FANUC Series 30i/31i/32i-MODEL A

Cs contour control axis coordinate establishment

Specifications

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 1/11

Date June.02.’04 Design. Apprv.
 Outline
Generally, position is lost just after changing serial spindle mode from speed
control mode to Cs contour control mode.
This function makes it possible to establish position without reference point
return by setting Cs axis coordinate establishment request signal
CSFIx<Gn274.4-7> to 1.

Note
This function is available from finish of the first reference point
return of Cs contour axis until power-off.

Setting
Set the parameter CSF (No.3712#2) and the parameter CSPTRE
(No.4353#5) to 1 in order to use Cs axis coordinate establishment.
(The parameter RFCHK3 (No.4016#7) is set to 0 in order to use this
function.)

And, the M code that sets Cs axis coordinate establishment request signal
CSFIx<Gn274.4-7> to 1 must be preventing buffering. Set the value of the
M code to parameter No.3411 to 3432.

Method of Cs axis coordinate establishment

(1) According to M code, change serial spindle mode to Cs contour control

mode and set Cs axis coordinate establishment request signal
CSFIx<Gn274.4-7> to 1.
(2) If Cs axis zero point establishment state signal CSPENx is 1, absolute
coordinate, relative coordinate, and machine coordinate of Cs axis are
counted up in order to establish them.
(3) After coordinate has been established, reference point establishment
signal ZRFx<Fn0120.0-7> is set to 1. Then, set Cs axis coordinate
establishment request signal CSFIx<Gn274.4-> to 0.
(4) Execute FIN sequence for M code.

Note
- Set correctly the signals MRDY, SFR, SRV of the direct input
signals from the PMC to the serial spindle via the CNC.
- In case of the emergency stop or the servo alarm on the Cs
axis occurs, Cs axis coordinate establishment is not executed.
- Do not move the Cs axis during the Cs axis coordinate
establishment be executed.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 2/11

Date June.02.’04 Design. Apprv.
 In case of failure to establish Cs axis coordinate

When Cs axis coordinate establishment is failed, PS alarm 5346 occurs on

the path that counts up absolute coordinate (work coordinate).

Causes of Cs axis coordinate establishment failure are as follows.

- Cs axis zero point establishment state signal CSPENx is 0.

- Position data was not transferred from spindle amplifier.
- Servo off is activated at start of Cs axis coordinate establishment
- Cs axis is under synchronous control or superimposed control.
- Emergency stop is applied during Cs axis establishing coordinate.
- Composite control of Cs axis is released during Cs axis establishing
coordinate.
- Synchronous/composite/superimposed control starts during Cs axis
establishing coordinate.

And, Cs axis coordinate establishment alarm signal CSFOx<Fn274.4-7> is

set to 1 on the path connected with spindle. Then, set Cs axis coordinate
establishment request signal CSFIx<Gn274.4 -7> to 0.
When you set Cs axis coordinate establishment request signal
CSFIx<Gn274.4-7> to 0, Cs axis coordinate establishment alarm signal
CSFOx<Fn274.4-7> is set to 0.

Clear P/S alarm 5346

PS alarm 5346 cannot be cleared until reference point of Cs axis is
established.
Perform manual reference point return of Cs axis on the path where PS alarm
5346 occurred. After reference point is established, PS alarm 5346 can be
cleard with reset.
Or, PS alarm 5346 can be cleard with reset after changing serial spindle
mode to speed control mode.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 3/11

Date June.02.’04 Design. Apprv.
 Sequence(Time Chart)

In case that Cs axis coordinate establishment is completed correctly.

M code for Cs contour
M code
control <F010∼013>

MF<F007.0>

CSPENA<F048.4>

CSFIx<G274.4-7>

CON<G027.7>
or
CONSx<G274.0-3>

FSCSL<F044.1>
or
FCSSx<F274.0-3>

Count up coordinate

ZRFx<F120.0-7>

CSFOx<F274.4-7>

FIN<G004.3>

Cs axis coordinate establishment is availalbe only in Cs contour contorl

mode.
Cs axis coordinate establishment request signal CSFIx<Gn274.4-7> is
ignored in speed control mode.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 4/11

Date June.02.’04 Design. Apprv.
 In cast that Cs axis coordinate establishment is failed.
M code for Cs contour
M code
control<F010 - 013>

MF<F007.0>

CSPENA<F048.4>

CSFIx<G274.4-7>

CON<G027.7>
or
CONSx<G274.0-3>

FSCSL<F044.1>
or
FCSSx<F274.0-3> Abort

Count up coordinate

ZRFx<F120.0-7>

CSFOx<F274.4-7>

FIN<G004.3>

When coordinate establishment is failed, ZRFx signal<F0120.0-7> is not set to 1.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 5/11

Date June.02.’04 Design. Apprv.
 Example) Under composite control of Cs axis in two-path system

M code for Cs contor

M code
control <F010 - 013>

MF<F0007.0>

CSPENA<F1048.4>

CSFIx<G1274.4-7>

CON<G1027.7>

FSCSL<F1044.1>

Count up coordinate

ZRFx<F1120>

CSFOx<F1274.4-7>

FIN<G0004.3>

(1) Excute M code on path-1. Then, MF signal <F0007.0> is set to 1.

(2) Check that Cs axis zero point establishment state signal on path-2
CSPENA <F1048.4> is 1. And, Set both Cs axis coordinate
establishment request signal on path-2 CSFI1<G1274.4> and spindle
contour control change signal on path-2 CON<G1027.7> to 1.
(3) Absolute coordinate on path-1, relative coordinate on path-1, and
machine coordinate on path-2 are counted up.
(4) After complete of count up, reference point establishment signal on
path-2 ZRFx<F0120> is set to 1. So, set Cs axis coordinate
establishment request signal on path-2 CSFI1<G1274.4> to 0.
(5) Excute FIN sequence for M code on path-1.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 6/11

Date June.02.’04 Design. Apprv.
 Note

CMR
Set the same value of CMR( parameter No.1820) for all Cs axes to establish
their coordinate in composite control. If value of CMR are different,
coordinate establishment is not completed correctly.

Feed axis synchronization control

Feed axis synchronization control is not available under Cs contour control.

Synchronous control
If Cs axis coordinate establishment request signal CSFIx <Gn274.4-7> is set
to 1 during synchronous control, PS alarm 5346 occurs.
Start synchronous control after Cs axis coordinate is established.

Composite control
If composite control is released during establishing Cs axis coordinate, Cs
axis coordinate establishment alarm signal CSFOx<Fn274.4-7> is set to 1
and PS alarm 5346 occurs.

superimposed control
If Cs axis coordinate establishment request signal CSFIx <Gn274.4-7> is set
to 1 during superimposed control, PS alarm 5346 occurs.
Start superimposed control after Cs axis coordinate is established.

Spindle simple synchronous control

When master spindle is parked, Cs axis coordinate is established according
to position of slave spindle.
Set Cs axis coordinate establishment request signal CSFIx <Gn274.4-7> for
master spindle to 1, not for slave spindle.
Also, Cs axis coordinate establishment alarm signal CSFOx <Fn274.4-7> for
master spindle is output, not for slave spindle.

External machine coordinate shift

Do not execute the external machine coordinate shift during establishing Cs
axis coordinate.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 7/11

Date June.02.’04 Design. Apprv.
 Signals

Cs axis coordinate establishment request signals

CSFI1 - CSFI4<Gn274.4-7>
[Classification] Input signal
[Function] Execute Cs axis coordinate establishment
[Operation] When CSFIx is 1 in Cs contour control mode, absolute coordinate and
machine coordinate are established according to Cs axis machine position.

When CSFIx are set to 0, Cs axis coordinate establishment alarm signal

CSFOx<Fn274.4-7> are set to 0.

Cs axis coordinate establishment alarm signals

CSFO1 - CSFO4<Fn274.4-7>
[Classification] Output signal
[Function] Inform that Cs axis coordinate establishment has not been completed.
[Output condition] These signals are set to 1 in the following case:
- Cs axis coordinate establishment has not been completed.

These signals are set to 0 in the following case:

- Spindle mode is speed control mode.
- Cs axis coordinate establishment request signal CSFIx<Gn274.4-7> are
set to 0.

Cs axis zero point establishment state signal

The 1st spindle : CSPENA<Fn048.4>, The 2nd spindle : CSPENB<Fn052.4>,
The 3rd spindle : CSPENC<nF171.4>, The 4th spindle : CSPEND<Fn269.4>
[Classification] Output signal
[Function] Inform that Cs axis coordinate establishment is available.
[Output condition] These signals are set to 1 in the following case:
- Reference point return has been completed correctly in Cs contour control
mode.

These signals are set to 0 in the following case:

- Spindle alarm occured.
- Spindle motor rotates at the speed over maximum speed.
(parameter No.4020)

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 8/11

Date June.02.’04 Design. Apprv.
 Signal Address
#7 #6 #5 #4 #3 #2 #1 #0
Gn274 CSFI4 CSFI3 CSFI2 CSFI1
#7 #6 #5 #4 #3 #2 #1 #0
Fn048 CSPENA
#7 #6 #5 #4 #3 #2 #1 #0
Fn052 CSPENB
#7 #6 #5 #4 #3 #2 #1 #0
Fn171 CSPENC
#7 #6 #5 #4 #3 #2 #1 #0
Fn269 CSPEND
#7 #6 #5 #4 #3 #2 #1 #0
Fn274 CSFO4 CSFO3 CSFO2 CSFO1

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 9/11

Date June.02.’04 Design. Apprv.
 Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 ZRN

[Data type] Bit axis

ZRNx When a command specifying the movement except for G28 is issued in
automatic operation (MEM or MDI) and when a return to the reference
position has not been performed since the power was turned on
0: An alarm is generated (PS alarm 0224).
1: An alarm is not generated.

Note
We recommend you to set ZRNx to 0 for Cs axis coordinate
establishment function.

#7 #6 #5 #4 #3 #2 #1 #0
3712 CSF

[Data type] Bit system common

CSF Cs axis coordinate establishment is
0: Not used
1: Used

#7 #6 #5 #4 #3 #2 #1 #0
(2)
4353 CSPTRE

[Data type] Bit spindle

CSPTRE The function that transfer position data of Cs axis is
0: Not used
1: Used

Set parameter RFCHK3 (No.4016#7) to 0 in order to use this function.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 10/11

Date June.02.’04 Design. Apprv.
 Alarm and message

Number Message Description

PS5346 RETURN TO REFERENCE Cs coordinate establishment was aborted.
POINT Perform manual reference point return of Cs axis.
1. CSFIx was set to 1 when Cs axis zero point establishment
state signal CSPENx is 0.
2. Position data was not transferred from spindle amplifier.
3. Servo off is activated at start of Cs axis coordinate
establishment.
4. Cs axis is under synchronous control or superimposed
control.
5. Emergency stop is applied during Cs axis establishing
coordinate.
6. Composite control of Cs axis is released during Cs axis
establishing coordinate.
7. Synchronous/composite/superimposed control starts
during Cs axis establishing coordinate.

FANUC Series 30i/31i/32i/-MODEL A

Title Cs contour control axis coordinate
establishment
Draw
A-79613E
No.

Ed. Date Design Description Page 11/11

Date June.02.’04 Design. Apprv.