B-64303EN-1/01 2.

PREPARATIONS FOR OPERATION

2.9 UNEXPECTED DISTURBANCE TORQUE DETECTION

FUNCTION

Machine collision, defective, and damaged cutters cause a large load

torque on the servo and spindle motors, compared with normal rapid
traverse or cutting feed. This function detects the disturbance torque
on the motors and sends this value as an estimated load torque to the
PMC. If the detected disturbance torque value is abnormally great
compared with the value specified in the parameter, the function stops
the servo/spindle motor as early as possible or reverses the motor by
an appropriate value specified in a parameter, in order to minimize
possible damage to the machine. (The function to reverse motors is
effective only for servo motors.)
The unexpected disturbance torque detection function is further
divided as follows:

(1) Estimated disturbance torque output function

The CNC is always calculating the estimated disturbance torque
for the motor (excluding acceleration/deceleration torque). The
estimated disturbance torque output function enables the PMC to
read the calculated torque using the window function.
(2) Unexpected disturbance torque detection alarm function
This function stops motors or reverses them by an amount
specified in a parameter, causing the CNC to output an alarm,
whenever the disturbance torque is greater than the value
specified in a parameter. (The function to reverse motors is
effective only for servo motors.)
(3) Unexpected disturbance torque detection group function
This function allows you to divide servo axes into desired groups.
When the disturbance torque obtained by the estimated
disturbance torque output function is greater than a parameter-set
value, this function stops motors immediately. The function
immediately stops all axes that are set for the same group by
parameter setting (including axes of which group number set to
0) then places them in the interlock state. When a value is set in
parameter No. 2103, this function reverses the motors by the set
amount in a direction opposite to the advance direction, then
places all the axes of the same group in the interlock state.

NOTE
Select the unexpected disturbance torque detection
alarm function or unexpected disturbance torque
detection group function by setting bit 5 (ANA) of
parameter No. 1804.
You cannot use these functions at the same time.

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Unexpected disturbance torque detection can also be disabled only for

specific axes by using bit 5 (ABDSW) of parameter No. 2215 for the
unexpected disturbance torque detection function and unexpected
disturbance torque detection ignore signals IUDD1 to IUDD5
<G0125>. (This function is effective only for servo motors.)

Procedure for parameter setting

The following flowcharts explain how to specify parameters for the
unexpected disturbance torque detection function.
Refer to following manuals for details :
“FANUC AC SERVO MOTOR αi series PARAMETER MANUAL
(B-65270EN)”
“FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL
(B-65280EN)”

(1) Servo axis

Unexpected disturbance torque
detection function is available.

Unexpected disturbance torque Parameter ABNT

detection function to be used? (No.2016#0)= 0
No
Yes

Parameter ABNT(No.2016#0)= 1, Parameter (No.2104)= 0

Unexpected disturbance torque Only the estimated

detection alarm function to be used? disturbance torque output
No function is enabled.
Yes

Set parameter TDOUT(No.2015#5) to 1 to

observe the load torque.

<Adjustment> Refer to above manuals for details

Set parameters (No.1880, 2050, 2051, 2103, and 2104).

Reset parameter TDOUT(No.2015#5) to 0.

Set parameter ANA(No.1804#5) to 0 or 1.

0 1

The estimated disturbance torque The estimated disturbance torque

output and unexpected output and unexpected
disturbance torque detection disturbance torque detection
alarm functions are enabled. group functions are enabled.

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(2) Spindle
Unexpected disturbance torque
detection function is available.

Specify parameter Nos. 4247, 4248, 4249, and 4250, and reset parameter No. 4341 to
0.

Unexpected disturbance torque Only the estimated

detection alarm function to be used? disturbance torque output
No function is enabled.
Yes

Specify parameter No. 4341.

The estimated disturbance torque

output and unexpected
disturbance torque detection
alarm functions are enabled.

Timing chart when the unexpected disturbance torque detection group function is
used
Reversing enabled only for axis for which
Unexpected disturbance unexpected disturbance torque is detected
torque detection
<1>

Speed for axis for which Speed 0

unexpected disturbance torque
is detected Interlock period

Servo error amount for axis for In-position area

which unexpected disturbance Error amount 0
torque is detected

Time set in parameter

No.1880

ABTDx (Output)
(Fn184)

Servo off (Input) <2>

SVFx
<3>
In-position INPx (Output)
signal

Reset key or external reset signal

ERS (Input) <4>

Timing chart of the unexpected disturbance torque detection group function

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<1> When an unexpected disturbance torque is detected, servo motors

are stopped immediately. Axes with the same group number set
in parameter No. 1881 and axes with 0 set in the parameter are
all stopped immediately then placed in the interlock state. At
this time, axis movements are stopped regardless of commands of
the CNC, so there is a difference between the coordinates held by
the CNC and the actual motor position. This difference is
accumulated as a servo error amount.
<2> When the operation is restarted, a follow-up operation is
performed by inputting the servo off signal to match the
coordinates held by the CNC and the actual motor position.
Input the servo off signals for all axes of the same group (the
axes with the same group number set and axes with group
number 0 set). When servo off signals are input, the follow up
signal *FLWU <G007.5> must be set to 0, and bit 0 (FUPx) of
parameter No. 1819 must be set to 0.
<3> After servo off signal input, in-position signal INPx is turned on
when the error amount enters the effective area.
<4> Check that the in-position signals for all axes that belong to the
same group have been turned on, then input a reset (ERS or a
reset key).

WARNING
The unexpected disturbance torque detection
group function uses the servo off state. In the
servo off state, the motor is deactivated and the
dynamic brake does not work. This leaves the
servo motor completely free with no braking power.
Therefore, the vertical axis may drop freely in the
event of a failure of the mechanical break or its
drive circuit, sequence, etc. To detect an
unexpected disturbance torque of the vertical axis,
use the unexpected disturbance torque detection
alarm function.

CAUTION
When an unexpected disturbance torque is
detected using the unexpected disturbance torque
detection group function, be sure to follow the
timing chart shown above to input servo off signals
then perform a reset operation. If a reset is made
without inputting the servo off signals, a shock may
apply to the machine.

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NOTE
1 The servo off signal must be input with follow up
signal *FLWU <G007.5> set to 0 and bit 0 (FUPx)
of parameter No. 1819 set to 0.
2 Input the servo off signals for all axes of the group
to which the axis with an unexpected disturbance
torque detected belongs. Also for axes for which
0 is set in parameter No. 1881, input the
corresponding servo off signals.
3 When an unexpected disturbance torque is
detected for a PMC axis or when an axis for which
an unexpected disturbance torque is detected
belongs to a group that includes a PMC axis, all
axes of the cluster to which that PMC axis belongs
are placed in the interlock state.
4 When an unexpected disturbance torque is
detected for a spindle (serial spindle), ABTSP1 or
ABTSP2 <F0090.1 or .2> is output immediately.
The setting of parameter No. 1880 is ignored.
5 When an unexpected disturbance torque is
detected for a spindle (serial spindle), servo axes
are not stopped. When the servo axes must be
stopped, stop them by using ladder.

Signal
Servo axis unexpected disturbance torque detection signal ABTQSV <Fn090.0>
[Classification] Output signal
[Function] Informs the PMC that an unexpected disturbance torque was detected
on a servo axis.
[Output condition] This signal becomes "1" if:
- An Unexpected disturbance torque is detected for a servo axis,
Cs axis, spindle positioning axis, or spindle axis during rigid
tapping.

First-spindle unexpected disturbance torque detection signal ABTSP1 <Fn090.1>

[Classification] Output signal
[Function] Informs the PMC that an unexpected disturbance torque was detected
on the first spindle axis.
[Output condition] This signal becomes "1" if:
- An unexpected disturbance torque is detected for the first spindle
under speed control.

Second-spindle unexpected disturbance torque detection signal ABTSP2 <Fn090.2>

[Classification] Output signal
[Function] Informs the PMC that an unexpected disturbance torque was detected
on the second spindle axis.
[Output condition] This signal becomes "1" if:
- An unexpected disturbance torque is detected for the second
spindle under speed control.

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Unexpected disturbance torque detection signals ABDT1 to ABDT5 <Fn184.0 to Fn184.4>

[Classification] Output signal
[Function] Notifies the PMC of the axis on which an unexpected disturbance
torque was detected. The number at the end indicates the control axis
number.
[Output condition] This signal becomes "1" if:
- An unexpected disturbance torque is detected. (At this time, the
servo axis unexpected disturbance torque detection signal
ABTQSV<Fn090.0> also becomes "1".)

The following list summarizes the alarms and signals output by each
function.
Signal output Alarm
ABTSP1
ABTQSV SV0409 SP0754
ABTSP2
Servo axis O - O -
Cs contour control O - O -
Spindle positioning axis O - O -
Rigid tapping O - - O
Spindle axis for speed - O - O
control

Unexpected disturbance torque detection disable signal IUDD1 to IUDD5 <Gn125.0 to

Gn125.4>
[Classification] Input signal
[Function] Disables the unexpected disturbance torque detection function for
each axis. This signal is provided for each control axis and the value
at the end indicates the control axis number.
[Output condition] If this signal is 1, the unexpected disturbance torque of the target axis
is not detected.
Before using this signal, set bit 5 (ABDSW) of the parameter No.
2215, used for the unexpected disturbance torque detection function,
to 1.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
Fn090 ABTSP2 ABTSP1 ABTQSV

Fn184 ABDT5 ABDT4 ABDT3 ABDT2 ABDT1

#7 #6 #5 #4 #3 #2 #1 #0
Gn125 IUDD5 IUDD4 IUDD3 IUDD2 IUDD1

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Parameters
- Common to servo axis and spindle
#7 #6 #5 #4 #3 #2 #1 #0
1804 ANA

[Input type] Parameter input

[Data type] Bit path

#5 ANA When an unexpected disturbance torque is detected for an axis:

0: Movement along all axes is stopped, and a servo alarm is output.
1: No servo alarm is output, and movement along only the axes of
the group containing the axis with the unexpected disturbance
torque is stopped in interlock mode. Each unexpected
disturbance torque detection signal is output. The unexpected
disturbance torque detection signal that has been output is
cleared by a reset. The group number of each axis is set in
parameter No.1881.

WARNING
The abnormal load detection group function uses
the servo-off state in which the motor is
de-energized and the dynamic brake does not
operate. Accordingly, the servo motor enters the
free running state and no braking force is applied.
Therefore, for a vertical axis, if a failure occurs in the
mechanical brake, driving circuit, or sequence, the
axis may fall freely in a significant manner. When
applying abnormal load detection to a vertical axis,
use the abnormal load detection function.

NOTE
When this parameter is set to 1, it is necessary to
set parameter No. 1881 to the group number of
each axis when abnormal load is detected.

#7 #6 #5 #4 #3 #2 #1 #0
1805 TSM TSA

[Input type] Parameter input

[Data type] Bit path

#3 TSA As the unexpected disturbance torque detection level during dwell, M

code execution, and automatic operation halt state:
0: The threshold value for rapid traverse is used. (Parameter No.
2142)
1: The threshold value for cutting feed is used. (Parameter No.
2104)
When the parameter ABG0 (No. 2200#3) is se to 1, this parameter is
enabled.

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#4 TSM As the unexpected disturbance torque detection level in the jog feed
mode (excluding manual rapid traverse) and manual handle feed
mode:
0: The threshold value for rapid traverse is used. (Parameter No.
2142)
1: The threshold value for cutting feed is used. (Parameter No.
2104)
When the parameter ABG0 (No. 2200#3) is se to 1, this parameter is
enabled.

1880 Unexpected disturbance torque detection alarm timer

[Input type] Parameter input

[Data type] Word path
[Unit of data] msec
[Valid data range] 0 to 32767
This parameter sets the time from the detection of an unexpected
disturbance torque until a servo alarm is issued.
When 0 is set, however, the specification of 200 msec is assumed.

1881 Group number when an unexpected disturbance torque is detected

[Input type] Parameter input

[Data type] Byte axis
[Valid data range] 0 to 32
This parameter sets the group number of each axis, used when an
unexpected disturbance torque is detected.
If an unexpected disturbance torque is detected for an axis, only the
movement along the axes of the group containing the axis with the
unexpected disturbance torque is stopped. If 0 is set for an axis,
movement along that axis is stopped whenever an unexpected
disturbance torque is detected for any axis.
This parameter is enabled when the parameter ANA (bit 5 of
No.1804) is 1.
[Example]
When the settings indicated below are made, and an abnormal
load is detected on the 3rd axis, the movements on the 1st axis,
2nd axis, 3rd axis, and 4th axis are stopped. When an abnormal
load is detected on the 4th axis, the movements on the 2nd axis
and the 4th axis are stopped.
Parameter No. 1881 Setting value
(1st axis) 1
(2nd axis) 0
(3rd axis) 1
(4th axis) 0
(5th axis) 2

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- Servo axis
#7 #6 #5 #4 #3 #2 #1 #0
2015 TDOUT

[Input type] Parameter input

[Data type] Bit axis

# 5 TDOUT Select output to the check board (for each axis)

0: Output the torque command to the check board.
1: Output the estimated load torque to the check board.

#7 #6 #5 #4 #3 #2 #1 #0
2016 ABNT

[Input type] Parameter input

[Data type] Bit axis

#0 ABNT Unexpected disturbance torque detection function (for each axis) is

0: Disabled
1: Enabled
When using the unexpected disturbance torque detection alarm
function and estimated disturbance torque output function, enable the
unexpected disturbance torque detection function.

2050 Velocity control observer

[Input type] Parameter input

[Data type] Word axis
[Valid data range] 0 to 32767
Be sure to set this parameter to 3559.
When using the velocity loop observer (by setting bit 2 (OBEN) of
parameter No. 2003 to 1), set 956 in this parameter.

2051 Velocity control observer

[Input type] Parameter input

[Data type] Word axis
[Valid data range] 0 to 32767
Be sure to set this parameter to 3329.
When using the velocity loop observer (by setting bit 2 (OBEN) of
parameter No. 2003 to 1), set 510 in this parameter.

2103 Retraction distance upon the detection of an unexpected disturbance torque

[Input type] Parameter input

[Data type] Word axis
[Unit of data] Detection unit
[Valid data range] 0 to 32767
This parameter specifies the distance by which the tool is to be
retracted, by reversing the motor, if an unexpected disturbance torque
is detected.

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When the motor is rotating at low speed, however, the tool may be
retracted too far. To prevent this, the motor is stopped, instead of
being reversed, while the specified feedrate is less than the value listed
in the table below.
When this parameter is set to value A, the detection of an unexpected
disturbance torque causes the tool to be retracted in the reverse
direction by the distance A, then stopped, if the specified feedrate is
equal to or greater than the value listed below.
Detection unit Feedrate
10 µm A/ 0.8 mm/ min
1 µm A/ 8 mm/ min
0.1 µm A/ 80 mm/ min
When this parameter is set to 0, the motor stops immediately upon the
detection of unexpected disturbance torque.

2104 Threshold for unexpected disturbance torque detection alarm

[Input type] Parameter input

[Data type] Word axis
[Unit of data] Torque command unit
[Valid data range] 0 to 7282 (The maximum motor torque is 7282, regardless of the
motor type.)
This parameter specifies the threshold load torque at which an
Unexpected disturbance torque detection alarm is issued.
Monitor the load torque by setting parameter TDOUT (No.2015#5) to
1 then, for this parameter (No. 2104), set a value larger than the
maximum monitored torque. An output of 4.4 V is equivalent to 7282
in the units of this parameter.

Threshold for unexpected disturbance torque detection alarm for rapid

2142 traverse

[Input type] Parameter input

[Data type] Word axis
[Unit of data] Torque command unit
[Valid data range] 0 to 7282 (The maximum motor torque is 7282, regardless of the
motor type.)
This parameter specifies the threshold load torque at which an
Unexpected disturbance torque detection alarm is issued.
Monitor the load torque by setting parameter TDOUT (No.2015#5) to
1 then, for this parameter (No. 2104), set a value larger than the
maximum monitored torque. An output of 4.4 V is equivalent to 7282
in the units of this parameter.
This parameter is enabled when ABG0 (bit 3 of parameter No. 2200)
= 1.

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#7 #6 #5 #4 #3 #2 #1 #0
2200 ABG0

[Input type] Parameter input

[Data type] Bit axis

#3 ABG0 The unexpected disturbance torque detection function for cutting or

rapid traverse is:
0: Disabled.
1: Enabled.
When this function is disabled, the threshold value during cutting feed
is used (parameter No. 2104).

#7 #6 #5 #4 #3 #2 #1 #0
2215 ABDSW

[Input type] Parameter input

[Data type] Bit axis

# 5 ABDSW The Unexpected disturbance torque detection function for a specified

axis:
0: Cannot be disabled.
1: Can be disabled.

- Parameters for spindle

#7 #6 #5 #4 #3 #2 #1 #0
4015 SPLDMT

[Input type] Parameter input

[Data type] Bit spindle

# 1 SPLDMT Spindle load torque monitor function

0: The spindle load torque monitor function is disabled.
1: The spindle load torque monitor function is enabled.

4247 Magnetic flux compensation time constant for spindle load torque monitor

[Input type] Parameter input

[Data type] Word spindle
[Unit of data] msec
[Valid data range] 0 to 8192
This parameter is used to compensate the delay in the generation of
magnetic flux in the spindle motor relative to the specified value.
When 0 is set, it is assumed that the generation of magnetic flux is not
delayed.
Standard setting depends of the motor model.

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4248 Spindle load torque monitor constant

[Input type] Parameter input

[Data type] Word spindle
[Valid data range] 0 to 32767
This constant is determined by the maximum output torque and inertia
of the motor. It is used for observer processing.
Standard setting depends of the motor model.

4249 Observer gain 1 for spindle load torque monitor

[Input type] Parameter input

[Data type] Word spindle
[Valid data range] 0 to 32767
Standard setting is 500.

4250 Observer gain 2 for spindle load torque monitor

[Input type] Parameter input

[Data type] Word spindle
[Valid data range] 0 to 32767
Standard setting is 500.

4341 Threshold for unexpected disturbance torque detection alarm

[Input type] Parameter input

[Data type] Word spindle
[Unit of data] 0.01%
[Valid data range] 0 to 10000
This parameter specifies the threshold load torque at which an
Unexpected disturbance torque detection alarm is issued for the
spindle. Set a percentage (in units of 0.01 %) for the maximum output
torque of the motor. When 0 is set, no Unexpected disturbance torque
detection alarm is issued for the spindle.

Alarm and message

- Alarm related to servo axis
Number Message Description
SV0409 DETECT ABNORMAL TORQUE An abnormal load was detected on the servo motor, or during
Cs axis or spindle positioning.
The alarm can be canceled by RESET.

- Alarm related to spindle

Number Message Description
SP0754 ABNORMAL TORQUE An abnormal load was detected in a spindle motor.
The alarm can be canceled by RESET.

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2.10 MACHINING CONDITION SELECTION FUNCTION

Overview
For high precision and high speed functions (advanced preview
control, AI advanced preview control, and AI contour control
functions), parameters which place importance on feedrate or
precision are set and a precision level is specified according to the
machining condition during machining. By using these parameters
and level, parameters which satisfy the condition can automatically be
calculated for machining.

NOTE
Machining condition selection function is optional
function.

Format
- Changing the precision level by programming
The precision level can be changed not only by using the precision
level selection screen but also by programming the following format:

- Selecting the level when the AI advanced preview control or AI contour control
mode is specified
G05.1 Q1 Rx ;
x : Level (1 to 10)

- Selecting the level when the advanced preview control mode is specified
G08 P1 Rx ;
x : Level (1 to 10)

CAUTION
Once a level is specified, it is kept valid even after
the AI contour control mode is canceled.

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Parameter
#7 #6 #5 #4 #3 #2 #1 #0
MCR
13600
MSA MCR

[Input type] Parameter input

[Data type] Bit path
#0 MCR When an allowable acceleration rate adjustment is made with the
machining condition selection function (machining parameter
adjustment screen, precision level selection screen), parameter No.
1735 for the deceleration function based on acceleration in circular
interpolation is:
0: Modified.
1: Not modified.

#7 MSA When the machining condition selection function is used, the

acceleration rate change time (bell-shaped) (LV1, LV10) is:
0: Set using parameter Nos. 13612 and 13613.
1: Set using parameter Nos. 13662 and 13663.

NOTE
The acceleration rate change time ranges from 0 to
127 msec when this parameter is 0 or ranges from 0
to 200 msec when this parameter is 1.

#7 #6 #5 #4 #3 #2 #1 #0
13601 MPR

[Input type] Parameter input

[Data type] Bit

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

#0 MPR The machining parameter adjustment screen is:

0: Displayed.
1: Not displayed.
Even when this parameter is set to 1, the precision level selection
screen is displayed.

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Acceleration rate for acceleration/deceleration before look-ahead

13610 interpolation in advanced preview control/AI advanced preview control/AI
contour control (precision level 1)

Acceleration rate for acceleration/deceleration before look-ahead

13611 interpolation in advanced preview control/AI advanced preview control/AI
contour control (precision level 10)

[Input type] Parameter input

[Data type] Real axis
[Unit of data] mm/sec/sec, inch/sec/sec, degree/sec/sec (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (D)
(When the machine system is metric system, 0.0 to +100000.0. When
the machine system is inch system, machine, 0.0 to +10000.0)
Each of these parameters sets an acceleration rate for acceleration/
deceleration before interpolation in advanced preview control/AI
advanced preview control/AI contour control. Set a value (precision
level 1) with emphasis placed on speed, and a value (precision level
10) with emphasis on precision.

13612 Acceleration rate change time (bell-shaped) when AI contour control is used
(precision level 1)

13613 Acceleration rate change time (bell-shaped) when AI contour control is used
(precision level 10)

[Input type] Parameter input

[Data type] Byte path
[Unit of data] msec
[Valid data range] 0 to 127
Each of these parameters sets an acceleration rate change time
(bell-shaped) in AI contour control. Set a value (precision level 1)
with emphasis placed on speed, and a value (precision level 10) with
emphasis on precision.

NOTE
These parameters are valid when bit 7 (MSA) of
parameter No. 13600 is 0.

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Allowable acceleration rate when advanced preview control/AI advanced

13620 preview control/AI contour control is used (precision level 1)

Allowable acceleration rate when advanced preview control/AI advanced

13621 preview control/AI contour control is used (precision level 10)

[Input type] Parameter input

[Data type] Real axis
[Unit of data] mm/sec/sec, inch/sec/sec, degree/sec/sec (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (D)
(When the machine system is metric system, 0.0 to +100000.0. When
the machine system is inch system, machine, 0.0 to +10000.0)
Each of these parameters sets an allowable acceleration rate in
advanced preview control/AI advanced preview control/AI contour
control. Set a value (precision level 1) with emphasis placed on speed,
and a value (precision level 10) with emphasis on precision.

Time constant for acceleration/deceleration after interpolation when

13622 advanced preview control/AI advanced preview control/AI contour control is
used (precision level 1)

Time constant for acceleration/deceleration after interpolation when

13623 advanced preview control/AI advanced preview control/AI contour control is
used (precision level 10)

[Input type] Parameter input

[Data type] Word axis
[Unit of data] msec
[Valid data range] 1 to 512
Each of these parameters sets a time constant for acceleration/
deceleration after interpolation when advanced preview control/AI
advanced preview control/AI contour control is used. Set a value
(precision level 1) with emphasis placed on speed, and a value
(precision level 10) with emphasis on precision.

Corner speed difference when advanced preview control/AI advanced

13624 preview control/AI contour control is used (precision level 1)

Corner speed difference when advanced preview control/AI advanced

13625 preview control/AI contour control is used (precision level 10)

[Input type] Parameter input

[Data type] Real axis
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 to +999000.0)
Each of these parameters sets an allowable speed difference for speed
determination based on corner speed difference in advanced preview
control/AI advanced preview control/AI contour control. Set a value
(precision level 1) with emphasis placed on speed, and a value
(precision level 10) with emphasis on precision.
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Maximum cutting speed when advanced preview control/AI advanced

13626 preview control/AI contour control is used (precision level 1)

Maximum cutting speed when advanced preview control/AI advanced

13627 preview control/AI contour control is used (precision level 10)

[Input type] Parameter input

[Data type] Real axis
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 to +999000.0)
Each of these parameters sets a maximum cutting speed in advanced
preview control/AI advanced preview control/AI contour control. Set
a value (precision level 1) with emphasis placed on speed, and a value
(precision level 10) with emphasis on precision.

Parameter number corresponding to arbitrary item 1 when advanced preview

13628 control/AI advanced preview control/AI contour control is used

Parameter number corresponding to arbitrary item 2 when advanced preview

13629 control/AI advanced preview control/AI contour control is used

NOTE
When these parameters are set, the power must be
turned off before operation is continued.

[Input type] Parameter input

[Data type] 2-word path
[Valid data range] 1 to 65535
These parameters set the parameter numbers corresponding to
arbitrary items 1 and 2.

NOTE
The parameter numbers corresponding to the
following cannot be specified:
Bit parameters
Spindle parameters (No. 4000 to No. 4799)
Parameters of real number type
Parameters that require power-off (for which the
alarm (PW0000) is issued)
Nonexistent parameters

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Value with emphasis on speed (precision level 1) of the parameter

13630 corresponding to arbitrary item 1 when advanced preview control/AI
advanced preview control/AI contour control is used

Value with emphasis on speed (precision level 1) of the parameter

13631 corresponding to arbitrary item 2 when advanced preview control/AI
advanced preview control/AI contour control is used

Value with emphasis on speed (precision level 10) of the parameter

13632 corresponding to arbitrary item 1 when advanced preview control/AI
advanced preview control/AI contour control is used

Value with emphasis on speed (precision level 10) of the parameter

13633 corresponding to arbitrary item 2 when advanced preview control/AI
advanced preview control/AI contour control is used

[Input type] Parameter input

[Data type] 2-word axis
[Unit of data] Depend on the type of parameter for an arbitrary item
[Valid data range] Depend on the type of parameter for an arbitrary item
Each of these parameters sets a value with emphasis placed on speed
or precision for a parameter.

Precision level currently selected when advanced preview control/AI

13634
advanced preview control/AI contour control is used

[Input type] Parameter input

[Data type] Byte path
[Valid data range] 1 to 10
This parameter sets the level currently selected.

13662 Acceleration rate change time (bell-shaped) when AI contour control is used
(precision level 1), range extended

13663 Acceleration rate change time (bell-shaped) when AI contour control is used
(precision level 10), range extended

[Input type] Parameter input

[Data type] 2-word path
[Unit of data] msec
[Valid data range] 0 to 200
Each of these parameters sets an acceleration rate change time
(bell-shaped) in AI contour control. Set a value (precision 1) with
emphasis placed on speed, and a value (precision level 10) with
emphasis on precision.

NOTE
These parameters are valid when bit 7 (MSA) of
parameter No. 13600 is 1.

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B-64303EN-1/01 2.PREPARATIONS FOR OPERATION

2.11 MALFUNCTION PREVENT FUNCTIONS

Overview
These functions monitor the CNC internal status and check that
related data is within the allowable range. If an invalid state due to a
deteriorated hardware component or noise is detected, these functions
stop the machine with an alarm to prevent any malfunction.

Explanation
Each function is detailed below.

- Checking the maximum speed of the servo motor

This function checks whether the maximum speed specified in
parameter No. 12255 is exceeded. If the maximum speed is
exceeded, this function issues alarms DS0004 and PW0006 and stops
the machine. When the parameter is set to 0, this function checks
whether the maximum speed (999000 for IS-B) is exceeded.

- Checking the maximum acceleration of the servo motor

This function checks whether the maximum acceleration specified in
parameter No. 12256 is exceeded. If the maximum acceleration is
exceeded, this function issues alarms DS0005 and PW0006 and stops
the machine. When the parameter is set to 0, this function does not
check the maximum acceleration.

- Checking the maximum speed of the spindle motor

This function checks whether the maximum speed of the spindle
motor is exceeded. If the maximum speed is exceeded, this function
issues alarms IE0007 and PW0006 and outputs S0. The parameter
which specifies the maximum speed of each spindle is used.

- Checking the stored stroke limit at the end point

This function makes a stored stroke check immediately before pulses
are output in addition to a normal stored stroke check. If the stored
stroke limit is exceeded, this function issues one of alarms IE0001 to
IE0006 and alarm PW0006 and stops the machine. The parameters
for normal stored stroke checks are used.

- Monitoring execution of NC command analysis

This function monitors NC command analysis to check the execution
counter and reference area for validity. If invalid data is detected,
this function issues one of alarms DS0006 to DS0013 and alarm
PW0006 and stops the machine.

- Monitoring execution of acceleration/deceleration after interpolation

This function monitors the execution counter during execution of
linear/bell-shaped acceleration/deceleration after interpolation to
check the counter for validity. If invalid data is detected, this
function issues alarms IE0008 and PW0006 and stops the machine.

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2.PREPARATIONS FOR OPERATION B-64303EN-1/01

Parameter
12255 Maximum servo motor speed

[Input type] Parameter input

[Data type] Real axis
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 to +999000.0)
This parameter sets a maximum servo motor speed. When the value
set in this parameter is exceeded, the servo motor stops with the alarm
(DS0004). When 0 is set in this parameter, the specification of a
maximum allowable value (999000 for IS-B) is assumed.

12256 Maximum servo motor acceleration rate

[Input type] Parameter input

[Data type] Real axis
[Unit of data] mm/sec/sec, inch/sec/sec, degree/sec/sec (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (D)
(When the machine system is metric system, 0.0 to +100000.0. When
the machine system is inch system, 0.0 to +10000.0)
This parameter sets a maximum servo motor acceleration rate. When
the value set in this parameter is exceeded, the servo motor stops with
the alarm (DS0005). When 0 is set in this parameter, alarm check is
not performed.

Alarm and message

The machine is decelerated and stopped when a DS alarm is issued or
is immediately stopped when an IE alarm is issued to prevent any
malfunction.
Check the block in which the machine is stopped. If you cannot find
the cause, contact FANUC without releasing the alarm state.

Number Message Description

DS0004 EXCESS MAXIMUM FEEDRATE The malfunction prevention function detected the command
in which a value exceeding the maximum speed was
specified.
DS0005 EXCESS MAXIMUM ACCELERATION The malfunction prevention function detected the command
in which a value exceeding the maximum acceleration was
specified.
DS0006 ILLEGAL EXECUTION SEQUENCE The malfunction prevention function detected an illegal
execution sequence.
DS0007 ILLEGAL EXECUTION SEQUENCE The malfunction prevention function detected an illegal
execution sequence.
DS0008 ILLEGAL EXECUTION SEQUENCE The malfunction prevention function detected an illegal
execution sequence.
DS0009 ILLEGAL EXECUTION SEQUENCE The malfunction prevention function detected an illegal
execution sequence.

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