A-79595E
Title
Draw
No.
Ed. Date Design Description
Date May.24.’04 esig. Apprv.
8/33
Sheet
FANUC Series 30i-MODEL A
Live Tool Control With Servo Motor
-Setting of a rotation axis with a servo motor
1. Axis setting
For the servo axis number of the axis to be set as a rotation axis with
a servo motor (parameter No. 1023), set a value as a servo motor as usual.
Specify which servo motor to use as the live tool axis, with SRV, bit 7 of
parameter No. 11000. Specify which spindle to use as the live tool axis
with the servo motor, by setting the spindle number in parameter
No. 11010. Also, set "0" as the spindle amplifier number of the specified
spindle (parameter No. 3717) .
To perform spindle selection with a program in multi-spindle control,
set MPP, bit 3 of parameter No. 3703, to 1. Set the P code to select
a spindle in parameter No. 3781.
2. To use speed commands as those for the spindle, you need to adjust
the following parameters:
No. 11013 (Positioning deviation limit in movement)
No. 11014 (Positioning deviation limit in the stop state)
No. 11015 (Maximum motor speed)
3. Setting of a rotation axis
Set the axis with ROTx, bit 0 of parameter No. 1006, and ROSx, bit 1 of
parameter No. 1006, so that it assumes rotation axis type A.
Using the roll-over function, round the display values of absolute
coordinates to units of the travel amount per rotation set in parameter
No. 1260. This prevents the coordinates on the rotation axis from
overflowing. Also, round the display values of relative coordinates to
units of the travel amount per rotation, by setting RRLx, bit 2 of parameter
No. 1008, to 1. The roll-over function is enabled by setting ROAx, bit 0
of parameter No. 1008, to 1 (for the rotation axis).