(G34/F34) - - - - - - - -
(G35/F35) emp 0 0 0 0 0 0 0
EID/EOD (G36/F36)
(G37/F37) Pot number
(G38/F38) (0 to 9999)
(G39/F39)
emp
1. At input
2. At output
1 is output if:
- The pot number or tool offset value of the tool data to be
output is not set.
11 Tool offset with a tool number (tool offset number)

#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 1 1 0 0 0 1 0
(G34/F34) - - - - - - - -
(G35/F35) emp 0 0 0 0 0 0 r/l
EID/EOD (G36/F36)
(G37/F37) Offset value
(G38/F38) (0 to ±999999999)
(G39/F39)
emp
1. At input
2. At output
1 is output if:
- The pot number or tool offset value of the tool data to be
output is not set.
r/l
- Identify either of the following in the specification of the tool
offset value to be input/output
0 ... Input/output for the tool length compensation amount
1 ... Input/output for the cutter compensation amount
- 1481 -
12 Nmuber of required parts

#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 1 1 0 0 0 0 1
(G34/F34) - - - - - - - -
(G35/F35) 0 1 1 0 0 0 0 0
EID/EOD (G36/F36)
(G37/F37) Nmuber of required parts
(G38/F38) (0 to 999999999)
(G39/F39)
13 Total number of machined parts

#7 #6 #5 #4 #3 #2 #1 #0
ERDRQ (G32#6) 0/1
EIA(G33) / EOA(F33) 0 1 1 1 0 0 0 1
(G34/F34) - - - - - - - -
(G35/F35) - - - - - - - -
EID/EOD (G36/F36)
(G37/F37) Total number of machined parts
(G38/F38) (0 to 999999999)
(G39/F39)
Signal
Address signals for external data input EIA0 to EIA7<G033>

[Function] These signals indicate the type of the data that has been input by
external data input. The eight signals are code signals. For an
explanation of the correspondence between codes and data types, see
the "Signal Configuration Tables."
Data signals for external data input EID0 to EID47<G034 to G039>

[Function] These signals indicate the data that has been input by external data
input. These 48 code signals are used differently depending on the type
of data. Generally, they are used as binary code signals. Thus,
a
Data value =å { 2i ×Vi }
i =0
where Vi = 0 if EIDi is equal to "0."
Vi = 1 if EIDi is equal to "1."
The value of a differs depending on the type of data.(0 ≤ a ≤ 47)
For details, see the "Signal Configuration Tables."
Strobe signal for external data input EISTB<G032#7>

[Function] This signal reports that the address and data for external data input have
been prepared. When this signal is set to "1," the CNC reads the
address and data of external data input. The action and procedure of
the CNC when the signal is set to "1" are as described in the "Basic
procedure."
- 1482 -
Read end signal for external data input EIREND<F032#5>

[Function] This signal reports that the CNC has read external data input.
The output conditions and procedure are as described in the "Basic
procedure."
Request signal for external data output ERDRQ<G032#6>

[Function] This signal indicates whether external data input is for data input or an
external data output request. The action and procedure of the CNC
when the signal is set to "1" are as described in the "Basic procedure."
Address signals for external data output EOA0 to EOA7<F033>

[Function] These signals indicate the type of the data that has been output by
external data input. The eight signals are code signals. For an
explanation of the correspondence between codes and data types, see
the "Signal Configuration Tables."
Address signals for external data output EOD0 to EOD47<F034 to F039>

[Function] These signals indicate the data output by external data output. These 48
code signals are used differently depending on the type of data.
Generally, they are used as binary code signals. Thus,
a
Data value =å { 2i × Vi }
i =0
where Vi = 0 if EODi is equal to "0."
Vi = 1 if EODi is equal to "1."
The value of a differs depending on the type of data.(0 ≤ a ≤ 47)
For details, see the "Signal Configuration Tables."
Strobe signal for external data output EOSTB<F34#7>

[Function] The signal reports that the address and data are set in external data
input. When this signal is set to "1," the PMC reads the address and
data of external data output. The output conditions and procedure are as
described in the "Basic procedure."
Read end signal for external data output EOREND<G32#5>

[Function] This signal reports the CNC that the PMC has read the data of external
data output. The action and procedure of the CNC when the signal is set
to "1" are as described in the "Basic procedure."
- 1483 -
External search end signal ESEND<F007#5>

[Function] This signal reports that the program number search or sequence search
specified by external data input has been completed.
[Output condition] The signal is set to "1" if:
- The program number search or sequence search specified by
external data input has been completed.
- Automatic operation is started.
- A reset is performed.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G032 EISTB ERDRQ EOREND
G033 EIA7 EIA6 EIA5 EIA4 EIA3 EIA2 EIA1 EIA0
G034 EID39 EID38 EID37 EID36 EID35 EID34 EID33 EID32
#7 #6 #5 #4 #3 #2 #1 #0
F007 ESEND
F032 EOSTB EIREND
F033 EOA7 EOA6 EOA5 EOA4 EOA3 EOA2 EOA1 EOA0
F034 EOD39 EOD38 EOD37 EOD36 EOD35 EOD34 EOD33 EOD32
- 1484 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2217 NOM

[Data type] Bit
#2 NOM Specifies whether to automatically switch to the operator message screen

if an operator message is set with external data input/output or custom
macro system variable #3006.
0: Switched.
1: Not switched.
Alarm and message

OT0120 UNASSIGNED ADDRESS (HIGH) The upper 4 bits (EIA4 to EIA7) of an external data I/O
interface address signal are set to an undefined address
(high bits).
OT0121 UNASSIGNED ADDRESS (LOW) The lower 4 bits (EIA0 to EIA3) of an external data I/O
interface address signal are set to an undefined address
(low bits).
OT0122 TOO MANY MESSAGE Requests were made to display more than 4 external
operator messages or external alarm messages at the
same time.
OT0123 MESSAGE NUMBER NOT FOUND An external operator message or external alarm message
cannot be canceled as no message No. is specified.
OT0124 OUTPUT REQUEST ERROR An output request was issued during external data output,
or an output request was issued for an address that has no
output data.
OT0125 TOO LARGE NUMBER A numerical value outside the range 0 to 4095 was
specified as the No. for the external operator message or
an external alarm message.
OT0126 SPECIFIED NUMBER NOT FOUND [External data I/O]
The No. specified for a program No. or sequence No.
search could not be found.
There was an I/O request issued for a pot No. or offset (tool
data), but either no tool numbers have been input since
power ON or there is no data for the entered tool No.
[External workpiece No. search]
The program corresponding to the specified workpiece No.
could not be found.
OT0127 DI.EIDHW OUT OF RANGE The numerical value input by external data input signals
EID32 to EID47 has exceeded the permissible range.
OT0128 DI.EIDLL OUT OF RANGE The numerical value input by external data input signals
EID0 to EID31 has exceeded the permissible range.
- 1485 -
14.3 EXTERNAL WORKPIECE NUMBER SEARCH
General
Several machining programs can be stored in program memory and can
be started using external signals.
When, in a reset state, automatic operation is started in memory
operation mode, the system searches for a program, using the specified
workpiece number, and executes the program from its beginning. For a
machine capable of automatically loading several types of workpieces,
this function allows the program corresponding to a workpiece to be
automatically selected and executed.
Signal
Workpiece number search signal WN1,WN2,WN4,WN8,WN16 <G019#0 to 4>

[Function] Select the number of a workpiece to be machined in the memory mode.
Five code signals are provided. These signals are set as binary code to
designate a workpiece number as follows:
Workpiece number search signal Workpiece

WN16 WN8 WN4 WN2 WN1 number
0 0 0 0 0 00
0 0 0 0 1 01
0 0 0 1 0 02
0 0 0 1 1 03
0 0 1 0 0 04
0 0 1 0 1 05
0 0 1 1 0 06
0 0 1 1 1 07
0 1 0 0 0 08
0 1 0 0 1 09
0 1 0 1 0 10
0 1 0 1 1 11
0 1 1 0 0 12
0 1 1 0 1 13
0 1 1 1 0 14
0 1 1 1 1 15
1 0 0 0 0 16
1 0 0 0 1 17
1 0 0 1 0 18
1 0 0 1 1 19
1 0 1 0 0 20
1 0 1 0 1 21
1 0 1 1 0 22
1 0 1 1 1 23
1 1 0 0 0 24
1 1 0 0 1 25
1 1 0 1 0 26
1 1 0 1 1 27
1 1 1 0 0 28
1 1 1 0 1 29
1 1 1 1 0 30
1 1 1 1 1 31
- 1486 -
Workpiece number 00 is used for special designation "no search".

Thus, a workpiece number ranges from 01 to 31. The correspondence
between the workpiece number and the program number is set for
parameter No. 2049.
[Operation] In the following cases, the system searches for the program number
corresponding to the workpiece number specified by this signal.
(1) A reset is performed in memory operation mode
(2) When automatic operation is in a reset state (the automatic
operation signal OP is set to "0"), automatic operation is started in
memory operation mode (automatic operation start signal ST is
changed from "1" to "0.")
If the workpiece number is 00, no search is performed.
The retrieved program is used for:
- Automatic operation in memory operation mode
- Foreground editing in part program storage and edit mode
Extended external workpiece number search signals EWN0 to 26 <G140#0 to G143#2>

[Function] These signals specify the number of the workpiece to be executed in
memory operation mode.
These 27 code signals correspond to workpiece numbers, as shown in
the table below. (Binary codes)
Workpiece number search signal

E E E E E E E E E E E E E E E E E E E E E E E E E E E Workpiece
W W W W W W W W W W W W W W W W W W W W W W W W W W W number
N N N N N N N N N N N N N N N N N N N N N N N N N N N
2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0
6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00000000
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 00000001
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 00000002
:
1 0 1 1 1 1 1 0 1 0 1 1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 0 99999998
1 0 1 1 1 1 1 0 1 0 1 1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 99999999
Workpiece number 00000000 is used for special designation "no

search". Thus, a workpiece number ranges from 00000001 to
99999999.
These signals are enabled when 1 is set for parameter EWN (bit 1 of No.
2007), and are used in place of external workpiece number search
signals WN1 to WN16.
[Operation] These signals operate in the same way as external workpiece number
search signals.
- 1487 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G019 WN16 WN8 WN4 WN2 WN1
G140 EWN7 EWN6 EWN5 EWN4 EWN3 EWN2 EWN1 EWN0
G143 EWN26 EWN25 EWN24
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2007 EWN

[Data type] Bit
#1 EWN When a search by workpiece number is made, a workpiece number is

specified by using:
0: Workpiece number search signals (WN1 to WN16)
(A number from 1 to 31 can be specified.)
1: Extended workpiece number search signals (EWN0 to EWN26)
(A number from 1 to 99999999 can be specified.)
- 1488 -
2049 Correspondence between a workpiece number and a program number in an

external workpiece number search (PN)

[Data type] Integer
The meaning of the parameter varies depending on the value to be set as
follows:
(1) If bit 1 (EWN) of parameter No. 2007 is set to 0:
Let WN be the workpiece number specified by the workpiece number
search signal (WN1 to WN16).
1) If PN is 0 to 999999:
Program number = PN * 100 + WN
PN indicates the upper six digits of the program number.
2) If PN is a negative value or a value exceeding 999999:
The upper six digits of the program number are set to the
smallest number among existing programs.
For example, when the workpiece number is 21, a program with
the smallest number is searched for among existing programs
having program numbers such as O00000021, O00000121, and
O00000221. Therefore, the upper six digits of a program
number cannot be specified. When this method is used,
programs with program numbers of which lower two digits are
the same must not be registered in memory at the same time.
(2) This parameter is not used if bit 1 (EWN) of parameter No. 2007 is
set to 1. In this case, the program number is assumed to equal the
workpiece number.
Alarm and message

OT0126 SPECIFIED NUMBER NOT FOUND [External data I/O]
The No. specified for a program No. or sequence No.
search could not be found.
There was an I/O request issued for a pot No. or offset (tool
data), but either no tool numbers have been input since
power ON or there is no data for the entered tool No.
[External workpiece No. search]
The program corresponding to the specified workpiece No.
could not be found.
OT0130 SEARCH REQUEST NOT ACCEPTED No requests can be accepted for a program No. or a
sequence No. search as the system is not in the memory
mode or the reset state.
- 1489 -
14.4 KEY INPUT FROM PMC
General
By changing the input signals from the PMC to the CNC from "0" to
"1," operations equivalent to those achieved by using the keys on the
MDI panel can be performed.
Signal
The signal addresses for key entries are as follows. The bit names of
the signals are the same as the characters of the MDI keys. The
characters of the MID keys when they are used together with the shift
key are also shown below the characters, where applicable.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G128 CAN . = - + 9 8 7
G129 6 5 4 3 2 1 0
C R Z
G130 K J I B Q
SP _ W
Y X
G131 A P G N O
V U
/ # EOB
G132 ↓ ↑ → ←
* , )
T S M L H D F
G133
( ] [ & @ ? E
↓ ↑
G134
PAGE PAGE
G135 SHIFT INPUT CALC RESET
G136 OPEM SK10 SK9 SK8 SK7
G137 SK6 SK5 SK4 SK3 SK2 SK1 FUNM
G138 HELP DELETE INSERT ALTER
OFFSET
G139 POS PROG SYSTEM MESAGE GRAPH CUSTOM
SETING
The signal names for the soft keys are as follows:
FUNM SK1 SK2 SK3 SK4 SK5 SK6 SK7 SK8 SK9 SK10 OPEM
Function Operation
menu key menu key
- 1490 -
Note
NOTE
1 By changing the signal for operating a soft key from "0" to "1,"
the soft key can be operated from the PMC. Note, however,
the following: The soft keys change their roles depending on
the situation. The number of these roles is so large that the
current states of the soft keys are not reported to the PMC. By
changing the signal for operating on a soft key from "0" to "1," a
totally unintended operation may be performed. Before
changing the signal for operating on a soft key, therefore, check
with the operator that the current role of the soft key is as
desired.
2 The rise of a signal is regarded as a key entry. Only a single
signal can be changed.
3 The interval from the time a key entry signal is changed from "0"
to "1" or from "1" to "0" until another signal can be changed to
"1" must be 32 msec or longer.
The signal is changed to "1."

The key entry The signal is changed to "0."
signal "X" is input
The signal is changed to "1."

The key entry The signal is changed to "0."
signal "Y" is input.
32 msec or 32 msec or 32 msec or

longer longer longer
4 To improve operability, the positions of some of the soft keys

have been changed from those on the FANUC Series 15-MB.
This may require the modification of Ladder programs.
5 If Ladder programs created on the FANUC Series 15-MB for 9-
inch CRT/MDI or 9-inch small-size CRT/MDI are to be used,
they must be modified according to the address table shown
above.
- 1491 -
APPENDIX
B-63783EN-1/01 APPENDIX A. INTERFACE BETWEEN CNC AND PMC
A INTERFACE BETWEEN CNC AND PMC
- 1495 -
A. INTERFACE BETWEEN CNC AND PMC APPENDIX B-63783EN-1/01
A.1 ADDRESS LIST

A.1.1 PMC to NC
#7 #6 #5 #4 #3 #2 #1 #0
G000 ERS RRW *SP *ESP SKIP1 UINT *CSL *IT
G001 SKIP4 SKIP3 SKIP2 AE3 AE2 AE1 *BSL *AIT
G002 ZRN BRN SRN MOVL TCHIN
G003 AGJ EDT MEM T D J H S
G004 MLK DLK ABS OVC SBK BDT1 DRN AFL
G005 KEY4 KEY3 KEY2 KEY1 F1D FFIN FIN ST
G006 RT ROV2 ROV1 MP4 MP2 MP1
G007 BDT9 BDT8 BDT7 BDT6 BDT5 BDT4 BDT3 BDT2
G008 TMRON HBTRN *CSMZ
G009 TLSKP TL64 TL32 TL16 TL08 TL04 TL02 TL01
G010 TLRST HS3D HS3C HS3B HS3A
G011 HS2D HS2C HS2B HS2A HS1D HS1C HS1B HS1A
G012 *FV7 *FV6 *FV5 *FV4 *FV3 *FV2 *FV1 *FV0
G013 *AFV7 *AFV6 *AFV5 *AFV4 *AFV3 *AFV2 *AFV1 *AFV0
G016 AJA7 AJA6 AJA5 AJA4 AJA3 AJA2 AJA1 AJA0
G017 AJSTB -AJ +AJ AJA12 AJA11 AJA10 AJA9 AJA8
G018 AJP2D AJP2C AJP2B AJP2A AJP1D AJP1C AJP1B AJP1A
G019 *BECLP *BEUCL WN16 WN8 WN4 WN2 WN1
G023 DIST26 DIST25 DIST24
G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
- 1496 -
#7 #6 #5 #4 #3 #2 #1 #0
G025 RISGNA RI12A RI11A RI10A RI9A RI8A
G026 GS4A GS2A GS1A *SECLPA*SEUCLA DVAL SPSTPA
G027
G028 GOQSM WOQSM OFN5 OFN4 OFN3 OFN2 OFN1 OFN0
G029 RVS SPCA SPBA SPAA
G030 OFN7 OFN6 OFN9 OFN8
G031 M3R OILF TRRTN TRESC
G032 EISTB ERDRQ EOREND EIA8 EXSTP EXRD EXPUN
G033 EIA7 EIA6 EIA5 EIA4 EIA3 EIA2 EIA1 EIA0
G040 1 *RV6B *RV5B *RV4B *RV3B *RV2B *RV1B *RV0B
G041 *RSAV AXC4 AXC2 AXC1
G042 DMMC RTRCT TL256
G043 TL128 TL512 AJP2E AJP1E HS1E HS2E HS3E
G044 *CHLD CHPST *CHP8 *CHP4 *CHP2 *CHP1
G045 CCT ROV1E ROV2E ROV1E
G046 MIGET FIN3X FIN2X FIN1X BFIN TFIN SFIN MFIN
G047 MFIN5 MFIN4 MFIN3 MFIN2
- 1497 -
#7 #6 #5 #4 #3 #2 #1 #0
G064 DTCH1 *SVF1 *DEC1 *IT1 *-ED1 *+ED1 *-L1 *+L1
G065 *CL1 PK1 MLK1 MI1 -J1 +J1
G066 PMCA1 RST1 STP1 SBK1 PCAX1 SYNC1 -MIT1 +MIT1
G067 SCNTR1 VCSKP1 NDCAL1 *ACTF1 DVAL1 RAST1
- 1498 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1499 -
#7 #6 #5 #4 #3 #2 #1 #0
G101 *CL10 PK10 MLK10 MI10 -J10 +J10
G105 *CL11 PK11 MLK11 MI11 -J11 +J11
G109 *CL12 PK12 MLK12 MI12 -J12 +J12
G113 *CL13 PK13 MLK13 MI13 -J13 +J13
G117 *CL14 PK14 MLK14 MI14 -J14 +J14
G121 *CL15 PK15 MLK15 MI15 -J15 +J15
- 1500 -
#7 #6 #5 #4 #3 #2 #1 #0
G125 *CL16 PK16 MLK16 MI16 -J16 +J16
G128
G129
G130
G131
G132
G133
G134
G135
G136
G137
G138
G139
G143 EWN26 EWN25 EWN24
G144
G145
G148 RSPR
G149 FTCLR FTCMD
- 1501 -
#7 #6 #5 #4 #3 #2 #1 #0
G150
G151
G152
G153 AOFS2 AOFS1 CHGAO
G154 *TLV7 *TLV6 *TLV5 *TLV4 *TLV3 *TLV2 *TLV1 *TLV0
G155 *TLV9 *TLV8
G156 TLHD2B TLHD2A TLHD1B TLHD1A CNGTL RNDH RGHTH ALNGH
G157 NOT3DM BCAN
G158 NSYNCA
G159 PWFL
G160
G161 THSTB THML
G162
G163
G164
G165
G166
G167
G168
G169
G170
G171
G172 RLSOT EXLM
G173
G174
- 1502 -
#7 #6 #5 #4 #3 #2 #1 #0
G175
G176
G177 HCREQ HCABT
G180
G181
G182
G183
G184
G185
G186
G187
G188
G189
G190
G191
G192
G193
G194
G195
G196
G197
G198
G199
- 1503 -
#7 #6 #5 #4 #3 #2 #1 #0
G200
G201
G202
G203
G204
G205
G206
G207
G208 RI7C RI6C RI5C RI4C RI3C RI2C RI1C RI0C
G209 RISGNC RI12C RI11C RI10C RI9C RI8C
G210 RCHC RSLC INTGC SOCNC MCFNC SPSLC *ESPC ARSTC
G211 MRDYC ORCMC SFRC SRVC CTH1C CTH2C TLMHC TLMLC
G212 MPOFC SLVC MORCMC
G213 RCHHGC MFNHGC INCMDC OVRIDC DEFMDC NRROC ROTAC INDXC
G214 SH7C SH6C SH5C SH4C SH3C SH2C SH1C SH0C
G215
G216 RI7D RI6D RI5D RI4D RI3D RI2D RI1D RI0D
G217 RISGND RI12D RI11D RI10D RI9D RI8D
G218 RCHD RSLD INTGD SOCND MCFND SPSLD *ESPD ARSTD
G219 MRDYD ORCMD SFRD SRVD CTH1D CTH2D TLMHD TLMLD
G220 MPOFD SLVD MORCMD
G221 RCHHGD MFNHGD INCMDD OVRIDD DEFMDD NRROD ROTAD INDXD
G222 SH7D SH6D SH5D SH4D SH3D SH2D SH1D SH0D
G223
G224
- 1504 -
#7 #6 #5 #4 #3 #2 #1 #0
G225
G226 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
G227 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G228 MPOFA SLVA MORCMA
G229 RCHHGA MFNHGA INCMDA OVRIDA DEFMDA NRROA ROTAA INDXA
G230 SH7A SH6A SH5A SH4A SH3A SH2A SH1A SH0A
G231 SH12s SH11s SH10s SH9s SH8s
G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
G233 RISGNB RI12B RI11B RI10B RI9B RI8B
G234 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
G235 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB
G236 MPOFB SLVB MORCMB
G237 RCHHGB MFNHGB INCMDB OVRIDB DEFMDB NRROB ROTAB INDXB
G238 SH7B SH6B SH5B SH4B SH3B SH2B SH1B SH0B
G239
G241 PK17 MLK17 MI17 -J17 +J17
G245 PK18 MLK18 MI18 -J18 +J18
G249 PK19 MLK19 MI19 -J19 +J19
- 1505 -
#7 #6 #5 #4 #3 #2 #1 #0
G253 PK20 MLK20 MI20 -J20 +J20
G257 PK21 MLK21 MI21 -J21 +J21
G261 PK22 MLK22 MI22 -J22 +J22
G265 PK23 MLK23 MI23 -J23 +J23
G269 PK24 MLK24 MI24 -J24 +J24
G272 GS4B GS2B GS1B *SECLPB *SEUCLB SPSTPB
G273 GS4C GS2C GS1C *SECLPC *SEUCLC SPSTPC
G274 GS4D GS2D GS1D *SECLPD *SEUCLD SPSTPD
- 1506 -
#7 #6 #5 #4 #3 #2 #1 #0
G275 SPCB SPBB SPAB
G276 SPCC SPBC SPAC
G277 SPCD SPBD SPAD
G278
G279
G280
G281
G282
G283
G284
G285
G286
G287
G288
G289
G290
G291
G292 MSBK17 *NZ17 -LM17 +LM17 -EXL17 +EXL17
- 1507 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1508 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1509 -
#7 #6 #5 #4 #3 #2 #1 #0
G365
G366
G367
- 1510 -
#7 #6 #5 #4 #3 #2 #1 #0
G383 OVA7 OVA6 OVA5 OVA4 OVA3 OVA2 OVA1 OVA0
- 1511 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1512 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1513 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1514 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1515 -
#7 #6 #5 #4 #3 #2 #1 #0
- 1516 -
A.1.2 CNC to PMC
#7 #6 #5 #4 #3 #2 #1 #0
F000 MA SA OP STL SPL RST AL RWD
F001 CSS THRD RPD TAP INCH IPEN DEN
F002 MZRN MBRN MSRN MMOVL MTCHIN MTEST
F003 MAGJ MEDT MMEM MT MD MJ MH MS
F004 MMLK MDLK MABS MSBK MBDT1 MDRN MAFL
F005 MBDT9 MBDT8 MBDT7 MBDT6 MBDT5 MBDT4 MBDT3 MBDT2
F007 TLCHB TLCHA ESEND RPBSY BCLP BUCLP
F008 SSP SRV FMF EF BF TF SF MF
F009 DM30 DM02 DM01 DM00
F016 M7 M6 M5 M4 M3 M2 M1 M0
F017 M15 M14 M13 M12 M11 M10 M9 M8
F018 M23 M22 M21 M20 M19 M18 M17 M16
F019 M31 M30 M29 M28 M27 M26 M25 M24
F020 S7 S6 S5 S4 S3 S2 S1 S0
F021 S15 S14 S13 S12 S11 S10 S9 S8
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
F024 T7 T6 T5 T4 T3 T2 T1 T0
- 1517 -
#7 #6 #5 #4 #3 #2 #1 #0
F025 T15 T14 T13 T12 T11 T10 T9 T8
F026 T23 T22 T21 T20 T19 T18 T17 T16
F027 T31 T30 T29 T28 T27 T26 T25 T24
F028 B7 B6 B5 B4 B3 B2 B1 B0
F029 B15 B14 B13 B12 B11 B10 B9 B8
F030 B23 B22 B21 B20 B19 B18 B17 B16
F031 B31 B30 B29 B28 B27 B26 B25 B24
F032 EOSTB EIREND EOA8
F033 EOA7 EOA6 EOA5 EOA4 EOA3 EOA2 EOA1 EOA0
F040 BATL PBATL PBATZ RTAP
F041 RTRCTF
F042 SPCOA SPBOA SPAOA SPALA SCLPA SUCLPA
F043 PRTSF TLEGS TLARV BGEDT
F044 TDUP TRSPS TRMTN TRACT RVSL
F045 SRSRDY MF5 MF4 MF3 MF2
F046 MIFIN MF3X MF2X MF1X
F047 HDO7 HDO6 HDO5 HDO4 HDO3 HDO2 HDO1 HDO0
- 1518 -
#7 #6 #5 #4 #3 #2 #1 #0
F064 MDTCH1 INP1 ZP41 ZP31 MD1 MV1 ZP21 ZP1
F065 +EOT1 +EOT1 FRP1 ZRF1 MMLK1 MMI1
F066 CNCA1 DEN1 BUF1 EGBM1 AMR1 TRQM1 TRQL1
F067 MSCNTR1
F071 MSCNTR2
- 1519 -
#7 #6 #5 #4 #3 #2 #1 #0
F075 MSCNTR3
F079 MSCNTR4
F083 MSCNTR5
F087 MSCNTR6
F091 MSCNTR7
F095 MSCNTR8
F099 MSCNTR9
- 1520 -
#7 #6 #5 #4 #3 #2 #1 #0
MSCNTR
F103 10
MSCNTR
F107 11
MSCNTR
F111 12
MSCNTR
F115 13
MSCNTR
F119 14
MSCNTR
F123 15
- 1521 -
#7 #6 #5 #4 #3 #2 #1 #0
MSCNTR
F127 16
F128 ZRNO SPO
F129 EDTO MEMO TO MDIO JO HO SO
F130 MLKO SBKO BDT1O DRNO
F131 KEYO HS1DO HS1CO HS1BO HS1AO
F132 RTO ROV2O ROV1O MP4O MP2O MP1O HS1EO
F133 *FV7O *FV6O *FV5O *FV4O *FV3O *FV2O *FV1O *FV0O
F136 -J4O +J4O -J3O +J3O -J2O +J2O -J1O +J1O
F137 OPU7 OPU6 OPU5 OPU4 OPU3 OPU2 OPU1 OPU0
F138 -J6O +J6O -J5O +J5O
F139
F140
F144 M207 M206 M205 M204 M203 M202 M201 M200
F145 M215 M214 M213 M212 M211 M210 M209 M208
F146 M307 M306 M305 M304 M303 M302 M301 M300
F147 M315 M314 M313 M312 M311 M310 M309 M308
F148 M407 M406 M405 M404 M403 M402 M401 M400
F149 M415 M414 M413 M412 M411 M410 M409 M408
- 1522 -
#7 #6 #5 #4 #3 #2 #1 #0
F150 M507 M506 M505 M504 M503 M502 M501 M500
F151 M515 M514 M513 M512 M511 M510 M509 M508
F152
F153 SYNER
F154 SPN2 MCHAO AQSP4 AQSP3
F155 AQSP2 AQSP1 SPN1 SPN0 AQSV RSPC RSPM RSPP
F156 OIL
F157 D3MI MBCAN CHPCYL CHPMD
F158 SPO7O SPO6O SPO5O SPO4O SPO3O SPO2O SPO1O SPO0O
F159 D3ROT ADMOD
F160
F161
F162
F163
F164 PSW08 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01
F165 PSW10 PSW09
F166
F167
F168
F169
F170 THREND MTHML
F171
F172
F173
F174
- 1523 -
#7 #6 #5 #4 #3 #2 #1 #0
F175
F176
F177 HCEXE HCAB2
F178
F179
F180
F181
F182
F183
F184
F185
F186
F187
F188
F189
F190
F191
F192
F193
F194
F195
F196 MORA2C MORA1C PORA2C SLVSC RCFNC RCHPC CFINC CHIPC
F197 ORARC TLMC LDT2C LDT1C SARC SDTC SSTC ALMC
F198
F199 INCSTC PC1DEC
- 1524 -
#7 #6 #5 #4 #3 #2 #1 #0
F204 SSPA7C SSPA6C SSPA5C SSPA4C SSPA3C SSPA2C SSPA1C SSPA0C
F205
F206
F207
F208
F209
F210
F211
F212 MORA2D MORA1D PORA2D SLVSD RCFND RCHPD CFIND CHIPD
F213 ORARD TLMD LDT2D LDT1D SARD SDTD SSTD ALMD
F214
F215 INCSTD PC1DED
F220 SSPA7D SSPA6D SSPA5D SSPA4D SSPA3D SSPA2D SSPA1D SSPA0D
F221
F222
F223
F224
- 1525 -
#7 #6 #5 #4 #3 #2 #1 #0
F225
F226
F227
F228 MORA2A MORA1A PORA2A SLVSA RCFNA RCHPA CFINA CHIPA
F229 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
F230
F231 INCSTA PC1DEA
F236 SSPA7A SSPA6A SSPA5A SSPA4A SSPA3A SSPA2A SSPA1A SSPA0A
F237
F238
F239
F240
F241
F242
F243
F244 MORA2B MORA1B PORA2B SLVSB RCFNB RCHPB CFINB CHIPB
F245 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB
F246
F247 INCSTB PC1DEB
- 1526 -
#7 #6 #5 #4 #3 #2 #1 #0
F252 SSPA7B SSPA6B SSPA5B SSPA4B SSPA3B SSPA2B SSPA1B SSPA0B
F253
F254
F255
F256
F257
F258
F259
F260
F261
F262
F263
F264
F265
F266
F267
F268
F269
F270
F271
F272
F273
F274
- 1527 -
#7 #6 #5 #4 #3 #2 #1 #0
F275
F276
F277
F278
F279
F280
F281
F282
F283
F284
F285
F286
F287
F289 -EOT17 +EOT17 FRP17 ZRF17 MMLK17 MMI17
MSCNTR
F291 17
MSCNTR
F295 18
MSCNTR
F299 19
- 1528 -
#7 #6 #5 #4 #3 #2 #1 #0
MSCNTR
F303 20
MSCNTR
F307 21
MSCNTR
F311 22
MSCNTR
F315 23
MSCNTR
F319 24
- 1529 -
#7 #6 #5 #4 #3 #2 #1 #0
F338 SPCOB SPBOB SPAOB SPALB SCLPB SUCLPB
F339 SPCOC SPBOC SPAOC SPALC SCLPC SUCLPC
F340 SPCOD SPBOD SPAOD SPALD SCLPD SUCLPD
F341 CSSA SRRDYA
F342 CSSB SRRDYB
F343 CSSC SRRDYC
F344 CSSD SRRDYD
F345
F346
F347
F348
- 1530 -
#7 #6 #5 #4 #3 #2 #1 #0
F359
F360
F361
F362
F363
F364
F365
F366
F367
F368
F369
F370
F371
F372
F373
F374
- 1531 -
#7 #6 #5 #4 #3 #2 #1 #0
F375
F376
F377
F378
F379
F380
F381
F382
F383
F384
F385
F386
F387
F388
F389
F390
F391
F392
F393
F394
F395
F396
F397
F398
F399
- 1532 -
#7 #6 #5 #4 #3 #2 #1 #0
F400
F401
F402
F403
F404
F405
F406
F407
F408
F409
F410
F411
F412
F413
F414
F415
F416
F417
F418
F419
F420
F421
F422
F423
F424
- 1533 -
#7 #6 #5 #4 #3 #2 #1 #0
F425
F426
F427
F428
F429
F430
F431
F432
F433
F434
F435
F436
F437
F438
F439
F440
F441
F442
F443
F444
F445
F446
F447
F448
F449
- 1534 -
#7 #6 #5 #4 #3 #2 #1 #0
F450
F451
F452
F453
F454
F455
F456
F457
F458
F459
F460
F461
F462
F463
F464
F465
F466
F467
F468
F469
F470
F471
F472
F473
F474
- 1535 -
#7 #6 #5 #4 #3 #2 #1 #0
F475
F476
F477
F478
F479
F480
F481
F482
F483
F484
F485
F486
F487
F488
F489
F490
F491
F492
F493
F494
F495
F496
F497
F498
F499
- 1536 -
#7 #6 #5 #4 #3 #2 #1 #0
F500
F501
F502
F503
F504
F505
F506
F507
F508
F509
F510
F511
- 1537 -
A.2 SIGNAL LIST
A.2.1 Signal List (in Order of Symbol)

Symbol Signal name Address Bit Reference item
1 1-% rapid traverse override signal G040 7

*+ED1 External deceleration signal G064 2 7.1.9, 14.1
*+L1 Overtravel signal G064 0 2.3.1
*ACTF1 Actual cutting feedrate display axis select signal G067 4
- 1538 -

*AFV0 Second feedrate override signal G013 0 7.1.7.3
*AFV0B Second feedrate override signal B G146 0 7.1.7.3
*AIT Automatic operation all-axis interlock signal G001 0 2.5
*BECLP B-AXIS CLAMPING COMPLETION SIGNAL G019 7 11.8
*BEUCL B-AXIS UNCLAMPING COMPLETION SIGNAL G019 6 11.8
*BSL Block start interlock signal G001 1 2.5
*CHLD Chopping pause signal G044 7 1.12
*CHP1 Chopping speed override signal G044 0 1.12
*CSL Cutting block start interlock signal G000 1 2.5
*CL1 Dual position feedback compensation clamp signal G065 5 1.14
*CSMZ In-position check signal G008 1 7.2.3.1
*DEC1 Deceleration signal for reference position return G064 5 4.1
- 1539 -

*-ED1 External deceleration signal G064 3 7.1.9, 14.1
*ESP Emergency stop signal G000 4 2.1
*ESPA Serial spindle emergency stop command signal G226 1
*ESPB Serial spindle emergency stop command signal G234 1
*ESPC Serial spindle emergency stop command signal G210 1
*ESPD Serial spindle emergency stop command signal G218 1
*FV0 Feedrate override signal G012 0 7.1.7.2
*FV0O Feedrate override soft switch F133 0
*IT All-axis interlock signal G000 0 2.5
*IT1 Axis-by-axis interlock signal G064 4 2.5
- 1540 -

*JV0 Manual feedrate override signal G014 0 3.1
*JV0O Manual feedrate override soft switch F134 0
*-L1 Overtravel signal G064 1 2.3.1
- 1541 -

*NZ1 Reference position proximity signal G384 4 4.1
*RSAV Automatic screen erasure disable signal G41 6 12. 1.17
*RV0B 1-% rapid traverse override signal G040 0 7.1.7.1
*SECLPA Spindle clamping completion signal G026 3 9.6
*SECLPB Spindle clamping completion signal G272 3 9.6
*SECLPC Spindle clamping completion signal G273 3 9.6
*SECLPD Spindle clamping completion signal G274 3 9.6
*SEUCLA Spindle unclamping completion signal G026 2 9.6
*SEUCLB Spindle unclamping completion signal G272 2 9.6
*SEUCLC Spindle unclamping completion signal G273 2 9.6
*SEUCLD Spindle unclamping completion signal G274 2 9.6
*SP Automatic operation pause signal G000 5 5.1
*SVF1 Servo off signal G064 6 1.2.8
- 1542 -

*TLV0 Tool life management count override signal G155 0 10.3
+AJ Manual arbitrary-angle feed signal G017 5 3.8
+EOT1 PMC axis overtravel signal F065 6 14.1
+EXL1 Axis-direction-by-axis-direction stored stroke limit switching signal G384 0 2.3.2
+J1 Feed axis/direction select signal G065 0 3.1
+J30 Jog feed/manual step feed axis direction selection soft switch F136 4
- 1543 -

+LM1 Stroke limit externally setting signal G384 2 2.3.2
+MIT1 +Minus direction manual feed interlock G066 0
- 1544 -

-AJ Manual arbitrary-angle feed signal G017 6 3.8
-EXL1 Axis-direction-by-axis-direction stored stroke limit switching signal G384 1 2.3.2
-EOT1 PMC axis overtravel signal F065 7 14.1
-J1 Feed axis/direction select signal G065 1 3.1
-J10 Jog feed/manual step feed axis direction selection soft switch F136 1
- 1545 -

-LM1 Stroke limit externally setting signal G384 3 2.3.2
ABS Manual absolute signal G004 5 5.4
ADMOD Acceleration/deceleration-before-look-ahead-interpolation mode signal F159 2 7.2.2
AE1 Measurement position reach signal G001 2 14.4
AE2 Measurement position reach signal G001 3
AE3 Measurement position reach signal G001 4
AF1X0 Auxiliary function BCD code signal F141 0 14.1
- 1546 -

AFL Auxiliary function lock signal G004 0 8.2
AGJ Manual arbitrary-angle feed select signal G003 7 2.6
AJA0 Manual arbitrary-angle feed direction select signal G016 0 3.8
AJP1A Manual arbitrary-angle feed axis select signal G018 0 3.8
AJP1B Manual arbitrary-angle feed axis select signal G018 1 3.8
AJP1C Manual arbitrary-angle feed axis select signal G018 2 3.8
AJP1D Manual arbitrary-angle feed axis select signal G018 3 3.8
AJP1E Manual arbitrary-angle feed axis select signal G043 4
AJP2A Manual arbitrary-angle feed axis select signal G018 4 3.8
AJP2B Manual arbitrary-angle feed axis select signal G018 5 3.8
AJP2C Manual arbitrary-angle feed axis select signal G018 6 3.8
AJP2D Manual arbitrary-angle feed axis select signal G018 7 3.8
AJP2E Manual arbitrary-angle feed axis select signal G043 5
AJSTB Manual arbitrary-angle feed direction select signal G017 7 3.8
AL Alarm signal F000 1 2.4, 12.1.3
ALMA Serial spindle alarm signal F229 0
ALMB Serial spindle alarm signal F245 0
ALMC Serial spindle alarm signal F197 0
ALMD Serial spindle alarm signal F213 0
ALNGH Tool axis direction handle mode signal G156 0 3.5
AMR1 Linear motor activation phase establishment signal F066 2
AOFS1 Active offset selection signal G153 5 13.6
AOFS2 Active offset selection signal G153 6 13.6
AQSP1 First spindle abnormal load detection signal F155 6 2.9
AQSP2 Second spindle abnormal load detection signal F155 7 2.9
AQSP3 Third spindle abnormal load detection signal F154 2 2.9
AQSP4 Fourth spindle abnormal load detection signal F154 3 2.9
- 1547 -
AQSV Servo axis abnormal load detection signal F155 3 2.9

AR0A Actual spindle speed signal F012 0 9.5
AR0B Actual spindle speed signal F322 0 9.5
AR0C Actual spindle speed signal F328 0 9.5
AR0D Actual spindle speed signal F334 0 9.5
ARSTA Serial spindle alarm reset signal G226 0
ARSTB Serial spindle alarm reset signal G234 0
- 1548 -
ARSTC Serial spindle alarm reset signal G210 0

ARSTD Serial spindle alarm reset signal G218 0
AXC1 Axis switching signal G041 0 11.13
B0 Second auxiliary function code signal F028 0 8.1
BATL Battery low voltage alarm signal F040 7 2.4
BCAN Block cancellation signal G157 6 5.11
BCLP B-AXIS CLAMPING SIGNAL F007 1 11.7, 11.8
BDT1 Optional block skip signal G004 2 5.5
BDT1O Optional block skip soft switch F130 2
BF Second auxiliary function strobe signal F008 3 8.1
BFIN Second auxiliary function completion signal G046 3 8.4
BGEDT Background editing state output signal F043 3
BRN Block restart select signal G002 6 5.8
BUCLP B-AXIS UNCLAMPING SIGNAL F007 0 11.8
BUF1 Buffer full signal F066 5 7.1.9, 14.1
BUF2 Buffer full signal F070 5 14.1
- 1549 -

CCT Cumulative cutting time count request signal G045 6 11.5
CD10X0 Axis control command code signal G457 0 14.1
- 1550 -

- 1551 -

- 1552 -

CFINA Serial spindle switching completion signal F228 1
CFINB Serial spindle switching completion signal F244 1
CFINC Serial spindle switching completion signal F196 1
CFIND Serial spindle switching completion signal F212 1
CHGAO Active offset change mode signal G153 4 13.6
CHIPA Serial spindle power line switching signal F228 0
CHIPB Serial spindle power line switching signal F244 0
CHIPC Serial spindle power line switching signal F196 0
CHIPD Serial spindle power line switching signal F212 0
CHPCYL Chopping-operation-in-progress signal F157 3 1.12
CHPMD Chopping-in-progress signal F157 2 1.12
CHPST Chopping start signal G044 6 1.12
CNCA1 Axis control command read completion signal F066 7 14.1
CNGTL Tool axis direction tool length compensation change handle mode signal G156 3 3.5
CSS Constant surface speed signal F001 7 9.4
CSSA Constant surface speed signal F341 1 9.4
CSSB Constant surface speed signal F342 1 9.4
CSSC Constant surface speed signal F343 1 9.4
CSSD Constant surface speed signal F344 1 9.4
CTH1A Serial spindle clutch/gear signal G227 3 9.3, 9.6, 9.7, 9.8
CTH1B Serial spindle clutch/gear signal G235 3 9.3, 9.6, 9.7, 9.8
CTH1C Serial spindle clutch/gear signal G211 3 9.3, 9.6, 9.7, 9.8
CTH1D Serial spindle clutch/gear signal G219 3 9.3, 9.6, 9.7, 9.8
CTH2A Serial spindle clutch/gear signal G227 2 9.3, 9.6, 9.7, 9.8
CTH2B Serial spindle clutch/gear signal G235 2 9.3, 9.6, 9.7, 9.8
CTH2C Serial spindle clutch/gear signal G211 2 9.3, 9.6, 9.7, 9.8
CTH2D Serial spindle clutch/gear signal G219 2 9.3, 9.6, 9.7, 9.8
CTSF00 Custom soft key function signals F349 0 12.1.24
- 1553 -

- 1554 -
D Manual data input select signal G003 3 2.6

D3MI Three-dimensional coordinate conversion manual interrupt mode signal F157 5 3.6, 11.12
D3ROT Three-dimensional coordinate conversion mode signal F159 3 11.12
DEFMDA Serial spindle differential mode command signal G229 3
DEFMDB Serial spindle differential mode command signal G237 3
DEFMDC Serial spindle differential mode command signal G213 3
DEFMDD Serial spindle differential mode command signal G221 3
DEN Distribution completion signal F001 0 8.1
DEN1 Distribution completion signal F066 6 14.1
DIST0 Incremental feed travel distance select signal G020 0 3.1
DLK Display lock signal G004 6
DM00 M DECODE SIGNAL F009 4 8.1
DRN Dry run signal G004 1 5.3.2
DMMC DNC operation select signal from the open CNC G042 7 5.16
DRNO Dry run soft switch F130 1
- 1555 -
DT10X0 Axis control data signal G460 0 14.1

- 1556 -

- 1557 -

- 1558 -

DT17X0 Axis control data signal G296 0
- 1559 -

- 1560 -

- 1561 -

- 1562 -

- 1563 -

- 1564 -

- 1565 -

- 1566 -

DTCH1 Controlled-axis removal signal G064 7 1.2.4
DVAL Velocity control servo alarm invalidation signal G026 1 2.4, 2.8
DVAL1 V-READY OFF ALARM INVALIDATION SIGNAL G067 3 2.8
- 1567 -

EDT Tape program and edit select signal G003 6 2.6
EDTO Program storage and edit soft switch F129 6
EF External operation signal F008 4 11.7
EGBM1 EGB MODE SIGNAL F066 3 1.13.5
EIA0 Address signal for external data input G033 0 14.1.1
EIA8 Address signal for external data input G032 4
EID0 Data signal for external data input G036 0
- 1568 -

EIREND Read completion signal for external data input F032 5
EISTB Strobe signal for external data input G032 7 14.1.1
EOA0 Address signal for external data output F033 0 14.1.1
EOA8 Address signal for external data output F032 4
EOD0 Data signal for external data output F036 0 14.1.1
- 1569 -

EOREND Read completion signal for external data output G032 5 14.1.1
EOSTB Strobe signal for external data output F032 7
ERDRQ External data output request signal G032 6 14.1.1
ERS External reset signal G000 7 5.2
ESEND External search completion signal F007 5 14.1.1
EWN0 Extended external workpiece number search signal G140 0 15.2
EXLM Stored stroke limit switching signal G172 0 2.3.2
EXPUN External punch start signal G032 0 13.2
EXRD External read start signal G032 1 13.2
EXSTP External read/punch stop signal G032 2 13.2
F1D SINGLE-DIGIT F SELECT SIGNAL G005 3 7.1.5
FD10X0 Feedrate specification signal G458 0 14.1
- 1570 -

- 1571 -

- 1572 -

- 1573 -

- 1574 -

- 1575 -

FFIN Canned cycle auxiliary signal completion signal G005 2 11.6
FIN Completion signal G005 1 8.1, 9.1, 9.3, 9.6,
9.8
FIN1X Auxiliary function completion signal G046 4
FMF Canned cycle auxiliary signal read signal F008 5 11.6
FRP1 Floating reference position return completion signal F065 5 4.6
- 1576 -

FTCLR Store counter clear signal G149 2 12.1.26
FTCMD Torque sensing command signal G149 0 12.1.26
GOQSM Tool compensation measurement mode select signal G028 7 14.3
GS1A Spindle gear select signal G026 4 9.3, 9.6, 9.8
GS1B Spindle gear select signal G272 4 9.3, 9.6, 9.8
GS1C Spindle gear select signal G273 4 9.3, 9.6, 9.8
GS1D Spindle gear select signal G274 4 9.3, 9.6, 9.8
H Manual handle feed select signal G003 1 2.6
HBTRN Dual position feedback turning mode select signal G008 4 1.14
HCAB2 Hard copy stop request accepted signal F177 6 13.4
HCABT Hard copy stop request signal G177 6 13.4
HCEXE Hard copy in progress signal F177 7 13.4
HCREQ Hard copy execution request signal G177 7 13.4
HDO0 High-speed skip state signal F047 0 14.5.2
HO Manual handle feed soft switch F129 1
HS1A Manual handle feed axis select signal G011 0 3.2
HS1AO Manual handle feed axis selection soft switch F131 0
HS1B Manual handle feed axis select signal G011 1 3.2
HS1BO Manual handle feed axis selection soft switch F131 1
HS1C Manual handle feed axis select signal G011 2 3.2
HS1CO Manual handle feed axis selection soft switch F131 2
HS1D Manual handle feed axis select signal G011 3 3.2
HS1DO Manual handle feed axis selection soft switch F131 3
HS1E Manual handle feed axis select signal G043 2
HS1EO Manual handle feed axis selection soft switch F132 0
INCH Inch input signal F001 3 11.3
INCMDA Serial spindle incremental command externally-set-type orientation G229 5
signal
INCMDB Serial spindle incremental command externally-set-type orientation G237 5
signal
INCMDC Serial spindle incremental command externally-set-type orientation G213 5
signal
INCMDD Serial spindle incremental command externally-set-type orientation G221 5
signal
INCSTA Serial spindle incremental orientation mode signal F231 1
INCSTB Serial spindle incremental orientation mode signal F247 1
INCSTC Serial spindle incremental orientation mode signal F199 1
- 1577 -
INCSTD Serial spindle incremental orientation mode signal F215 1

INDXA Serial spindle orientation stop position change command signal G229 0
INDXB Serial spindle orientation stop position change command signal G237 0
INDXC Serial spindle orientation stop position change command signal G213 0
INDXD Serial spindle orientation stop position change command signal G221 0
INP1 In-position signal F064 6 7.2.3.1
INTGA Serial spindle speed integration control signal G226 5
INTGB Serial spindle speed integration control signal G234 5
INTGC Serial spindle speed integration control signal G210 5
INTGD Serial spindle speed integration control signal G218 5
IPEN Distribution completion signal F001 1 8.1
J Jog feed select signal G003 2 2.6
JO Jog feed soft switch F129 2
KEY1 Memory protection key signal G005 4 12.4.3
KEYO Memory protection soft switch F131 4
LDT1A Serial spindle load detection signal 1 F229 4
LDT1B Serial spindle load detection signal 1 F245 4
LDT1C Serial spindle load detection signal 1 F197 4
LDT1D Serial spindle load detection signal 1 F213 4
LDT2A Serial spindle load detection signal 2 F229 5
LDT2B Serial spindle load detection signal 2 F245 5
LDT2C Serial spindle load detection signal 2 F197 5
LDT2D Serial spindle load detection signal 2 F213 5
M0 Auxiliary function code signal F016 0 8.1, 9.3, 9.6
- 1578 -

M200 Auxiliary function code signal F144 0 8.3
M3R Three-dimensional coordinate conversion manual intervention switching G031 3 11.12
signal
- 1579 -

MA Ready signal F000 7 2.2
MABS Manual absolute confirmation signal F004 5 5.4
MAFL Auxiliary function lock confirmation signal F004 0 8.2
MAGJ Manual arbitrary-angle feed selection confirmation signal F003 7 2.6
MBCAN Block cancellation confirmation signal F157 4 5.11
MBDT1 Optional block skip confirmation signal F004 2 5.5
MBRN Block restarting signal F002 6 6
MCFNA Serial spindle power line switching completion signal G226 3
MCFNB Serial spindle power line switching completion signal G234 3
MCFNC Serial spindle power line switching completion signal G210 3
MCFND Serial spindle power line switching completion signal G218 3
MCHAO Active offset changing signal F154 5 13.6
MD Manual data input selection confirmation signal F003 3 2.6
MD1 Axis travel direction signal F064 3 1.2.5
MDIO Manual data input soft switch F129 3
MDLK Display lock confirmation signal F004 6
MDRN Dry run confirmation signal F004 1 5.3.2
MDTCH1 Controlled-axis removal in progress signal F064 7 1.2.4
- 1580 -

MEDT Tape program storage and edit selection confirmation signal F003 6 2.6
MEM Memory command select signal G003 5 2.6
MEMO Memory command soft switch F129 5
MF Auxiliary function strobe signal F008 0 8.1, 9.3, 9.6
MF1X Auxiliary function read signal F046 0 14.1
MF2 Auxiliary function strobe signal F045 1 8.3
MFIN Auxiliary function completion signal G046 0 8.4
MFIN2 Auxiliary function completion signal G047 1 8.4
MFNHGA Serial spindle switching MAIN-side MCC contact state signal G229 6
MFNHGB Serial spindle switching MAIN-side MCC contact state signal G237 6
MFNHGC Serial spindle switching MAIN-side MCC contact state signal G213 6
MFNHGD Serial spindle switching MAIN-side MCC contact state signal G221 6
MH Manual handle feed selection confirmation signal F003 1 2.6
MI1 Mirror image signal G065 2 1.2.6
MIFIN Manual intervention amount recovery completion signal F046 3
MIGET Manual intervention amount recovery request signal G046 7 5.14
-MIT1 -Minus direction manual feed interlock G066 1
- 1581 -

MJ Jog feed selection confirmation signal F003 2 2.6
MLK All-axis machine lock signal G004 7 5.3.1
MLK1 Axis-by-axis machine lock signal G065 3 5.3.1
MLKO All-axis machine lock soft switch F130 7
MMEM Memory command selection confirmation signal F003 5 2.6
MMI1 Mirror image confirmation signal F065 0 1.2.6
- 1582 -

MMLK All-axis machine lock confirmation signal F004 7 5.3.1
MMLK1 Axis-by-axis machine lock confirmation signal F065 1 5.3.1
MMOVL Simultaneous manual-automatic operation selection confirmation signal F002 4 2.6
MORA1A Serial spindle magnetic-sensor-type orientation completion signal F228 6
MORA1B Serial spindle magnetic-sensor-type orientation completion signal F244 6
MORA1C Serial spindle magnetic-sensor-type orientation completion signal F196 6
MORA1D Serial spindle magnetic-sensor-type orientation completion signal F212 6
MORA2A Serial spindle magnetic-sensor-type orientation proximity signal F228 7
MORA2B Serial spindle magnetic-sensor-type orientation proximity signal F244 7
MORA2C Serial spindle magnetic-sensor-type orientation proximity signal F196 7
MORA2D Serial spindle magnetic-sensor-type orientation proximity signal F212 7
MORCMA Serial spindle magnetic-sensor-type orientation command signal G228 0
MORCMB Serial spindle magnetic-sensor-type orientation command signal G236 0
MORCMC Serial spindle magnetic-sensor-type orientation command signal G212 0
MORCMD Serial spindle magnetic-sensor-type orientation command signal G220 0
MOVL Simultaneous manual-automatic operation select signal G002 4 2.6
MP1 Manual handle feed travel distance select signal G006 2 3.2
MP1O Manual handle feed travel distance selection soft switch F132 2
MPOFA Serial spindle motor power shutoff command signal G228 2
MPOFB Serial spindle motor power shutoff command signal G236 2
MPOFC Serial spindle motor power shutoff command signal G212 2
MPOFD Serial spindle motor power shutoff command signal G220 2
MR0A Maximum spindle speed signal F014 0 9.4
MR0B Maximum spindle speed signal F324 0 9.4
MR0C Maximum spindle speed signal F330 0 9.3, 9.4
MR0D Maximum spindle speed signal F336 0 9.3, 9.4
- 1583 -

MRDYA Serial spindle machine ready signal G227 7
MRDYB Serial spindle machine ready signal G235 7
MRDYC Serial spindle machine ready signal G211 7
MRDYD Serial spindle machine ready signal G219 7
MS Incremental feed selection confirmation signal F003 0 2.6
MSBK Single block confirmation signal F004 3 5.3.3
MSBK1 Block stop inhibit signal G384 7 14.1
- 1584 -

MSCNTR1 Spindle contour control mode switching confirmation signal F067 7 9.7
MSRN Program restarting signal F002 5 5.7
MT Tape command selection confirmation signal F003 4 2.6, 5.13
MTCHIN Teach-in selection confirmation signal F002 3 12.4.6
MTEST Test mode selection confirmation signal F002 2
MTHML Thermal growth compensation check signal F170 3 1.3.13
MV1 Axis travel in progress signal F064 2 1.2.5
- 1585 -

MZRN Manual reference position return selection confirmation signal F002 7 4.1
NDCAL1 Separate detector disconnection alarm ignore signal G067 5 14.1
NOT3DM Three-dimensional coordinate conversion manual interrupt switching G157 7 11.12
signal
NRROA Serial spindle orientation stop position change-time shorter way G229 2
command signal
NRROB Serial spindle orientation stop position change-time shorter way G237 2
command signal
NRROC Serial spindle orientation stop position change-time shorter way G213 2
command signal
NRROD Serial spindle orientation stop position change-time shorter way G221 2
command signal
NSYNCA Synchronous control torque difference detection disable signal G158 3 1. 9.6
OFN0 Tool compensation number select signal G028 0 14.3
OHALM Alarm division signal F006 2 12.1.3
OIL Lubrication signal F156 3 11.14
OILF Lubrication completion signal G031 2 11.14
OP Automatic operation-in-progress signal F000 5 5.1
OPU0 General-purpose soft switch F137 0
ORARA Serial spindle orientation completion signal F229 7
ORARB Serial spindle orientation completion signal F245 7
ORARC Serial spindle orientation completion signal F197 7
ORARD Serial spindle orientation completion signal F213 7
ORCMA Serial spindle orientation command signal G227 6
ORCMB Serial spindle orientation command signal G235 6
ORCMC Serial spindle orientation command signal G211 6
- 1586 -
ORCMD Serial spindle orientation command signal G219 6

OTALM Alarm division signal F006 3 12.1.3
OV10X0 Override signal for PMC axis control on each axis G377 0 14.1
- 1587 -
- 1588 -
OVA0 Override signal for PMC axis control in simultaneous start mode G383 0 14.1
- 1589 -
OVC Override cancellation signal G004 4 7.1.7.4
OVRIDA Serial spindle analog override signal G229 4
OVRIDB Serial spindle analog override signal G237 4
OVRIDC Serial spindle analog override signal G213 4
OVRIDD Serial spindle analog override signal G221 4
PBATL Absolute position detector battery low voltage alarm signal F040 6 1.6.2
PBATZ Absolute position detector battery zero voltage alarm signal F040 5 1.6.2
PC1DEA Serial spindle position coder one-rotation signal detection state signal F231 0
PC1DEB Serial spindle position coder one-rotation signal detection state signal F247 0
PC1DEC Serial spindle position coder one-rotation signal detection state signal F199 0
PC1DED Serial spindle position coder one-rotation signal detection state signal F215 0
PCAX1 PMC AXIS CONTROL SIGNAL G066 3 14.1
PCSKP PMC axis skip signal G045 2 14.1
PK1 Parking signal G065 4 1.8
PMCA1 Axis control command read strobe signal G066 7 14.1
- 1590 -

PORA2A Serial spindle orientation-by-a-position-coder proximity signal F228 5
PORA2B Serial spindle orientation-by-a-position-coder proximity signal F244 5
PORA2C Serial spindle orientation-by-a-position-coder proximity signal F196 5
PORA2D Serial spindle orientation-by-a-position-coder proximity signal F212 5
PRTSF Required-number-of-parts reach signal F043 6 12.1.10
PSALM Alarm division signal F006 0 12.1.3
PSW01 Position switch signal F164 0 1.3
PWFL Power failure deceleration signal G159 3 1.15
RAST1 Automatically set reference position number signal G067 2 4.3
RCFNA Serial spindle output switching completion signal F228 3
RCFNB Serial spindle output switching completion signal F244 3
RCFNC Serial spindle output switching completion signal F196 3
RCFND Serial spindle output switching completion signal F212 3
RCHA Serial spindle power line state confirmation signal G226 7
RCHB Serial spindle power line state confirmation signal G234 7
RCHC Serial spindle power line state confirmation signal G210 7
RCHD Serial spindle power line state confirmation signal G218 7
- 1591 -
RCHHGA Serial spindle switching HIGH-side MCC contact state signal G229 7
RCHHGB Serial spindle switching HIGH-side MCC contact state signal G237 7
RCHHGC Serial spindle switching HIGH-side MCC contact state signal G213 7
RCHHGD Serial spindle switching HIGH-side MCC contact state signal G221 7
RCHPA Serial spindle output switching signal F228 2
RCHPB Serial spindle output switching signal F244 2
RCHPC Serial spindle output switching signal F196 2
RCHPD Serial spindle output switching signal F212 2
RGHTH Direction-perpendicular-to-tool-axis handle mode signal G156 1 3.5
RI0A Spindle motor command voltage signal G024 0 9.3
RI0B Spindle motor command voltage signal G232 0 9.3
RI0C Spindle motor command voltage signal G208 0 9.3
RI0D Spindle motor command voltage signal G216 0 9.3
RISGNA Spindle motor command voltage signal G025 7 9.3
RISGNB Spindle motor command voltage signal G233 7 9.3
RISGNC Spindle motor command voltage signal G209 7 9.3
RISGND Spindle motor command voltage signal G217 7 9.3
RLSOT Stroke check release signal G172 1 2.3.2
RNDH Tool tip center rotation handle mode signal G156 2 3.5
- 1592 -
RO0A Specified spindle speed signal F010 0 9.3, 9.4

RO0B Specified spindle speed signal F320 0 9.3, 9.4
RO0C Specified spindle speed signal F326 0 9.4
RO0D Specified spindle speed signal F332 0 9.4
ROTAA Serial spindle orientation stop position change-time rotation direction G229 1
command signal
ROTAB Serial spindle orientation stop position change-time rotation direction G237 1
- 1593 -
command signal
ROTAC Serial spindle orientation stop position change-time rotation direction G213 1
command signal
ROTAD Serial spindle orientation stop position change-time rotation direction G221 1
command signal
ROV1 Rapid traverse override signal G006 5 7.1.7.1
ROV1E PMC AXIS CONTROL RAPID TRAVERSE OVERRIDE SIGNAL G045 0 14.1
ROV1O Rapid traverse override soft switch F132 5
ROV2 Rapid traverse override signal G006 6 7.1.7.1
ROV2E PMC AXIS CONTROL RAPID TRAVERSE OVERRIDE SIGNAL G045 1 14.1
ROV2O Rapid traverse override soft switch F132 6
RPBSY Reading/punching-in-progress signal F007 4 13.2
RPD Rapid traverse in progress signal F001 5 2.7, 7.1.1
RRW Reset & rewind signal G000 6 5.2
RSLA Serial spindle output switching request signal G226 6
RSLB Serial spindle output switching request signal G234 6
RSLC Serial spindle output switching request signal G210 6
RSLD Serial spindle output switching request signal G218 6
RSPC Spindle constant speed signal F155 2 9.8
RSPM Spindle rotation direction signal F155 1 9.8
RSPP Spindle rotation direction signal F155 0 9.8
RSPR Spindle rotation direction reverse signal G148 3 9.8
RST Reset-in-progress signal F000 2
RST1 Reset signal G066 6 14.1
RT Manual rapid traverse select signal G006 7 3.1
RTAP Rigid tapping-in-progress signal F040 4 9.8
RTO Manual rapid traverse selection soft switch F132 7
RTRCT Retract signal G042 4 1.13.5
RTRCTF Retract completion signal F041 4 1.13.5
RVS Reverse operation signal G029 4 5.9
RVSL Reverse-operation-in-progress signal F044 2 5.9
RWD Rewind-in-progress signal F000 0 5.2
S Incremental feed select signal G003 0 2.6
S0 Spindle function code signal F020 0 8.1, 9.1, 9.3, 9.8
- 1594 -
SA Servo ready signal F000 6 2.2
SARA Serial spindle speed arrival signal F229 3
SARB Serial spindle speed arrival signal F245 3
SARC Serial spindle speed arrival signal F197 3
SARD Serial spindle speed arrival signal F213 3
SBK Single block signal G004 3 1.12, 5.3.3
SBK1 Block stop signal G066 4 14.1
SBK6 Block stop signal G086 4
SBKO Single block soft switch F130 3
SCLPA Spindle clamping signal F042 1 9.6
SCLPB Spindle clamping signal F338 1 9.6
SCLPC Spindle clamping signal F339 1 9.6
SCLPD Spindle clamping signal F340 1 9.6
SCNTR1 Spindle contour control mode switching signal G067 7 9.7
- 1595 -

SDTA Serial spindle speed detection signal F229 2
SDTB Serial spindle speed detection signal F245 2
SDTC Serial spindle speed detection signal F197 2
SDTD Serial spindle speed detection signal F213 2
SF Spindle function strobe signal F008 1 8.1, 9.1, 9.3, 9.8
SFIN Spindle function completion signal G046 1 8.4
SFRA Serial spindle forward rotation command signal G227 5
SFRB Serial spindle forward rotation command signal G235 5
SFRC Serial spindle forward rotation command signal G211 5
SFRD Serial spindle forward rotation command signal G219 5
SH0A Serial spindle orientation stop position command signal G230 0 9.9
SH0B Serial spindle orientation stop position command signal G238 0 9.9
SH0C Serial spindle orientation stop position command signal G214 0 9.9
SH0D Serial spindle orientation stop position command signal G222 0 9.9
SH10s Serial spindle orientation stop position command signal G231 2 9.9
SH12s Serial spindle orientation stop position command signal G231 4
SKIP1 Skip signal G000 3 14.3, 14.5.1,
14.5.3
SKIP2 Skip signal G001 5 14.5.3
SLDM0A Serial spindle motor torque signal F232 0 9.3
SLDM0B Serial spindle motor torque signal F248 0 9.3
- 1596 -
SLDM0C Serial spindle motor torque signal F200 0 9.3

SLDM0D Serial spindle motor torque signal F216 0 9.3
SLVA Serial spindle subordinate operation mode command signal G228 1
SLVB Serial spindle subordinate operation mode command signal G236 1
SLVC Serial spindle subordinate operation mode command signal G212 1
SLVD Serial spindle subordinate operation mode command signal G220 1
SLVSA Serial spindle subordinate operation state signal F228 4
- 1597 -
SLVSB Serial spindle subordinate operation state signal F244 4

SLVSC Serial spindle subordinate operation state signal F196 4
SLVSD Serial spindle subordinate operation state signal F212 4
SO Incremental feed soft switch F129 0
SOCNA Serial spindle soft start/stop cancellation signal G226 4
SOCNB Serial spindle soft start/stop cancellation signal G234 4
SOCNC Serial spindle soft start/stop cancellation signal G210 4
SOCND Serial spindle soft start/stop cancellation signal G218 4
SPAA Spindle override signal G029 0
SPAB Spindle override signal G275 0
SPAC Spindle override signal G276 0
SPAD Spindle override signal G277 0
SPALA Spindle speed fluctuation alarm signal F042 2
SPALB Spindle speed fluctuation alarm signal F338 2
SPALC Spindle speed fluctuation alarm signal F339 2
SPALD Spindle speed fluctuation alarm signal F340 2
SPAOA Spindle override regeneration signal F042 4
SPAOB Spindle override regeneration signal F338 4
SPAOC Spindle override regeneration signal F339 4
SPAOD Spindle override regeneration signal F340 4
SPBA Spindle override signal G029 1
SPBB Spindle override signal G275 1
SPBC Spindle override signal G276 1
SPBD Spindle override signal G277 1
SPBOA Spindle override regeneration signal F042 5
SPBOB Spindle override regeneration signal F338 5
SPBOC Spindle override regeneration signal F339 5
SPBOD Spindle override regeneration signal F340 5
SPCA Spindle override signal G029 2
SPCB Spindle override signal G275 2
SPCC Spindle override signal G276 2
SPCD Spindle override signal G277 2
SPCOA Spindle override regeneration signal F042 6
SPCOB Spindle override regeneration signal F338 6
SPCOC Spindle override regeneration signal F339 6
SPCOD Spindle override regeneration signal F340 6
SPL Automatic operation pausing signal F000 3 5.1
SPN0 Spindle control confirmation signal F155 4 9.2
SPO Automatic operation pause soft switch F128 5
SPO0O Spindle rotation speed override soft switch F158 0 0
SPSLA Serial spindle selection command signal G226 2
SPSLB Serial spindle selection command signal G234 2
SPSLC Serial spindle selection command signal G210 2
SPSLD Serial spindle selection command signal G218 2
SPSTPA Spindle stop confirmation signal G026 0 9.6, 9.8
SPSTPB Spindle stop confirmation signal G272 0 9.6, 9.8
SPSTPC Spindle stop confirmation signal G273 0 9.6, 9.8
SPSTPD Spindle stop confirmation signal G274 0 9.6, 9.8
SRN Program restart select signal G002 5 5.7
SRRDYA Spindle ready signal F341 0 9.3
SRRDYB Spindle ready signal F342 0 9.3
SRRDYC Spindle ready signal F343 0 9.3
SRRDYD Spindle ready signal F344 0 9.3
SRSRDY All-serial spindle ready signal F045 5 9.3
SRV Canned cycle reverse spindle rotation signal F008 6 11.6
SRVA Serial spindle reverse rotation command signal G227 4
SRVB Serial spindle reverse rotation command signal G235 4
SRVC Serial spindle reverse rotation command signal G211 4
- 1598 -
SRVD Serial spindle reverse rotation command signal G219 4

SSP Canned cycle spindle stop signal F008 7 11.6
SSPA0A Serial spindle alarm code signal F236 0 9.3
SSPA0B Serial spindle alarm code signal F252 0 9.3
SSPA0C Serial spindle alarm code signal F204 0 9.3
SSPA0D Serial spindle alarm code signal F220 0 9.3
SSPD0A Serial spindle motor speed signal F234 0 9.3
SSPD0B Serial spindle motor speed signal F250 0 9.3
SSPD0C Serial spindle motor speed signal F202 0 9.3
SSPD0D Serial spindle motor speed signal F218 0 9.3
- 1599 -

SSTA Serial spindle speed zero signal F229 1
SSTB Serial spindle speed zero signal F245 1
SSTC Serial spindle speed zero signal F197 1
SSTD Serial spindle speed zero signal F213 1
ST Automatic operation start signal G005 0 5.1
STL Automatic operation starting signal F000 4 5.1
STP1 Axis control halt signal G066 5 14.1
SUCLPA Spindle unclamping signal F042 0 9.6
SUCLPB Spindle unclamping signal F338 0 9.6
SUCLPC Spindle unclamping signal F339 0 9.6
SUCLPD Spindle unclamping signal F340 0 9.6
SVALM Alarm division signal F006 1 12.1.3
SYALM Alarm division signal F006 4 12.1.3
- 1600 -
SYNC1 Synchronization control select signal G066 2 1.10.5, 1.11

SYNER Synchronization control positional deviation error alarm signal F153 1 1.10.4
T DNC COMMAND SELECT SIGNAL G003 4 2.6, 5.13
T0 Tool function code signal F024 0 8.1
TAP Tapping-in-progress signal F001 4
TCHIN Teach-in select signal G002 3 12.4.6
TDUP Duplicate pot number signal F044 6 10.4.5
TF Tool function strobe signal F008 2 8.1
TFIN Tool function completion signal G046 2 8.4
THD00 Thermal growth compensation data G178 0 1.3.13
- 1601 -

THML Thermal growth compensation start signal G161 3 1.3.13
THRD Threading-in-progress signal F001 6 6.4.1
THREND Read end signal of Thermal growth compensation data F170 7 1.3.13
THSTB Strobe signal of the Thermal growth compensation along tool vector G161 7 1.3.13
data
TL01 Tool group signal G009 0 10.3
TL02 Tool group signal G009 1
TLARV Life reach signal F043 4 10.3
TLCHA Tool-change signal F007 6 10.3
TLCHB New tool select signal F007 7 10.3
TLEGS Life-expired group select signal F043 5 10.3
TLHD1A Three-dimensional handle feed/interrupt master head select signal G156 4 3.5
TLHD1B Three-dimensional handle feed/interrupt master head select signal G156 5 3.5
TLHD2A Three-dimensional handle feed/interrupt master head select signal G156 6 3.5
TLHD2B Three-dimensional handle feed/interrupt master head select signal G156 7 3.5
TLMA Serial spindle torque limit signal F229 6
TLMB Serial spindle torque limit signal F245 6
TLMC Serial spindle torque limit signal F197 6
TLMD Serial spindle torque limit signal F213 6
TLMHA Serial spindle torque limit command HIGH signal G227 1
TLMHB Serial spindle torque limit command HIGH signal G235 1
TLMHC Serial spindle torque limit command HIGH signal G211 1
TLMHD Serial spindle torque limit command HIGH signal G219 1
TLMLA Serial spindle torque limit command LOW signal G227 0
TLMLB Serial spindle torque limit command LOW signal G235 0
TLMLC Serial spindle torque limit command LOW signal G211 0
TLMLD Serial spindle torque limit command LOW signal G219 0
TLRST Tool-change reset signal G010 7 10.3
TLSKP Tool skip signal G009 7 10.3
TMRON General-purpose timer start signal G008 7 12.1.10
TO DNC COMMAND SOFT SWITCH F129 4
TRACT Tool retraction mode signal F044 3 5.10
TRESC Tool retraction signal G031 0 5.10
TRMTN Tool traveling-along-retraction-axis signal F044 4 5.10
TRQL1 Torque limit reach signal output F066 0 14.5.4
- 1602 -

TRQM1 Torque control mode signal F066 1 14.1
TRRTN Tool return signal G031 1 5.10
TRSPS Tool return completion signal F044 5 5.10
UI000 Input signal for custom macros G048 0 11.5.1
- 1603 -

- 1604 -

UINT Interrupt signal for custom macros G000 2 11.5.2
UO000 Output signal for custom macros F048 0 11.5.1
- 1605 -

- 1606 -

VCSKP1 Velocity command skip signal G067 6 14.1
WN1 External workpiece number search signal G019 0 15.2
WOQSM Workpiece origin offset measurement mode select signal G028 6 14.3
ZP1 Reference position return completion signal F064 0 4.1, 9.6, 9.7
- 1607 -
ZP21 Second reference position return completion signal F064 1 4.1, 4.5
ZP31 Third reference position return completion signal F064 4 4.1, 4.5
ZP42 Forth reference position return completion signal F068 5 4.1, 4.5
ZP221 Second reference position return completion signal F304 1 4.1
- 1608 -
ZRF1 Reference position establishment signal F065 2 4.1, 4.7
ZRN Manual reference position return select signal G002 7 4.1
ZRNO Manual reference position return soft switch F128 7
- 1609 -
A.2.2 Signal List (in Order of Address)

Address Signal name Symbol Reference item
F000 0 Rewind-in-progress signal RWD 5.2
F000 1 Alarm signal AL 2.4, 12.1.3
F000 2 Reset-in-progress signal RST
F000 3 Automatic operation pausing signal SPL 5.1
F000 4 Automatic operation starting signal STL 5.1
F000 5 Automatic operation-in-progress signal OP 5.1
F000 6 Servo ready signal SA 2.2
F000 7 Ready signal MA 2.2
F001 0 Distribution completion signal DEN 8.1
F001 1 Distribution completion signal IPEN 8.1
F001 3 Inch input signal INCH 11.3
F001 4 Tapping-in-progress signal TAP
F001 5 Rapid traverse in progress signal RPD 2.7, 7.1.1
F001 6 Threading-in-progress signal THRD 6.4.1
F001 7 Constant surface speed signal CSS 9.4
F002 2 Test mode selection confirmation signal MTEST
F002 3 Teach-in selection confirmation signal MTCHIN 12.4.6
F002 4 Simultaneous manual-automatic operation selection confirmation signal MMOVL 2.6
F002 5 Program restarting signal MSRN 5.7
F002 6 Block restarting signal MBRN 6
F002 7 Manual reference position return selection confirmation signal MZRN 4.1
F003 0 Incremental feed selection confirmation signal MS 2.6
F003 1 Manual handle feed selection confirmation signal MH 2.6
F003 2 Jog feed selection confirmation signal MJ 2.6
F003 3 Manual data input selection confirmation signal MD 2.6
F003 4 Tape command selection confirmation signal MT 2.6, 5.13
F003 5 Memory command selection confirmation signal MMEM 2.6
F003 6 Tape program storage and edit selection confirmation signal MEDT 2.6
F003 7 Manual arbitrary-angle feed selection confirmation signal MAGJ 2.6
F004 0 Auxiliary function lock confirmation signal MAFL 8.2
F004 1 Dry run confirmation signal MDRN 5.3.2
F004 2 Optional block skip confirmation signal MBDT1 5.5
F004 3 Single block confirmation signal MSBK 5.3.3
F004 5 Manual absolute confirmation signal MABS 5.4
F004 6 Display lock confirmation signal MDLK
F004 7 All-axis machine lock confirmation signal MMLK 5.3.1
F006 0 Alarm division signal PSALM 12.1.3
F006 1 Alarm division signal SVALM 12.1.3
F006 2 Alarm division signal OHALM 12.1.3
F006 3 Alarm division signal OTALM 12.1.3
F006 4 Alarm division signal SYALM 12.1.3
F007 0 B-AXIS UNCLAMPING SIGNAL BUCLP 11.8
F007 1 B-AXIS CLAMPING SIGNAL BCLP 11.7, 11.8
F007 4 Reading/punching-in-progress signal RPBSY 13.2
F007 5 External search completion signal ESEND 14.1.1
F007 6 Tool-change signal TLCHA 10.3
F007 7 New tool select signal TLCHB 10.3
F008 0 Auxiliary function strobe signal MF 8.1, 9.3, 9.6
F008 1 Spindle function strobe signal SF 8.1, 9.1, 9.3, 9.8
F008 2 Tool function strobe signal TF 8.1
F008 3 Second auxiliary function strobe signal BF 8.1
F008 4 External operation signal EF 11.7
F008 5 Canned cycle auxiliary signal read signal FMF 11.6
F008 6 Canned cycle reverse spindle rotation signal SRV 11.6
F008 7 Canned cycle spindle stop signal SSP 11.6
F009 4 M DECODE SIGNAL DM00 8.1
- 1610 -

F010 0 Specified spindle speed signal RO0A 9.3, 9.4
F012 0 Actual spindle speed signal AR0A 9.5
F014 0 Maximum spindle speed signal MR0A 9.4
F016 0 Auxiliary function code signal M0 8.1, 9.3, 9.6
- 1611 -

F020 0 Spindle function code signal S0 8.1, 9.1, 9.3, 9.8
F024 0 Tool function code signal T0 8.1
- 1612 -

F028 0 Second auxiliary function code signal B0 8.1
F032 4 Address signal for external data output EOA8
F032 5 Read completion signal for external data input EIREND
F032 7 Strobe signal for external data output EOSTB
F033 0 Address signal for external data output EOA0 14.1.1
F034 0 Data signal for external data output EOD32 14.1.1
- 1613 -

F040 4 Rigid tapping-in-progress signal RTAP 9.8
F040 5 Absolute position detector battery zero voltage alarm signal PBATZ 1.6.2
F040 6 Absolute position detector battery low voltage alarm signal PBATL 1.6.2
F040 7 Battery low voltage alarm signal BATL 2.4
F041 4 Retract completion signal RTRCTF 1.13.5
F042 0 Spindle unclamping signal SUCLPA 9.6
F042 1 Spindle clamping signal SCLPA 9.6
F042 2 Spindle speed fluctuation alarm signal SPALA
F042 4 Spindle override regeneration signal SPAOA
F042 5 Spindle override regeneration signal SPBOA
F042 6 Spindle override regeneration signal SPCOA
F043 3 Background editing state output signal BGEDT
F043 4 Life reach signal TLARV 10.3
F043 5 Life-expired group select signal TLEGS 10.3
F043 6 Required-number-of-parts reach signal PRTSF 12.1.10
F044 2 Reverse-operation-in-progress signal RVSL 5.9
F044 3 Tool retraction mode signal TRACT 5.10
F044 4 Tool traveling-along-retraction-axis signal TRMTN 5.10
F044 5 Tool return completion signal TRSPS 5.10
F044 6 Duplicate pot number signal TDUP 10.4.5
F045 1 Auxiliary function strobe signal MF2 8.3
F045 5 All-serial spindle ready signal SRSRDY 9.3
F046 0 Auxiliary function read signal MF1X 14.1
F046 3 Manual intervention amount recovery completion signal MIFIN
F047 0 High-speed skip state signal HDO0 14.5.2
- 1614 -

F048 0 Output signal for custom macros UO000 11.5.1
- 1615 -

F064 0 Reference position return completion signal ZP1 4.1, 9.6, 9.7
F064 1 Second reference position return completion signal ZP21 4.1, 4.5
F064 2 Axis travel in progress signal MV1 1.2.5
F064 3 Axis travel direction signal MD1 1.2.5
F064 4 Third reference position return completion signal ZP31 4.1, 4.5
F064 5 Forth reference position return completion signal ZP41 4.1, 4.5
- 1616 -

F064 6 In-position signal INP1 7.2.3.1
F064 7 Controlled-axis removal in progress signal MDTCH1 1.2.4
F065 0 Mirror image confirmation signal MMI1 1.2.6
F065 1 Axis-by-axis machine lock confirmation signal MMLK1 5.3.1
F065 2 Reference position establishment signal ZRF1 4.1, 4.7
F065 5 Floating reference position return completion signal FRP1 4.6
F065 6 PMC axis overtravel signal +EOT1 14.1
F065 7 PMC axis overtravel signal -EOT1 14.1
F066 0 Torque limit reach signal output TRQL1 14.5.4
F066 1 Torque control mode signal TRQM1 14.1
F066 2 Linear motor activation phase establishment signal AMR1
F066 3 EGB MODE SIGNAL EGBM1 1.13.5
F066 5 Buffer full signal BUF1 7.1.9, 14.1
F066 6 Distribution completion signal DEN1 14.1
F066 7 Axis control command read completion signal CNCA1 14.1
F067 7 Spindle contour control mode switching confirmation signal MSCNTR1 9.7
F070 5 Buffer full signal BUF2 14.1
- 1617 -

- 1618 -

- 1619 -

- 1620 -

- 1621 -

F128 5 Automatic operation pause soft switch SPO
F128 7 Manual reference position return soft switch ZRNO
F129 0 Incremental feed soft switch SO
F129 1 Manual handle feed soft switch HO
F129 2 Jog feed soft switch JO
F129 3 Manual data input soft switch MDIO
F129 4 DNC COMMAND SOFT SWITCH TO
F129 5 Memory command soft switch MEMO
F129 6 Program storage and edit soft switch EDTO
F130 1 Dry run soft switch DRNO
F130 2 Optional block skip soft switch BDT1O
F130 3 Single block soft switch SBKO
F130 7 All-axis machine lock soft switch MLKO
F131 0 Manual handle feed axis selection soft switch HS1AO
F131 1 Manual handle feed axis selection soft switch HS1BO
F131 2 Manual handle feed axis selection soft switch HS1CO
F131 3 Manual handle feed axis selection soft switch HS1DO
F131 4 Memory protection soft switch KEYO
F132 0 Manual handle feed axis selection soft switch HS1EO
F132 2 Manual handle feed travel distance selection soft switch MP1O
F132 5 Rapid traverse override soft switch ROV1O
F132 6 Rapid traverse override soft switch ROV2O
F132 7 Manual rapid traverse selection soft switch RTO
F133 0 Feedrate override soft switch *FV0O
F134 0 Manual feedrate override soft switch *JV0O
F136 0 Jog feed/manual step feed axis direction selection soft switch +J10
F136 1 Jog feed/manual step feed axis direction selection soft switch -J10
F137 0 General-purpose soft switch OPU0
- 1622 -

F141 0 Auxiliary function BCD code signal AF1X0 14.1
F144 0 Auxiliary function code signal M200 8.3
- 1623 -

F153 1 Synchronization control positional deviation error alarm signal SYNER 1.10.4
F154 2 Third spindle abnormal load detection signal AQSP3 2.9
F154 3 Fourth spindle abnormal load detection signal AQSP4 2.9
F154 5 Active offset changing signal MCHAO 13.6
F154 6 Spindle control confirmation signal SPN2 9.2
F155 0 Spindle rotation direction signal RSPP 9.8
F155 1 Spindle rotation direction signal RSPM 9.8
F155 2 Spindle constant speed signal RSPC 9.8
F155 3 Servo axis abnormal load detection signal AQSV 2.9
F155 6 First spindle abnormal load detection signal AQSP1 2.9
F155 7 Second spindle abnormal load detection signal AQSP2 2.9
F156 3 Lubrication signal OIL 11.14
F157 2 Chopping-in-progress signal CHPMD 1.12
F157 3 Chopping-operation-in-progress signal CHPCYL 1.12
F157 4 Block cancellation confirmation signal MBCAN 5.11
F157 5 Three-dimensional coordinate conversion manual interrupt mode signal D3MI 3.6, 11.12
F158 0 Spindle rotation speed override soft switch SPO0O 0
F159 2 Acceleration/deceleration-before-look-ahead-interpolation mode signal ADMOD 7.2.2
F159 3 Three-dimensional coordinate conversion mode signal D3ROT 11.12
F164 0 Position switch signal PSW01 1.3
F170 3 Thermal growth compensation check signal MTHML 1.3.13
F170 7 Read end signal of Thermal growth compensation data THREND 1.3.13
F177 6 Hard copy stop request accepted signal HCAB2 13.4
- 1624 -

F177 7 Hard copy in progress signal HCEXE 13.4
F196 0 Serial spindle power line switching signal CHIPC
F196 1 Serial spindle switching completion signal CFINC
F196 2 Serial spindle output switching signal RCHPC
F196 3 Serial spindle output switching completion signal RCFNC
F196 4 Serial spindle subordinate operation state signal SLVSC
F196 5 Serial spindle orientation-by-a-position-coder proximity signal PORA2C
F196 6 Serial spindle magnetic-sensor-type orientation completion signal MORA1C
F196 7 Serial spindle magnetic-sensor-type orientation proximity signal MORA2C
F197 0 Serial spindle alarm signal ALMC
F197 1 Serial spindle speed zero signal SSTC
F197 2 Serial spindle speed detection signal SDTC
F197 3 Serial spindle speed arrival signal SARC
F197 4 Serial spindle load detection signal 1 LDT1C
F197 5 Serial spindle load detection signal 2 LDT2C
F197 6 Serial spindle torque limit signal TLMC
F197 7 Serial spindle orientation completion signal ORARC
F199 0 Serial spindle position coder one-rotation signal detection state signal PC1DEC
F199 1 Serial spindle incremental orientation mode signal INCSTC
F200 0 Serial spindle motor torque signal SLDM0C 9.3
F202 0 Serial spindle motor speed signal SSPD0C 9.3
F204 0 Serial spindle alarm code signal SSPA0C 9.3
F212 0 Serial spindle power line switching signal CHIPD
F212 1 Serial spindle switching completion signal CFIND
F212 2 Serial spindle output switching signal RCHPD
F212 3 Serial spindle output switching completion signal RCFND
F212 4 Serial spindle subordinate operation state signal SLVSD
F212 5 Serial spindle orientation-by-a-position-coder proximity signal PORA2D
F212 6 Serial spindle magnetic-sensor-type orientation completion signal MORA1D
F212 7 Serial spindle magnetic-sensor-type orientation proximity signal MORA2D
F213 0 Serial spindle alarm signal ALMD
- 1625 -

F213 1 Serial spindle speed zero signal SSTD
F213 2 Serial spindle speed detection signal SDTD
F213 3 Serial spindle speed arrival signal SARD
F213 4 Serial spindle load detection signal 1 LDT1D
F213 5 Serial spindle load detection signal 2 LDT2D
F213 6 Serial spindle torque limit signal TLMD
F213 7 Serial spindle orientation completion signal ORARD
F215 0 Serial spindle position coder one-rotation signal detection state signal PC1DED
F215 1 Serial spindle incremental orientation mode signal INCSTD
F216 0 Serial spindle motor torque signal SLDM0D 9.3
F218 0 Serial spindle motor speed signal SSPD0D 9.3
F220 0 Serial spindle alarm code signal SSPA0D 9.3
F228 0 Serial spindle power line switching signal CHIPA
F228 1 Serial spindle switching completion signal CFINA
F228 2 Serial spindle output switching signal RCHPA
F228 3 Serial spindle output switching completion signal RCFNA
F228 4 Serial spindle subordinate operation state signal SLVSA
F228 5 Serial spindle orientation-by-a-position-coder proximity signal PORA2A
F228 6 Serial spindle magnetic-sensor-type orientation completion signal MORA1A
F228 7 Serial spindle magnetic-sensor-type orientation proximity signal MORA2A
F229 0 Serial spindle alarm signal ALMA
F229 1 Serial spindle speed zero signal SSTA
F229 2 Serial spindle speed detection signal SDTA
F229 3 Serial spindle speed arrival signal SARA
F229 4 Serial spindle load detection signal 1 LDT1A
F229 5 Serial spindle load detection signal 2 LDT2A
F229 6 Serial spindle torque limit signal TLMA
F229 7 Serial spindle orientation completion signal ORARA
F231 0 Serial spindle position coder one-rotation signal detection state signal PC1DEA
F231 1 Serial spindle incremental orientation mode signal INCSTA
F232 0 Serial spindle motor torque signal SLDM0A 9.3
- 1626 -

F234 0 Serial spindle motor speed signal SSPD0A 9.3
F236 0 Serial spindle alarm code signal SSPA0A 9.3
F244 0 Serial spindle power line switching signal CHIPB
F244 1 Serial spindle switching completion signal CFINB
F244 2 Serial spindle output switching signal RCHPB
F244 3 Serial spindle output switching completion signal RCFNB
F244 4 Serial spindle subordinate operation state signal SLVSB
F244 5 Serial spindle orientation-by-a-position-coder proximity signal PORA2B
F244 6 Serial spindle magnetic-sensor-type orientation completion signal MORA1B
F244 7 Serial spindle magnetic-sensor-type orientation proximity signal MORA2B
F245 0 Serial spindle alarm signal ALMB
F245 1 Serial spindle speed zero signal SSTB
F245 2 Serial spindle speed detection signal SDTB
F245 3 Serial spindle speed arrival signal SARB
F245 4 Serial spindle load detection signal 1 LDT1B
F245 5 Serial spindle load detection signal 2 LDT2B
F245 6 Serial spindle torque limit signal TLMB
F245 7 Serial spindle orientation completion signal ORARB
F247 0 Serial spindle position coder one-rotation signal detection state signal PC1DEB
F247 1 Serial spindle incremental orientation mode signal INCSTB
F248 0 Serial spindle motor torque signal SLDM0B 9.3
- 1627 -

F250 0 Serial spindle motor speed signal SSPD0B 9.3
F252 0 Serial spindle alarm code signal SSPA0B 9.3
- 1628 -

F304 1 Second reference position return completion signal ZP221 4.1
- 1629 -

- 1630 -

F320 0 Specified spindle speed signal RO0B 9.3, 9.4
F322 0 Actual spindle speed signal AR0B 9.5
F324 0 Maximum spindle speed signal MR0B 9.4
F326 0 Specified spindle speed signal RO0C 9.4
F328 0 Actual spindle speed signal AR0C 9.5
- 1631 -

F330 0 Maximum spindle speed signal MR0C 9.3, 9.4
F332 0 Specified spindle speed signal RO0D 9.4
F334 0 Actual spindle speed signal AR0D 9.5
F336 0 Maximum spindle speed signal MR0D 9.3, 9.4
- 1632 -

F338 0 Spindle unclamping signal SUCLPB 9.6
F338 1 Spindle clamping signal SCLPB 9.6
F338 2 Spindle speed fluctuation alarm signal SPALB
F338 4 Spindle override regeneration signal SPAOB
F338 5 Spindle override regeneration signal SPBOB
F338 6 Spindle override regeneration signal SPCOB
F339 0 Spindle unclamping signal SUCLPC 9.6
F339 1 Spindle clamping signal SCLPC 9.6
F339 2 Spindle speed fluctuation alarm signal SPALC
F339 4 Spindle override regeneration signal SPAOC
F339 5 Spindle override regeneration signal SPBOC
F339 6 Spindle override regeneration signal SPCOC
F340 0 Spindle unclamping signal SUCLPD 9.6
F340 1 Spindle clamping signal SCLPD 9.6
F340 2 Spindle speed fluctuation alarm signal SPALD
F340 4 Spindle override regeneration signal SPAOD
F340 5 Spindle override regeneration signal SPBOD
F340 6 Spindle override regeneration signal SPCOD
F341 0 Spindle ready signal SRRDYA 9.3
F341 1 Constant surface speed signal CSSA 9.4
F342 0 Spindle ready signal SRRDYB 9.3
F342 1 Constant surface speed signal CSSB 9.4
F343 0 Spindle ready signal SRRDYC 9.3
F343 1 Constant surface speed signal CSSC 9.4
F344 0 Spindle ready signal SRRDYD 9.3
F344 1 Constant surface speed signal CSSD 9.4
F349 0 Custom soft key function signals CTSF00 12.1.24
- 1633 -

G000 0 All-axis interlock signal *IT 2.5
G000 1 Cutting block start interlock signal *CSL 2.5
G000 2 Interrupt signal for custom macros UINT 11.5.2
G000 3 Skip signal SKIP1 14.3, 14.5.1, 14.5.3
G000 4 Emergency stop signal *ESP 2.1
G000 5 Automatic operation pause signal *SP 5.1
G000 6 Reset & rewind signal RRW 5.2
G000 7 External reset signal ERS 5.2
G001 0 Automatic operation all-axis interlock signal *AIT 2.5
G001 1 Block start interlock signal *BSL 2.5
G001 2 Measurement position reach signal AE1 14.4
G001 3 Measurement position reach signal AE2
G001 4 Measurement position reach signal AE3
G001 5 Skip signal SKIP2 14.5.3
G002 3 Teach-in select signal TCHIN 12.4.6
G002 4 Simultaneous manual-automatic operation select signal MOVL 2.6
G002 5 Program restart select signal SRN 5.7
G002 6 Block restart select signal BRN 5.8
G002 7 Manual reference position return select signal ZRN 4.1
- 1634 -

G003 0 Incremental feed select signal S 2.6
G003 1 Manual handle feed select signal H 2.6
G003 2 Jog feed select signal J 2.6
G003 3 Manual data input select signal D 2.6
G003 4 DNC COMMAND SELECT SIGNAL T 2.6, 5.13
G003 5 Memory command select signal MEM 2.6
G003 6 Tape program and edit select signal EDT 2.6
G003 7 Manual arbitrary-angle feed select signal AGJ 2.6
G004 0 Auxiliary function lock signal AFL 8.2
G004 1 Dry run signal DRN 5.3.2
G004 2 Optional block skip signal BDT1 5.5
G004 3 Single block signal SBK 1.12, 5.3.3
G004 4 Override cancellation signal OVC 7.1.7.4
G004 5 Manual absolute signal ABS 5.4
G004 6 Display lock signal DLK
G004 7 All-axis machine lock signal MLK 5.3.1
G005 0 Automatic operation start signal ST 5.1
G005 1 Completion signal FIN 8.1, 9.1, 9.3, 9.6, 9.8
G005 2 Canned cycle auxiliary signal completion signal FFIN 11.6
G005 3 SINGLE-DIGIT F SELECT SIGNAL F1D 7.1.5
G005 4 Memory protection key signal KEY1 12.4.3
G006 2 Manual handle feed travel distance select signal MP1 3.2
G006 5 Rapid traverse override signal ROV1 7.1.7.1
G006 6 Rapid traverse override signal ROV2 7.1.7.1
G006 7 Manual rapid traverse select signal RT 3.1
G008 1 In-position check signal *CSMZ 7.2.3.1
G008 7 General-purpose timer start signal TMRON 12.1.10
G009 0 Tool group signal TL01 10.3
G009 1 Tool group signal TL02
G009 7 Tool skip signal TLSKP 10.3
G010 0 Manual handle feed axis select signal HS3A 3.2
G010 1 Manual handle feed axis select signal HS3B 3.2
G010 2 Manual handle feed axis select signal HS3C 3.2
G010 3 Manual handle feed axis select signal HS3D 3.2
G010 7 Tool-change reset signal TLRST 10.3
G012 0 Feedrate override signal *FV0 7.1.7.2
- 1635 -

G013 0 Second feedrate override signal *AFV0 7.1.7.3
G014 0 Manual feedrate override signal *JV0 3.1
G016 0 Manual arbitrary-angle feed direction select signal AJA0 3.8
G017 5 Manual arbitrary-angle feed signal +AJ 3.8
G017 6 Manual arbitrary-angle feed signal -AJ 3.8
G017 7 Manual arbitrary-angle feed direction select signal AJSTB 3.8
G018 0 Manual arbitrary-angle feed axis select signal AJP1A 3.8
G018 1 Manual arbitrary-angle feed axis select signal AJP1B 3.8
G018 2 Manual arbitrary-angle feed axis select signal AJP1C 3.8
G018 3 Manual arbitrary-angle feed axis select signal AJP1D 3.8
G018 4 Manual arbitrary-angle feed axis select signal AJP2A 3.8
G018 5 Manual arbitrary-angle feed axis select signal AJP2B 3.8
G018 6 Manual arbitrary-angle feed axis select signal AJP2C 3.8
G018 7 Manual arbitrary-angle feed axis select signal AJP2D 3.8
G019 0 External workpiece number search signal WN1 15.2
G019 6 B-AXIS UNCLAMPING COMPLETION SIGNAL *BEUCL 11.8
G019 7 B-AXIS CLAMPING COMPLETION SIGNAL *BECLP 11.8
G020 0 Incremental feed travel distance select signal DIST0 3.1
- 1636 -

G024 0 Spindle motor command voltage signal RI0A 9.3
G025 7 Spindle motor command voltage signal RISGNA 9.3
G026 0 Spindle stop confirmation signal SPSTPA 9.6, 9.8
G026 1 Velocity control servo alarm invalidation signal DVAL 2.4, 2.8
G026 2 Spindle unclamping completion signal *SEUCLA 9.6
G026 3 Spindle clamping completion signal *SECLPA 9.6
G026 4 Spindle gear select signal GS1A 9.3, 9.6, 9.8
G028 0 Tool compensation number select signal OFN0 14.3
G028 6 Workpiece origin offset measurement mode select signal WOQSM 14.3
G028 7 Tool compensation measurement mode select signal GOQSM 14.3
G029 0 Spindle override signal SPAA
G029 1 Spindle override signal SPBA
G029 2 Spindle override signal SPCA
G029 4 Reverse operation signal RVS 5.9
G031 0 Tool retraction signal TRESC 5.10
G031 1 Tool return signal TRRTN 5.10
G031 3 Three-dimensional coordinate conversion manual intervention switching M3R 11.12
signal
G032 0 External punch start signal EXPUN 13.2
G032 1 External read start signal EXRD 13.2
G032 2 External read/punch stop signal EXSTP 13.2
G032 4 Address signal for external data input EIA8
G032 5 Read completion signal for external data output EOREND 14.1.1
G032 6 External data output request signal ERDRQ 14.1.1
G032 7 Strobe signal for external data input EISTB 14.1.1
G033 0 Address signal for external data input EIA0 14.1.1
- 1637 -

G034 0 Data signal for external data input EID32
G040 0 1-% rapid traverse override signal *RV0B 7.1.7.1
G040 7 1-% rapid traverse override signal 1
G041 0 Axis switching signal AXC1 11.13
G041 6 Automatic screen erasure disable signal *RSAV 12. 1.17
G042 4 Retract signal RTRCT 1.13.5
G042 7 DNC operation select signal from the open CNC DMMC 5.16
G043 0 Manual handle feed axis select signal HS3E
- 1638 -

G043 4 Manual arbitrary-angle feed axis select signal AJP1E
G043 5 Manual arbitrary-angle feed axis select signal AJP2E
G044 0 Chopping speed override signal *CHP1 1.12
G044 6 Chopping start signal CHPST 1.12
G044 7 Chopping pause signal *CHLD 1.12
G045 0 PMC AXIS CONTROL RAPID TRAVERSE OVERRIDE SIGNAL ROV1E 14.1
G045 1 PMC AXIS CONTROL RAPID TRAVERSE OVERRIDE SIGNAL ROV2E 14.1
G045 2 PMC axis skip signal PCSKP 14.1
G046 0 Auxiliary function completion signal MFIN 8.4
G046 1 Spindle function completion signal SFIN 8.4
G046 2 Tool function completion signal TFIN 8.4
G046 3 Second auxiliary function completion signal BFIN 8.4
G046 4 Auxiliary function completion signal FIN1X
G046 7 Manual intervention amount recovery request signal MIGET 5.14
G047 1 Auxiliary function completion signal MFIN2 8.4
G048 0 Input signal for custom macros UI000 11.5.1
- 1639 -

- 1640 -

G064 0 Overtravel signal *+L1 2.3.1
G064 1 Overtravel signal *-L1 2.3.1
G064 2 External deceleration signal *+ED1 7.1.9, 14.1
G064 3 External deceleration signal *-ED1 7.1.9, 14.1
G064 4 Axis-by-axis interlock signal *IT1 2.5
G064 5 Deceleration signal for reference position return *DEC1 4.1
G064 6 Servo off signal *SVF1 1.2.8
G064 7 Controlled-axis removal signal DTCH1 1.2.4
G065 0 Feed axis/direction select signal +J1 3.1
G065 1 Feed axis/direction select signal -J1 3.1
G065 2 Mirror image signal MI1 1.2.6
G065 3 Axis-by-axis machine lock signal MLK1 5.3.1
G065 4 Parking signal PK1 1.8
G066 0 +Minus direction manual feed interlock +MIT1
G066 1 -Minus direction manual feed interlock -MIT1
G066 2 Synchronization control select signal SYNC1 1.10.5, 1.11
G066 3 PMC AXIS CONTROL SIGNAL PCAX1 14.1
G066 4 Block stop signal SBK1 14.1
G066 5 Axis control halt signal STP1 14.1
G066 6 Reset signal RST1 14.1
G066 7 Axis control command read strobe signal PMCA1 14.1
G067 2 Automatically set reference position number signal RAST1 4.3
G067 3 V-READY OFF ALARM INVALIDATION SIGNAL DVAL1 2.8
G067 4 Actual cutting feedrate display axis select signal *ACTF1
G067 5 Separate detector disconnection alarm ignore signal NDCAL1 14.1
G067 6 Velocity command skip signal VCSKP1 14.1
G067 7 Spindle contour control mode switching signal SCNTR1 9.7
- 1641 -

- 1642 -

G086 4 Block stop signal SBK6
- 1643 -

- 1644 -

- 1645 -

- 1646 -

G140 0 Extended external workpiece number search signal EWN0 15.2
- 1647 -

G146 0 Second feedrate override signal B *AFV0B 7.1.7.3
G148 3 Spindle rotation direction reverse signal RSPR 9.8
G149 0 Torque sensing command signal FTCMD 12.1.26
G149 2 Store counter clear signal FTCLR 12.1.26
G153 4 Active offset change mode signal CHGAO 13.6
G153 5 Active offset selection signal AOFS1 13.6
G153 6 Active offset selection signal AOFS2 13.6
G154 0 Tool life management count override signal *TLV8 10.3
G156 0 Tool axis direction handle mode signal ALNGH 3.5
G156 1 Direction-perpendicular-to-tool-axis handle mode signal RGHTH 3.5
G156 2 Tool tip center rotation handle mode signal RNDH 3.5
G156 3 Tool axis direction tool length compensation change handle mode signal CNGTL 3.5
G156 4 Three-dimensional handle feed/interrupt master head select signal TLHD1A 3.5
G156 5 Three-dimensional handle feed/interrupt master head select signal TLHD1B 3.5
G156 6 Three-dimensional handle feed/interrupt master head select signal TLHD2A 3.5
G156 7 Three-dimensional handle feed/interrupt master head select signal TLHD2B 3.5
G157 6 Block cancellation signal BCAN 5.11
G157 7 Three-dimensional coordinate conversion manual interrupt switching NOT3DM 11.12
signal
G158 3 Synchronous control torque difference detection disable signal NSYNCA 1. 9.6
G159 3 Power failure deceleration signal PWFL 1.15
G161 3 Thermal growth compensation start signal THML 1.3.13
G161 7 Strobe signal of the Thermal growth compensation along tool vector data THSTB 1.3.13
G172 0 Stored stroke limit switching signal EXLM 2.3.2
G172 1 Stroke check release signal RLSOT 2.3.2
G177 6 Hard copy stop request signal HCABT 13.4
G177 7 Hard copy execution request signal HCREQ 13.4
G178 0 Thermal growth compensation data THD00 1.3.13
- 1648 -

G208 0 Spindle motor command voltage signal RI0C 9.3
G209 7 Spindle motor command voltage signal RISGNC 9.3
G210 0 Serial spindle alarm reset signal ARSTC
G210 1 Serial spindle emergency stop command signal *ESPC
G210 2 Serial spindle selection command signal SPSLC
G210 3 Serial spindle power line switching completion signal MCFNC
G210 4 Serial spindle soft start/stop cancellation signal SOCNC
G210 5 Serial spindle speed integration control signal INTGC
G210 6 Serial spindle output switching request signal RSLC
G210 7 Serial spindle power line state confirmation signal RCHC
G211 0 Serial spindle torque limit command LOW signal TLMLC
G211 1 Serial spindle torque limit command HIGH signal TLMHC
G211 2 Serial spindle clutch/gear signal CTH2C 9.3, 9.6, 9.7, 9.8
G211 3 Serial spindle clutch/gear signal CTH1C 9.3, 9.6, 9.7, 9.8
G211 4 Serial spindle reverse rotation command signal SRVC
G211 5 Serial spindle forward rotation command signal SFRC
G211 6 Serial spindle orientation command signal ORCMC
G211 7 Serial spindle machine ready signal MRDYC
G212 0 Serial spindle magnetic-sensor-type orientation command signal MORCMC
G212 1 Serial spindle subordinate operation mode command signal SLVC
G212 2 Serial spindle motor power shutoff command signal MPOFC
G213 0 Serial spindle orientation stop position change command signal INDXC
G213 1 Serial spindle orientation stop position change-time rotation direction ROTAC
command signal
G213 2 Serial spindle orientation stop position change-time shorter way NRROC
command signal
G213 3 Serial spindle differential mode command signal DEFMDC
G213 4 Serial spindle analog override signal OVRIDC
G213 5 Serial spindle incremental command externally-set-type orientation signal INCMDC
G213 6 Serial spindle switching MAIN-side MCC contact state signal MFNHGC
G213 7 Serial spindle switching HIGH-side MCC contact state signal RCHHGC
G214 0 Serial spindle orientation stop position command signal SH0C 9.9
G216 0 Spindle motor command voltage signal RI0D 9.3
G217 7 Spindle motor command voltage signal RISGND 9.3
G218 0 Serial spindle alarm reset signal ARSTD
G218 1 Serial spindle emergency stop command signal *ESPD
G218 2 Serial spindle selection command signal SPSLD
- 1649 -

G218 3 Serial spindle power line switching completion signal MCFND
G218 4 Serial spindle soft start/stop cancellation signal SOCND
G218 5 Serial spindle speed integration control signal INTGD
G218 6 Serial spindle output switching request signal RSLD
G218 7 Serial spindle power line state confirmation signal RCHD
G219 0 Serial spindle torque limit command LOW signal TLMLD
G219 1 Serial spindle torque limit command HIGH signal TLMHD
G219 2 Serial spindle clutch/gear signal CTH2D 9.3, 9.6, 9.7, 9.8
G219 3 Serial spindle clutch/gear signal CTH1D 9.3, 9.6, 9.7, 9.8
G219 4 Serial spindle reverse rotation command signal SRVD
G219 5 Serial spindle forward rotation command signal SFRD
G219 6 Serial spindle orientation command signal ORCMD
G219 7 Serial spindle machine ready signal MRDYD
G220 0 Serial spindle magnetic-sensor-type orientation command signal MORCMD
G220 1 Serial spindle subordinate operation mode command signal SLVD
G220 2 Serial spindle motor power shutoff command signal MPOFD
G221 0 Serial spindle orientation stop position change command signal INDXD
G221 1 Serial spindle orientation stop position change-time rotation direction ROTAD
command signal
G221 2 Serial spindle orientation stop position change-time shorter way NRROD
command signal
G221 3 Serial spindle differential mode command signal DEFMDD
G221 4 Serial spindle analog override signal OVRIDD
G221 5 Serial spindle incremental command externally-set-type orientation signal INCMDD
G221 6 Serial spindle switching MAIN-side MCC contact state signal MFNHGD
G221 7 Serial spindle switching HIGH-side MCC contact state signal RCHHGD
G222 0 Serial spindle orientation stop position command signal SH0D 9.9
G226 0 Serial spindle alarm reset signal ARSTA
G226 1 Serial spindle emergency stop command signal *ESPA
G226 2 Serial spindle selection command signal SPSLA
G226 3 Serial spindle power line switching completion signal MCFNA
G226 4 Serial spindle soft start/stop cancellation signal SOCNA
G226 5 Serial spindle speed integration control signal INTGA
G226 6 Serial spindle output switching request signal RSLA
G226 7 Serial spindle power line state confirmation signal RCHA
G227 0 Serial spindle torque limit command LOW signal TLMLA
G227 1 Serial spindle torque limit command HIGH signal TLMHA
G227 2 Serial spindle clutch/gear signal CTH2A 9.3, 9.6, 9.7, 9.8
G227 3 Serial spindle clutch/gear signal CTH1A 9.3, 9.6, 9.7, 9.8
G227 4 Serial spindle reverse rotation command signal SRVA
G227 5 Serial spindle forward rotation command signal SFRA
G227 6 Serial spindle orientation command signal ORCMA
G227 7 Serial spindle machine ready signal MRDYA
G228 0 Serial spindle magnetic-sensor-type orientation command signal MORCMA
G228 1 Serial spindle subordinate operation mode command signal SLVA
G228 2 Serial spindle motor power shutoff command signal MPOFA
G229 0 Serial spindle orientation stop position change command signal INDXA
G229 1 Serial spindle orientation stop position change-time rotation direction ROTAA
command signal
G229 2 Serial spindle orientation stop position change-time shorter way NRROA
command signal
G229 3 Serial spindle differential mode command signal DEFMDA
G229 4 Serial spindle analog override signal OVRIDA
G229 5 Serial spindle incremental command externally-set-type orientation signal INCMDA
G229 6 Serial spindle switching MAIN-side MCC contact state signal MFNHGA
G229 7 Serial spindle switching HIGH-side MCC contact state signal RCHHGA
G230 0 Serial spindle orientation stop position command signal SH0A 9.9
- 1650 -

G231 0 Serial spindle orientation stop position command signal SH8s 9.9
G231 4 Serial spindle orientation stop position command signal SH12s
G232 0 Spindle motor command voltage signal RI0B 9.3
G233 7 Spindle motor command voltage signal RISGNB 9.3
G234 0 Serial spindle alarm reset signal ARSTB
G234 1 Serial spindle emergency stop command signal *ESPB
G234 2 Serial spindle selection command signal SPSLB
G234 3 Serial spindle power line switching completion signal MCFNB
G234 4 Serial spindle soft start/stop cancellation signal SOCNB
G234 5 Serial spindle speed integration control signal INTGB
G234 6 Serial spindle output switching request signal RSLB
G234 7 Serial spindle power line state confirmation signal RCHB
G235 0 Serial spindle torque limit command LOW signal TLMLB
G235 1 Serial spindle torque limit command HIGH signal TLMHB
G235 2 Serial spindle clutch/gear signal CTH2B 9.3, 9.6, 9.7, 9.8
G235 3 Serial spindle clutch/gear signal CTH1B 9.3, 9.6, 9.7, 9.8
G235 4 Serial spindle reverse rotation command signal SRVB
G235 5 Serial spindle forward rotation command signal SFRB
G235 6 Serial spindle orientation command signal ORCMB
G235 7 Serial spindle machine ready signal MRDYB
G236 0 Serial spindle magnetic-sensor-type orientation command signal MORCMB
G236 1 Serial spindle subordinate operation mode command signal SLVB
G236 2 Serial spindle motor power shutoff command signal MPOFB
G237 0 Serial spindle orientation stop position change command signal INDXB
G237 1 Serial spindle orientation stop position change-time rotation direction ROTAB
command signal
G237 2 Serial spindle orientation stop position change-time shorter way NRROB
command signal
G237 3 Serial spindle differential mode command signal DEFMDB
G237 4 Serial spindle analog override signal OVRIDB
G237 5 Serial spindle incremental command externally-set-type orientation signal INCMDB
G237 6 Serial spindle switching MAIN-side MCC contact state signal MFNHGB
G237 7 Serial spindle switching HIGH-side MCC contact state signal RCHHGB
G238 0 Serial spindle orientation stop position command signal SH0B 9.9
- 1651 -

- 1652 -

- 1653 -

- 1654 -

G272 0 Spindle stop confirmation signal SPSTPB 9.6, 9.8
G272 2 Spindle unclamping completion signal *SEUCLB 9.6
G272 3 Spindle clamping completion signal *SECLPB 9.6
G272 4 Spindle gear select signal GS1B 9.3, 9.6, 9.8
G273 0 Spindle stop confirmation signal SPSTPC 9.6, 9.8
G273 2 Spindle unclamping completion signal *SEUCLC 9.6
G273 3 Spindle clamping completion signal *SECLPC 9.6
G273 4 Spindle gear select signal GS1C 9.3, 9.6, 9.8
G274 0 Spindle stop confirmation signal SPSTPD 9.6, 9.8
G274 2 Spindle unclamping completion signal *SEUCLD 9.6
G274 3 Spindle clamping completion signal *SECLPD 9.6
G274 4 Spindle gear select signal GS1D 9.3, 9.6, 9.8
G275 0 Spindle override signal SPAB
G275 1 Spindle override signal SPBB
G275 2 Spindle override signal SPCB
G276 0 Spindle override signal SPAC
G276 1 Spindle override signal SPBC
G276 2 Spindle override signal SPCC
G277 0 Spindle override signal SPAD
G277 1 Spindle override signal SPBD
G277 2 Spindle override signal SPCD
G292 0 Axis-direction-by-axis-direction stored stroke limit switching signal +EXL17 2.3.2
G292 1 Axis-direction-by-axis-direction stored stroke limit switching signal -EXL17 2.3.2
G292 2 Stroke limit externally setting signal +LM17 2.3.2
G292 3 Stroke limit externally setting signal -LM17 2.3.2
G292 4 Reference position proximity signal *NZ17 4.1
G292 7 Block stop inhibit signal MSBK17 14.1
G293 0 Axis control command code signal CD17X0 14.1
G294 0 Feedrate specification signal FD17X0 14.1
G296 0 Axis control data signal DT17X0
- 1655 -

- 1656 -

- 1657 -

- 1658 -

- 1659 -

- 1660 -

- 1661 -

G356 0 Override signal for PMC axis control on each axis OV16X0 14.1
- 1662 -

- 1663 -

- 1664 -

G383 0 Override signal for PMC axis control in simultaneous start mode OVA0 14.1
- 1665 -

G388 0 Axis control data signal DT1X0 14.1
- 1666 -

- 1667 -

- 1668 -

- 1669 -

- 1670 -

- 1671 -

- 1672 -

- 1673 -

- 1674 -

- 1675 -

- 1676 -

- 1677 -

- 1678 -

- 1679 -

- 1680 -
B-63783EN-1/01 INDEX
INDEX
<Number> <C>
128 Straightness Compensation Points........................... 59 CANNED CYCLE SPINDLE CONTROL................. 1189
2-LCD-unit Connection Function............................... 1340 CHANGING ACTIVE OFFSET VALUE WITH
2ND REFERENCE POSITION RETURN/3RD, 4TH MANUAL MOVE................................................ 1414
REFERENCE POSITION RETURN ..................... 453 Changing Blinking Displays in G05.1 Q1 Mode ........ 1343
3-DIMENSIONAL CIRCULAR INTERPOLATION Changing the CNC Screen Title Background Color ... 1349
(G02.4 AND G03.4)............................................... 610 CHOPPING FUNCTION ............................................. 226
CIRCULAR INTERPOLATION.................................. 553
<A>
Clock Function ........................................................... 1276
ABNORMAL LOAD DETECTION............................. 335
CNC to PMC .............................................................. 1517
Absolute Position Detection ......................................... 127
Command Description (G80.5, G81.5)......................... 241
ACCELERATION AND DECELERATION CONTROL685
Configuration Examples of Controlled Axes ................ 248
Acceleration/Deceleration before Interpolation of Linear
Configuration of Synchronous Control Axes................ 181
Type Rapid Traverse .............................................. 721
CONSTANT SURFACE SPEED CONTROL.............. 814
ACTIVE BLOCK CANCEL ........................................ 522
Control Point Compensation in Three-dimensional
ACTUAL SPINDLE SPEED OUTPUT ....................... 820
Handle Feed............................................................ 402
Addition of 5000 Pitch Error Compensation Points ....... 92
Control Point Compensation of Tool Length
ADDRESS LIST......................................................... 1496
Compensation Along Tool Axis ........................... 1084
Advanced Preview Control........................................... 647
Controlled Axes Detach.................................................. 14
Alarm Display............................................................. 1279
COORDINATE SYSTEM ROTATION (G68,G69)... 1216
ALARM SIGNALS ...................................................... 316
Corner Control.............................................................. 717
Automatic Corner Override .......................................... 634
Cs CONTOUR CONTROL .......................................... 881
Automatic Feedrate Control by Area ............................ 671
CUSTOM MACRO .................................................... 1162
AUTOMATIC OPERATION ....................................... 473
Custom Macro ............................................................ 1162
Automatic Phase Matching Function with Electronic
Cutter Compensation .................................................. 1007
Gear Box ................................................................ 253
Cutter Compensation for Rotary Table ....................... 1103
Automatic Sequence Number Insertion ...................... 1359
Cutting Feedrate Clamp ................................................ 616
AUTOMATIC TOOL LENGTH MEASUREMENT
Cutting/Rapid Traverse In-position Check ................... 160
(G37) .................................................................... 1388
CYCLE START/FEED HOLD..................................... 474
AUXILIARY FUNCTION LOCK ............................... 753
Cyclic Second Pitch Error Compensation....................... 68
AXIS CONTROL ............................................................. 1
CYLINDRICAL INTERPOLATION ........................... 585
AXIS INTERCHANGE.............................................. 1228
CYLINDRICAL INTERPOLATION CUTTING
Axis Name ........................................................................ 3
POINT CONTROL................................................ 588
<B>
<D>
Background Editing.................................................... 1356
Deceleration Based on Acceleration during Circular
Backlash Compensation.................................................. 44
Interpolation ........................................................... 642
Bell-shaped acceleration/deceleration time constant
DECELERATION STOP AT POWER FAILURE....... 277
change .................................................................... 713
DECIMAL POINT PROGRAMMING/POCKET
Bidirectional Pitch Error Compensation......................... 76
CALCULATOR TYPE DECIMAL POINT
BLOCK RESTART ...................................................... 502
PROGRAMMING................................................ 1153
Brightness Adjustment Screen for Monochrome
Display Unit with Graphic Function .................... 1334
i-1
INDEX B-63783EN-1/01
DEFINITION OF WARNING, CAUTION, AND Feedrate override .......................................................... 629

NOTE .......................................................................s-1 Feedrate Specification on a Virtual Circle for a Rotary
Description of Commands Compatible with Those Axis ........................................................................ 667
for a Hobbing Machine........................................... 244 Fine HPCC.................................................................... 649
Designation Direction Tool Length Compensation .... 1065 Fine Torque Sensing................................................... 1336
DI/DO Monitor Function............................................ 1329 FLOATING REFERENCE POSITION RETURN ....... 456
DIAMETER SPECIFICATION AND RADIUS Follow-up ....................................................................... 23
SPECIFICATION ................................................ 1161 FSSB Setting ................................................................ 130
DISPLAY/SET/EDIT ................................................. 1275
<G>
DISPLEY/SET ........................................................... 1276
GENERAL PURPOSE RETRACT .............................. 290
DNC OPERATION ...................................................... 527
Gradient Compensation .................................................. 73
DNC OPERATION FROM MEMORY CARD
Grinding Wheel Wear Compensation ......................... 1092
INTERFACE .......................................................... 544
DNC OPERATION FROM OPEN CNC <H>
SELECTING SIGNAL........................................... 542 Hardware/Software System Configuration Screen...... 1286
DO Signal Output by Soft Key ................................... 1361 HELICAL INTERPOLATION ..................................... 569
Dry Run ........................................................................ 485 HELICAL INTERPOLATION B ................................. 571
HIGH SPEED HRV MODE ......................................... 279
<E>
High-speed High-precision Machining Setting Screen1316
EDITING.................................................................... 1350
HIGH-SPEED M/S/T/B INTERFACE ......................... 758
Editing a Running Program ........................................ 1360
High-speed Measuring Position Reached Signal ........ 1393
EGB AXIS SKIP FUNCTION ..................................... 270
High-speed Skip Signal .............................................. 1400
ELECTRONIC GEAR BOX ........................................ 241
HYPOTHETICAL AXIS INTERPOLATION.............. 601
EMERGENCY STOP................................................... 295
Enhancement of Linear Scale with Reference Mark..... 468 <I>
ERROR COMPENSATION........................................... 33 INCH/METRIC CONVERSION................................ 1158
EXACT STOP/EXACT STOP MODE/TAPPING Increment System.............................................................. 6
MODE/CUTTING MODE ..................................... 526 INDEX TABLE INDEXING FUNCTION................. 1202
EXPONENTIAL INTERPOLATION .......................... 596 In-position check .......................................................... 717
EXTERNAL DATA INPUT....................................... 1470 INTERFACE BETWEEN CNC AND PMC............... 1495
External Deceleration ................................................... 639
EXTERNAL MOTION FUNCTION ......................... 1200 INTERLOCK................................................................ 319
EXTERNAL WORKPIECE NUMBER SEARCH..... 1486 Interpolated Pitch Error Compensation .......................... 66
Interpolated Straightness Compensation......................... 56
<F>
INTERPOLATION FUNCTION.................................. 547
F1-digit Feed ................................................................ 621
Interruption Type Custom Macro ............................... 1184
Feed Forward in Rapid Traverse................................... 720
INVOLUTE INTERPOLATION.................................. 573
Feed Per Minute ........................................................... 617
Feed Per Revolution/Feed Per Revolution without <J>
Position Coder........................................................ 619 Jerk Control .................................................................. 676
Feed Stop Function....................................................... 641 JOG FEED/INCREMENTAL FEED............................ 344
FEEDRATE CONTROL .............................................. 612
<K>
FEEDRATE CONTROL/ACCELERATION AND
KEY INPUT FROM PMC.......................................... 1490
DECELERATION CONTROL .............................. 611
Feedrate Inverse Time Specification............................. 625
i-2
<L> NORMAL DIRECTION CONTROL ........................... 593

LINEAR INTERPOLATION ....................................... 550 NUMBER OF CONTROLLED AXES............................. 2
LINEAR SCALE WITH REFERENCE MARK .......... 459 Number of Programs Stored ....................................... 1351
LOADING OF MULTIPLE SERVO PROGRAMS..... 288 NURBS INTERPOLATION......................................... 605
Look-ahead Acceleration/Deceleration Before NURBS Interpolation Additional Functions................. 608
interpolation ........................................................... 695
Look-ahead smooth bell-shaped acceleration/deceleration
<O>
OILING SIGNAL (CANNED CYCLE) ..................... 1233
before interpolation ................................................ 682
Operating Monitor Screen .......................................... 1293
<M> Operation/Alarm History Screen................................. 1277
M Code Commands for Displaying Operator Messages1346 Operator Message Display.......................................... 1281
Machine Coordinate System......................................... 154 Optimum Torque Acceleration/Deceleration ................ 725
Machine Lock............................................................... 482 OPTIONAL BLOCK SKIP/ADDITION OF
Machined Part Count and Operation Time Display.... 1287 OPTIONAL BLOCK SKIP .................................... 493
Machining Time Stamp .............................................. 1294 Outputting the Movement State of an Axis..................... 18
Machining type in HPCC screen programming ............ 664 Override ........................................................................ 626
Maintenance Information Screen................................ 1315 Override cancel............................................................. 633
MANUAL ABSOLUTE ON/OFF ................................ 491 OVERTRAVEL CHECK ............................................. 301
MANUAL ARBITRARY-ANGLE FEED.................... 422 Overtravel Signal .......................................................... 301
MANUAL HANDLE CONNECTED TO I/O LINK.... 358
MANUAL HANDLE FEED......................................... 353
<P>
PARALLEL AXIS CONTROL .................................... 164
MANUAL HANDLE INTERRUPTION...................... 362
Periodic Maintenance Screen...................................... 1313
MANUAL INTERRUPTION FUNCTION FOR
Pitch Error Compensation Screen............................... 1318
THREE-DIMENSIONAL COORDINATE
PLANE CONVERSION FUNCTION........................ 1242
CONVERSION ...................................................... 414
Playback...................................................................... 1357
MANUAL NUMERIC COMMAND ........................... 418
PMC AXIS CONTROL.............................................. 1423
MANUAL OPERATION ............................................. 343
PMC CONTROL FUNCTION ................................... 1422
MANUAL REFERENCE POSITION RETURN ......... 428
PMC to NC ................................................................. 1496
MEASUREMENT...................................................... 1379
POLAR COORDINATE INTERPOLATION .............. 580
Memory Protection Keys ............................................ 1352
Position Switch............................................................... 27
Menu Switches ........................................................... 1296
POSITIONING ............................................................. 548
Mirror Image................................................................... 20
Post-interpolation Automatic Acceleration/
MISCELLANEOUS FUNCTION ................................ 740
Deceleration............................................................ 685
MISCELLANEOUS FUNCTION/2ND AUXILIARY
Power Mate CNC Manager Function ......................... 1320
FUNCTION............................................................ 741
PREAPARATIONS FOR OPERATION...................... 294
MODE SELECTION.................................................... 324
PREFACE...................................................................... p-1
MULTIPLE M COMMANDS IN A SIGLE BLOCK .. 755
PROGRAM COMMAND .......................................... 1152
MULTIPLE ROTARY CONTROL AXIS
PROGRAM CONFIGURATION ............................... 1155
FUNCTION.......................................................... 1211
Program Encryption.................................................... 1353
Multi-step Skip ........................................................... 1401
PROGRAM RESTART ................................................ 497
<N> PROGRAMMABLE MIRROR IMAGE .................... 1238
Nano Interpolation........................................................ 648
Nano Interpolation Type Error Compensation................ 84
<R>
Rapid traverse override................................................. 626
National Language Display......................................... 1306
Rapid Traverse Rate...................................................... 613
i-3
INDEX B-63783EN-1/01
READER/PUNCHER INTERFACE.......................... 1369 SKIP FUNCTION ...................................................... 1395

READY SIGNALS....................................................... 299 Skip Function.............................................................. 1395
Recovery from Excessive Synchronous Error Alarm.... 190 Smooth Backlash Compensation .................................... 85
REFERENCE POSITION ESTABLISHMENT........... 427 SMOOTH INTERPOLATION ..................................... 598
REFERENCE POSITION RETURN ........................... 451 Smooth velocity control................................................ 662
REFERENCE POSITION SHIFT ................................ 446 Software Operator's Panel........................................... 1297
REGAINING A MANUAL INTERVENTION Specification of Diameter Entry for Tool
AMOUNT DURING AUTOMATIC Compensation Value .............................................. 981
OPERATION ......................................................... 529 Speed control based on changes to acceleration
RESET AND REWIND................................................ 478 for each axis............................................................ 677
RETRACE .................................................................... 510 Spindle Adjustment Screen......................................... 1283
Retraction Function ...................................................... 251 SPINDLE CONTROL .................................................. 793
RIGID TAPPING ......................................................... 900 SPINDLE FUNCTION................................................. 762
Rigid Tapping Additional Function.............................. 958 SPINDLE ORIENTATION .......................................... 961
Rotary Table Dynamic Fixture Offset......................... 1044 SPINDLE OUTPUT SWITCHING .............................. 964
Rotation Axis Roll-over................................................ 158 SPINDLE POSITIONING............................................ 822
Rotation Axis Specification ............................................ 10 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG
OUTPUT ................................................................ 765
<S>
SPINDLE SPEED FLUCTUATION DETECTION ..... 965
SCALING................................................................... 1213
SPINDLE SPEED FUNCTION (S CODE OUTPUT).. 763
Screen Clear Function and Automatic Screen Clear
SPINDLE WARNING DETAILED SIGNALS............ 972
Function ............................................................... 1307
SPIRAL INTERPOLATION, CONICAL
Second feedrate override .............................................. 631
INTERPOLATION ................................................ 602
Self-diagnosis ............................................................. 1285
SPLINE INTERPOLATION ........................................ 579
SEQUENCE NUMBER COMPARISON AND STOP 496
STATUS OUTPUT SIGNAL ....................................... 331
Servo Adjustment Screen............................................ 1282
Stored Pitch Error Compensation ................................... 33
Servo Off (Mechanical handle)....................................... 25
Stored Stroke Check 1 .................................................. 304
Servo Parameter............................................................ 115
Straightness Compensation............................................. 51
Servo Warning Details Signal....................................... 153
Stroke Check 2.............................................................. 308
SETTING EACH AXIS.................................................... 3
Stroke Limit Check Prior to Performing Movement..... 313
SETTING THE REFERENCE POSITION WITHOUT
Synchronization Alignment .......................................... 185
DOGS..................................................................... 442
SYNCHRONOUS CONTROL..................................... 180
SETTINGS RELATED TO COORDINATE
Synchronous Error Check............................................. 188
SYSTEMS.............................................................. 154
Synchronous Error Compensation ................................ 183
SETTINGS RELATED TO SERVO CONTROLLED
AXES ..................................................................... 114 <T>
SETUP OF FSSBs IF USING HIGH SPEED HRV TANDEM CONTROL.................................................. 170
CONTROL ............................................................. 282 Tape Length for Part Program Storage ....................... 1350
SIGNAL LIST ............................................................ 1538 TESTING A PROGRAM ............................................. 482
Signal List (in Order of Address)................................ 1610 Thermal Growth Compensation along Tool Vector........ 94
Signal List (in Order of Symbol) ................................ 1538 THREADING ............................................................... 559
SIMULTANEOUS AUTOMATIC AND MANUAL Threading...................................................................... 559
OPERATION ......................................................... 535 Threading Based on an Arbitrary Spindle Gear Ratio .. 562
Single Block ................................................................. 488 THREE-DIMENSIONAL COORDINATE
SINGLE DIRECTION POSITIONING........................ 567 CONVERSION .................................................... 1218
i-4
Three-dimensional Coordinate Conversion and <W>

Parallel Axis Control ............................................ 1226 Waveform Diagnosis Display ..................................... 1284
Three-dimensional Cutter Compensation ................... 1051 WITHDRAWING AND RETURNING A TOOL ........ 515
Three-dimensional cutter compensation at tool center Workpiece Coordinate System/Addition of Workpiece
point ..................................................................... 1062 Coordinate System Pair .......................................... 155
Three-dimensional Cutter Compensation for Rotary WORKPIECE ORIGIN MANUAL SETTING........... 1381
Table..................................................................... 1138
THREE-DIMENSIONAL ERROR
COMPENSATION................................................. 107
THREE-DIMENSIONAL HANDLE FEED................. 363
Three-dimensional Tool Compensation...................... 1016
TILTED WORKING PLANE COMMAND............... 1243
Tool Axis Direction Tool Length Compensation........ 1033
Tool Center Point Control .......................................... 1075
Tool Center Point Control for 5-axis Machining........ 1111
TOOL COMPENSATION FUNCTION..................... 1000
TOOL COMPENSATION VALUE/TOOL
COMPENSATION NUMBER/TOOL
COMPENSATION MEMORY.............................. 977
TOOL FUNCTION....................................................... 974
TOOL FUNCTION....................................................... 975
Tool Length Compensation in Tool Axis Direction
with Twin Table Control ........................................ 218
TOOL LENGTH MANUAL MEASUREMENT........ 1380
Tool Length Offset ..................................................... 1000
TOOL LENGTH/WORKPIECE ORIGIN
MEASUREMENT................................................ 1382
TOOL LIFE MANAGEMENT FUNCTION................ 982
Tool Offset.................................................................. 1004
Tool Offsets Based on Tool Numbers......................... 1022
Tool Path Drawing and Background Drawing............ 1291
Torque Difference Alarm Detection for Synchronous
Control ................................................................... 192
Torque Limit Skip ...................................................... 1408
Touch Panel................................................................ 1309
TURNING MODE AND COMPENSATION CLAMP OF
DUAL POSITION FEEDBACK ............................ 274
TWIN-TABLE CONTROL .......................................... 214
<V>
Vertical Axis Drop Prevention Function ........................ 31
Virtual Axis Direction Compensation for Polar
Coordinate Interpolation ........................................ 583
VRDY OFF ALARM IGNORE SIGNAL .................... 332
i-5
Revision Record
FANUC Series 15i/150i-MODELB CONNECTION MANUAL (FUNCTION) (B-63783EN-1)
01 Jan., 2002
Edition Date Contents Edition Date Contents

• No part of this manual may be
reproduced in any form.
• All specifications and designs

are subject to change without
notice.

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GE Fanuc Automation

Computer Numerical Control Products

Series 15i Model B

GFZ-63783EN-1/01 June 2002

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory

©Copyright 2002 GE Fanuc Automation North America, Inc.

DEFINITION OF WARNING, CAUTION, AND NOTE

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

CNC F000 - PMC Y000 - Machine tool

Address Symbol (#0 to #7 indicates bit position)

Data type Valid data range Remarks

Data No. Data (#0 to #7 indicates bit position)

1023 Servo axis number for each axis

Data No. Data

Related Manuals for Series 15i/150i- MODEL B

Table 1 (a) Manuals Related to the Series 15i, 150i

Related manuals for Servo Motor αi/β

Table 1 (b) Manuals Related to the Servo Motor αi/β

SAFETY PRECAUTIONS .......................................................................... s-1

1.5.4 Servo Warning Details Signal ............................................................................. 153

2.3.2 Stored Stroke Check 1 ......................................................................................... 304

5 AUTOMATIC OPERATION ................................................................473

5.3.3 Single Block ........................................................................................................ 488

6.17 SPIRAL INTERPOLATION, CONICAL INTERPOLATION ........................602

7.2.3.1 In-position check ..............................................................................................717

8 MISCELLANEOUS FUNCTION .........................................................740

10.4.7 Rotary Table Dynamic Fixture Offset ............................................................... 1044

11 PROGRAM COMMAND ...................................................................1152

12.1.3 Alarm Display.................................................................................................... 1279

12.2.8 Editing a Running Program ............................................................................... 1360

1.1 NUMBER OF CONTROLLED AXES

Alarm and message

Number Message Contents

1.2 SETTING EACH AXIS

1.2.1 Axis Name

- Axis name extension function

[Input type] Parameter input

Axis name Setting

1021 Subscripts of the axis names of parallel, synchronization control, and

[Input type] Parameter input

Setting Axis name indicated on screens such as

1.2.2 Increment System

Table. 1.2.2 (a) Increment Systems

Table. 1.2.2 (b)

[Input type] Setting input

#0 INI Specifies whether the increment system is metric or in inches.

[Input type] Parameter input

[Input type] Parameter input

#3 DIA Move commands for each axis are specified using:

[Input type] Parameter input

Increment system #3 ISE #2 ISD #1 ISC #0 ISA

[Input type] Parameter input

1.2.3 Rotation Axis Specification

With the rotation axis roll-over function, displayed absolute coordinate

Displayed relative coordinate values can be rounded to the angular

[Input type] Parameter input

#0 ROT Specifies whether the axis requires inch/metric conversion.

[Input type] Parameter input

[Input type] Parameter input

5425 Angular displacement per rotation in rotation-axis pitch error compensation

[Input type] Parameter input

The angular displacement per rotation, compensation interval, and number of

Angular displacement per rotation