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Flexible Synchronous Control Specifications, Series 16i/18i-MB/TB, 18i-MB5 Additional Manual Page 17

Additional Manual
1998/ 5/26
This total number of the skip signal inputs (i.e. the same value
specified by Q) is stored in the variable specified by R.
Example
Mxx ; (flexible synchronous control mode on)
X_ ;
Y_ ;
G31.8 G91 A0 P100 Q30 R1 ;
(skip command for flexible synchronous control)
After 30 times of skip signal inputs, 30 machine coordinate positions
of the A axis are stored respectively in the consecutive custom macro
variables #100~#129.
The total number of skip signal inputs (i.e. 30) is stored in the custom
macro variable #1.
4.3 Caution
1) If α is not the slave axis, the P/S alarm (No.5068) occurs.
2) In the G31.8 block, only one slave axis should be commanded.
When more than one slave axis are specified, the P/S alarm
(No.5068) occurs.
3) If G31.8 is commanded out of the flexible synchronous control
mode (Flexible synchronous control mode select signal switching
accepted signal (F197#0 ~ #3) is “0”), the P/S alarm (No.5068)
occurs.
4) If P is not specified in the G31.8 block, the P/S alarm (No.5068)
occurs.
5) If R is not specified in the G31.8 block, the total number of skip
signal inputs is not stored in the custom macro variables.
6) The number of custom macro variables specified by P and R
must be the existing ones. If any nonexistent variable is specified,
the P/S alarm (No.115) occurs.
If all the variables ranged by P and Q are not among the existing
ones, the P/S alarm (No.115) occurs, too.
7) You can select the type of skip functions, normal skip function or
high speed skip function, by the parameter HSS (No.6200#4).
When high speed skip is selected, you can select a valid signal
among high speed skip signals by setting parameter 9S1 ~ 9S8
(No.6208#0 ~ #7).
8) The servo delay is considered and compensated when storing
the machine coordinate positions to the custom macro variables.
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Flexible synchronous control Specifications
A-63540EN
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2004/08/10 H.Minami
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FANUC Series 16i/18i - MB/TB, 18i - MB5
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Contents Summary of Flexible Synchronous Control Specifications, Series 16i/18i-MB/TB, 18i-MB5 Additional Manual

  • Page 1FANUC Series 16i/18i - MB/TB FANUC Series 18i - MB5 Flexible synchronous control Specifications Contents 1 FLEXIBLE SYNCHRONOUS CONTROL................................................................................................................. 2 1.1 GENERAL .....................................
  • Page 21 FLEXIBLE SYNCHRONOUS CONTROL 1.1 General This function is provided for machines that require synchronizing two or more different gear ratios, such as a hobbing machine. The function can simultaneously place up to four sets in synchronization independently. For example, it is possible to realize sp
  • Page 3Block diagram Slave axis Command Position Spindle amplifier Spindle motor (Cs axis) De- pulse control or servo amplifier or servo motor tector + - Synchronization switch K K: Synchronization coefficient Master axis Command Position Spindle amplifier Spindle motor (Cs axis) De- pulse control or servo
  • Page 41.2.2Starting synchronization Flexible synchronous control is started by setting flexible synchronous control mode select signals (MTA, MTB, MTC, or MTD (G197.0, G197.1, G197.2, or G197.3)) to 1. However, setting MTA, MTB, MTC, or MTD to 1 during an automatic operation requires using an M code speci
  • Page 51.2.5Program example Axis configuration of X, Y, Z, B (Cs axis), C, U, and V Group A: Master axis B, slave axis C, gear ratio of 1:50, M50 for turning on, M51 for turning off Group B: Master axis Z, slave axis C, gear ratio of 1:5, M52 for turning on, M53 for turning off Group C: Master axis Y, slav
  • Page 61.3 Caution 1) A reset does not cancel synchronization. 2) Synchronization is achieved even if the slave axis is in any of the following states: - Interlock - Feed hold 3) Synchronization is not maintained if the slave axis is in any of the following states: - Machine lock - Servo off 4) The master
  • Page 711) If the flexible synchronous control mode is already or just entered, the PS5245 (OTHER AXIS ARE COMMANDED) alarm is issued in any of the following cases: - Both the master axis and its slave axis, which is in synchronization with the master axis, happen to be the same EGB axis. (M-Series) - Both
  • Page 82 FLEXIBLE SYNCHRONOUS CONTROL BETWEEN PATH 2.1 General This function enables flexible synchronous control between axes in different paths in multi-paths system. Each path has four synchronization groups. An axis in other path can be specified as a master axis of a group. All synchronization groups
  • Page 92.3 Caution 1) When this function is used, set FWC (bit 7 of parameter No. 1802) to 1 (The processing of command multiplication (CMR) is performed before acceleration/deceleration after interpolation). If FWC is 0, the PS5242 alarm is issued when the flexible synchronization mode is turned from off
  • Page 103 AUTOMATIC PHASE SYNCHRONIZATION FOR FLEXIBLE SYNCHRONOUS CONTROL 3.1 General In the flexible synchronous control, when synchronization start or cancellation is specified, synchronization is not started or canceled immediately. Instead, acceleration/deceleration is executed first. Therefore, synchr
  • Page 113.2 Details When parameter PHA~PHD (No.5669#0~#3) is set to 1, automatic phase synchronization for flexible synchronous control is available. If this function is available, acceleration/deceleration is executed when synchronization start or cancellation is specified. Acceleration/Deceleration Synchr
  • Page 12Synchronization cancellation Command sequence Synchronization cancellation M command Flexible synchronous control mode select signal (Gx197) (PMC CNC) Deceleration (movement) Synchronization mode signal (Fx197) (CNC PMC) Completion signal (FIN : Gx004#3) (PMC CNC) Miscellaneous function strobe signa
  • Page 13Automatic phase synchronization Command sequence By setting automatic phase synchronization signal (Gx381) to 1, automatic phase synchronization is performed after acceleration which is applied to synchronization start is finished. The machine zero position of the master axis (machine coordinate val
  • Page 141) When M code for turning on the flexible synchronous control mode is specified, and flexible synchronous control mode select signal (Gx197) which corresponds to the M code is set to 1, synchronization starts. Automatic phase synchronization signal (Gx381) is also set to 1. 2) Acceleration accordin
  • Page 15Change of gear ratios Gear ratios can be changed during an automatic operation by changing values of parameters for gear ratios (parameter No.5680~5687 and 5690~5693), using programmable parameter input (G10). Note 1 When gear ratios are changed, synchronization mode signals (Fx381) is set to 0, and
  • Page 164 SKIP FUNCTION FOR FLEXIBLE SYNCHRONOUS CONTROL (Only for M SERIES) 4.1 General This function provides the capability that skip function or high speed skip function can be commanded for the slave axis in the flexible synchronous control mode. The features are as follows. The program block to enable
  • Page 17This total number of the skip signal inputs (i.e. the same value specified by Q) is stored in the variable specified by R. Example Mxx ; (flexible synchronous control mode on) X_ ; Y_ ; G31.8 G91 A0 P100 Q30 R1 ; (skip command for flexible synchronous control) After 30 times of skip signal inputs, 3
  • Page 185 Parameter 1802 FWC [Data type] Bit FWC The processing of command multiplication (CMR) is performed: 0: After acceleration/deceleration after interpolation. 1: Before acceleration/deceleration after interpolation. Caution When the following function is used, set FWC to 1. - Flexible Synchronization
  • Page 195660 Master axis number (group A) 5661 Slave axis number (group A) 5662 Master axis number (group B) 5663 Slave axis number (group B) 5664 Master axis number (group C) 5665 Slave axis number (group C) 5666 Master axis number (group D) 5667 Slave axis number (group D) [Data type] Byte [Valid Data ran
  • Page 205680 Numerator determining gear ratio for flexible synchronization (group A) 5681 Denominator determining gear ratio for flexible synchronization (group A) 5682 Numerator determining gear ratio for flexible synchronization (group B) 5683 Denominator determining gear ratio for flexible synchronizatio
  • Page 217057 FLX [Data type] Bit FLX With the High-speed and high-precision functions, Flexible synchronous control is 0: Not available. 1: Available Note The High-speed and high-precision functions are AI nano contour control, High-precision contour control, and AI (nano) high-precision contour control. Ca
  • Page 22Parameters of Automatic phase synchronization 5669 PHD PHC PHB PHA [Data type] Bit PHA Automatic phase synchronization for flexible synchronous control in group A is: 0: Disabled. 1: Enabled. PHB Automatic phase synchronization for flexible synchronous control in group B is: 0: Disabled. 1: Enabled.
  • Page 2313425 Time constant for acceleration/deceleration at the synchronization start or cancellation (group A) 13426 Time constant for acceleration/deceleration at the synchronization start or cancellation (group B) 13427 Time constant for acceleration/deceleration at the synchronization start or cancella
  • Page 24Machine coordinate value of the master axis position which is used as the (5) 13433 reference for phase synchronization (group A) 13434 Machine coordinate value of the master axis position which is used as the reference for phase synchronization (group B) 13435 Machine coordinate value of the master
  • Page 25Parameters of skip function 6200 SRE HSS [Data type] Bit HSS 0: The skip function does not use high-speed skip signals. 1: The skip function uses high-speed skip signals. SRE When a high-speed skip signal is used: 0: The signal is considered to be input at the rising edge (0 to 1). 1: The signal is
  • Page 266 Signal Flexible synchronous control mode select signals MTA, MTB, MTC, and MTD [Classification] Input signal [Function] Select flexible synchronous control. [Operation] 1) Synchronization is started by setting these signals to 1. 2) Synchronization is canceled by resetting these si
  • Page 27In case that automatic phase synchronization is not used. Flexible synchronous control mode select signal switching accepted signals MFSYNA, MFSYNB, MFSYNC, and MFSYND [Classification] Output signal [Function] Check that the group selected using a flexible synchronous control mode se
  • Page 28Phase synchronization end signals PHFINA, PHFINB, PHFINC, and PHFIND [Classification] Output signal [Function] Inform that automatic phase synchronization is finished. [Operation] The signal becomes “1” when: Automatic phase synchronization is finished. The signal becomes “0” when: S
  • Page 297 Alarm and message No. Message Meaning of data 5242 ILLEGAL AXIS NUMBER This alarm is caused by one of the following: (This alarm is issued when flexible synchronization is turned on.) (1) The axis number of the synchronous master axis or slave axis is incorrect. (2) When Flexible synchronous contr
  • Page 30No. Message Meaning of data 115 ILLEGAL VARIABLE When skip function for flexible synchronous control (G31.8) is NUMBER specified, there are wrong commands as follows: - The custom macro variable number, which is specified by P and R, does not exist. - All the variables ranged by P and Q are not amon