Professional Documents
Culture Documents
FANUC
FANUC
FANUC
Series
Series
Series
Series
30+-MODEL B
31+-MODEL B
32+-MODEL B
35+-MODEL B
CONNECTION MANUAL
B-64483EN-2/03
Original Instruction
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japans Foreign Exchange and
Foreign Trade Law. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as impossible.
This manual contains the program names or device names of other companies, some of
which are registered trademarks of respective owners. However, these names are not
followed by or in the main body.
SAFETY PRECAUTIONS
B-64483EN-2/03
SAFETY PRECAUTIONS
This Safety Precautions section describes the precautions which must be observed to ensure safety
when using FANUC CNC system (the CNC control unit, the I/O modules, the servo/spindle amplifiers,
and the motors) with the Dual Check Safety function.
Users of the Dual Check Safety function are requested to read the Safety Precautions carefully before
attempting to use the Dual Check Safety function.
Users should also read the relevant description in this manual to become fully familiar with the any safety
functions of the Dual Check Safety function.
Contents
DEFINITION OF WARNING, CAUTION, AND NOTE ......................................................................... s-1
WARNINGS, CAUTIONS, AND NOTES REGARDING DESIGNING ................................................. s-2
GENERAL WARNINGS, CAUTIONS, AND NOTES ............................................................................ s-4
WARNINGS REGARDING EXCHANGING .......................................................................................... s-5
WARNINGS, CAUTIONS, AND NOTES REGARDING DAILY MAINTENANCE ............................ s-6
WARNING
Applied when there is a danger of the user being injured or when there is a
danger 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.
s-1
SAFETY PRECAUTIONS
B-64483EN-2/01
2
3
4
5
6
7
9
10
WARNING
The machine tool builder must conduct risk evaluation to identify all risks that
can arise in connection with the machine or machine components. The machine
tool builder is to make a failure analysis in connection with the control system
and determine the remaining risks of the machine. Based on such risk analysis
and evaluation, a machine and machine components must be designed and
manufactured. Risk evaluation must reveal all remaining risks and must be
documented.
The Dual Check Safety system has some remaining risks. The machine tool
builder should design the machine tools on the fully understanding for the
remaining risk of the Dual Check Safety function.
The machine tool builder must check that all safety parameters and user
programs are correct and that all safety functions are working normally.
A qualified person is to check each Dual Check Safety function and record the
test results in a check report.
The required level of safety can only be assured by thorough and careful
acceptance test for the safety function.
Before shipping the machine tool, the machine tool builder has to do tests for
insulation and protective bonding. Tests must be performed by an appropriately
authorized person and recorded.
A qualified person is to set and modify the safety parameters. A password is
used to disable unauthorized persons from setting and modifying safety
parameters.
After a safety parameter is modified, the acceptance test needs to be conducted
on the related safety function, and the test results need to be recorded in a
report.
The machine tool builder is responsible for the followings:
To secure the safety by the sequence to make safety function effective
according to the status of the protective door
To secure the safety while the protective door is closed
To secure the safety related to the other moving components and so on than
FANUC servo motors and spindle motors controlled by the dual check safety
function, while the protective door is open
If an external force is applied when the power to the servo motor driving circuit is
shut off, an additional measure must be securely implemented to protect against
such a force. (eg. Brake mechanism that would not drop the vertical axis after
the power is shut off)
If the power to the spindle motor driving circuit is shut off, the spindle motor
continues rotating at the speed before the power-down and eventually comes to
a stop. A measure must be taken so that this coasting does not affect safety.
An MCC off Test of the safe stop function monitors the contact state of the
electromagnetic contactor (MCC), compares the state with a command to the
MCC, and checks that the safe stop function works normally. This test should be
periodically performed. If the CNC is turned on or if a defined time has elapsed
after the previous test is completed, a guard open request (protective door open
request) should not be accepted until the test is performed. The machine tool
builder must make the ladder program to realize this sequence.
s-2
SAFETY PRECAUTIONS
B-64483EN-2/03
WARNING
11 To ensure the safety of this control, a brake test should be periodically
performed on the brake of servo axis that require brake control, such as vertical
axis.
If the CNC is turned on or if a defined time has elapsed after the previous test is
completed, a guard open request (protective door open request) should not be
accepted until the test is performed. A machine tool builder must make the
ladder program to realize this sequence.
12 When the Emergency Stop signal or the other safety input signal is connected to
the I/O module, it is necessary to do an enough check about ladder program
which defines a one-to-one relationship between the actual input (X) and the
input to the CNC (G).
13 When designing, be sure to observe all rules stated in this manual and any
related manuals. Otherwise, it is likely that failure and malfunction may occur.
14 Be sure to ground your control units and peripheral units in accordance with your
national grounding standards. Otherwise, electrical shocks, breakdown, and
blowout may occur.
CAUTIION
1 This safety function is enabled while the protective door is open after a request
to open the protective door is made. If the request to open the protective door is
canceled and if the protective door is closed, this safety function is disabled. The
input check of the safety-related I/O signal monitoring function in redundant
mode and the emergency stop function are always active, regardless of whether
the protective door is opened or closed.
2 There are four kinds of the MCC off signals (*DCALM, *MCF, *MCFVx, and
*MCFPs). Machine tool builder must output the signal to shut off MCC when
either one of these signal is 0.
3 Servo/Spindle amplifiers, CNC are to be installed in IP54 protected cabinets.
4 As the path that gives a command and the path that an axis and a spindle
belongs to should be regarded as the same group, it is necessary to wire MCC
off signal (*MCFVx, *MCFPs) to shut off the MCC of both path at the same time
when Composite control or Path speed control of Multi path control is
specified.
NOTE
1 Safety machine position monitoring function does not apply to the spindle axis.
2 The servo amplifiers and servo motors connected to the CNC via the I/O Link
interface do not support the dual check safety function.
3 Only one of the I/O Link i, the I/O Link, and PROFIBUS-DP can be used in the
Dual Check Safety PMC side.
4 The PMC ladder must be designed to monitor whether the protective door is
open while the protective door open is not requested. If the protective door open
is detected, the PMC ladder judges that an abnormal event has occurred and
enters the safe stop state.
5 Emergency Stop Button must fulfill the Standard IEC60947-5-1.
6 Test Mode function for Acceptance Test is optional function. And, this function is
not the safety function. By using this function, it is possible to continue the
acceptance test without turning off/on the power of CNC, and then the test time
can be shortened.
s-3
SAFETY PRECAUTIONS
B-64483EN-2/01
SAFETY PRECAUTIONS
B-64483EN-2/03
WARNING
7 When using a tool compensation function, thoroughly check the direction and
amount of compensation.
Operating the machine with incorrectly specified data may result in the machine
behaving unexpectedly, possibly causing damage to the workpiece and/or
machine itself, or injury to the operator.
8 Do not enter the area under the vertical axis without securing safety. If the
vertical axis drop occurs unexpectedly, you may be injured.
CAUTION
Immediately after switching on the power, do not touch any of the keys on the
MDI unit until the position display or alarm screen appears on the CNC unit.
Some of the keys on the MDI unit are dedicated to maintenance or other special
operations. Pressing any of these keys may place the CNC unit in other than its
normal state. Starting the machine in this state may cause it to behave
unexpectedly.
NOTE
1 Programs, parameters, and macro variables are stored in nonvolatile memory in
the CNC control unit. Usually, they are retained even if the power is turned off.
Such data may be deleted inadvertently, however, or it may prove necessary to
delete all data from nonvolatile memory as part of error recovery.
To guard against the occurrence of the above, and assure quick restoration of
deleted data, backup all vital data, and keep the backup copy in a safe place.
2 The liquid-crystal display (LCD) is manufactured with very precise fabrication
technology. Some pixels may not be turned on or may remain on.
This phenomenon is a common attribute of LCDs and is not a defect.
s-5
SAFETY PRECAUTIONS
B-64483EN-2/01
s-6
PREFACE
B-64483EN-2/03
PREFACE
Description of this manual
The manual consists of the following chapters:
Chapter 1, "OVERVIEW"
Chapter 2, "SYSTEM CONFIGURATION"
Chapter 3, "SAFETY FUNCTIONS"
Chapter 4, "INSTALLATION"
Chapter 5, "I/O SIGNALS"
Chapter 6, "PARAMETERS"
Chapter 7, "START-UP"
Chapter 8, "ALARM MESSAGE"
Chapter 9, "DIAGNOSIS"
Chapter 10, "SAMPLE SYSTEM CONFIGURATION"
Chapter 11, "APPLICATION OF OTHER FUNCTIONS"
Chapter 12, "COMPONENTS LIST"
Appendix A CONNECTION OF TWO MCCS
Appendix B, "DIRECTIVES, STANDARDS AND TECHNICAL CONDITIONS FOR 3RD PARTY
SERVO / SPINDLE MOTORS & ENCODERS WHEN APPLYING DUAL-CHECK SAFETY"
Applicable models
This manual can be used with the following models. The abbreviated names may be used.
Model name
FANUC Series 30iB
FANUC Series 31iB
FANUC Series 31iB5
FANUC Series 32iB
FANUC Series 35iB
FANUC Series 30i-LB
FANUC Series 31i-LB
FANUC Series 30i-PB
FANUC Series 31i-PB
FANUC Series 31i-WB
FANUC Power Motion i - A
30i B
31i B
31i B5
32i B
35i B
30i LB
31i LB
30i PB
31i PB
31i WB
PMiA
p-1
Abbreviation
Series 30i
Series 31i
Series 32i
Series 35i
Series 30i
Series 31i
Series 30i
Series 31i
Series 31i
Power Motion i
PREFACE
B-64483EN-2/03
Related manuals of
Series 30i- MODEL B
Series 31i- MODEL B
Series 32i- MODEL B
Series 35i- MODEL B
Power Motion i - MODEL A
The following table lists the manuals related to Series 30i-B, Series 31i-B, Series 32i-B, Series 35i-B,
Power Motion i-A. This manual is indicated by an asterisk(*).
Table 1
Related manuals of Series 30i- MODEL B, Series 31i- MODEL B, Series 32i- MODEL B, Series 35i- MODEL B,
Power Motion i-MODEL A
Specification
number
Manual name
DESCRIPTIONS
CONNECTION MANUAL
OPERATORS MANUAL (Common to Lathe System/Machining Center System)
OPERATORS MANUAL (For Lathe System)
OPERATORS MANUAL (For Machining Center System)
OPERATORS MANUAL
MAINTENANCE MANUAL
PARAMETER MANUAL
Programming
Macro Executor PROGRAMMING MANUAL
Macro Compiler PROGRAMMING MANUAL
C Language Executor PROGRAMMING MANUAL
PMC
PMC PROGRAMMING MANUAL
B-64482EN
B-64522EN
B-64492EN
B-64502EN
B-64572EN
B-64483EN
B-64523EN
B-64573EN
B-64483EN-1
B-64523EN-1
B-64503EN
B-64583EN
B-64573EN-1
B-64493EN
B-64484EN
B-64484EN-1
B-64484EN-2
B-64524EN
B-64494EN
B-64504EN
B-64584EN
B-64574EN
B-64485EN
B-64525EN
B-64495EN
B-64575EN
B-64490EN
B-64530EN
B-64500EN
B-64510EN
B-64590EN
B-64580EN
B-63943EN-2
B-66263EN
B-63943EN-3
B-64513EN
p-2
35i
30i/31i-LB
30i/31i-PB
PMi-A
35i
PMi-A
35i
30i/31i-PB
31i-WB
PMi-A
30i/31i-LB
35i
30i/31i-LB
30i/31i-PB
31i-WB
PMi-A
35i
30i/31i-LB
PMi-A
35i
30i/31i-LB
30i/31i-PB
31i-WB
PMi-A
PREFACE
B-64483EN-2/03
Specification
number
Manual name
Network
PROFIBUS-DP Board CONNECTION MANUAL
Fast Ethernet / Fast Data Server OPERATORS MANUAL
DeviceNet Board CONNECTION MANUAL
FL-net Board CONNECTION MANUAL
CC-Link Board CONNECTION MANUAL
Operation guidance function
MANUAL GUIDE i
(Common to Lathe System/Machining Center System) OPERATORS MANUAL
MANUAL GUIDE i (For Machining Center System) OPERATORS MANUAL
MANUAL GUIDE i (Set-up Guidance Functions)
OPERATORS MANUAL
Dual Check Safety
Dual Check Safety CONNECTION MANUAL
B-63993EN
B-64014EN
B-64043EN
B-64163EN
B-64463EN
B-63874EN
B-63874EN-2
B-63874EN-1
B-64483EN-2
Specification number
B-65262EN
B-65270EN
B-65272EN
B-65280EN
B-65282EN
B-65285EN
CNCs that are described in this manual can be connected to following servo motors and spindle motors.
Note that motors of the i SV series, i SP series, i PS series, and i SV series can be connected only
when they are compatible with 30i-B.
This manual mainly assumes that the FANUC SERVO MOTOR i series of servo motor is used. For
servo motor and spindle information, refer to the manuals for the servo motor and spindle that are actually
connected.
p-3
TABLE OF CONTENTS
B-64483EN-2/03
TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1
DEFINITION OF WARNING, CAUTION, AND NOTE ............................................. s-1
WARNINGS, CAUTIONS, AND NOTES REGARDING DESIGNING ...................... s-2
GENERAL WARNINGS, CAUTIONS, AND NOTES ............................................... s-4
WARNINGS REGARDING EXCHANGING ............................................................. s-5
WARNINGS, CAUTIONS, AND NOTES REGARDING DAILY MAINTENANCE .... s-6
PREFACE ....................................................................................................p-1
1
OVERVIEW ............................................................................................. 1
1.1
1.2
1.3
Directives.................................................................................................................. 1
Related Safety Standards .......................................................................................... 2
Risk Analysis and Evaluation................................................................................... 2
EC Declaration of Conformity ................................................................................. 3
General Definition of Terms .................................................................................... 4
Definition of Terms Related to the Safety Function................................................. 4
1.4
1.5
3.3
STOP ........................................................................................................... 14
3.3.1
3.3.2
3.3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
TABLE OF CONTENTS
3.12
3.13
3.14
3.15
3.16
3.17
3.18
3.19
3.20
3.21
B-64483EN-2/03
3.21.2
INSTALLATION .................................................................................... 48
4.1
OVERVIEW ................................................................................................. 52
SIGNAL ADDRESS ..................................................................................... 53
SIGNALS ..................................................................................................... 59
PROGRAMMABLE SAFETY I/O SIGNAL ................................................... 76
NOTE ON MULTI PATH CONTROL............................................................ 76
5.5.1
PARAMETERS ...................................................................................... 78
6.1
6.2
6.3
6.4
6.5
6.6
OVERVIEW ................................................................................................. 78
DATA TYPE ................................................................................................. 78
REPRESENTATION OF PARAMETERS .................................................... 79
STANDARD PARAMETER SETTING TABLES ........................................... 80
PARAMETERS ............................................................................................ 81
PROFIBUS-DP PARAMETER SETTINGS ................................................ 110
START-UP........................................................................................... 112
7.1
7.2
7.3
c-2
TABLE OF CONTENTS
B-64483EN-2/03
DIAGNOSIS......................................................................................... 135
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
10.2
10.3
Rotating the Spindle Manually in the Emergency Stop State .............................. 159
11.2.4
11.3
11.3.4
11.4
11.4.4
TABLE OF CONTENTS
11.5
B-64483EN-2/03
11.5.4
11.6
11.6.4
11.6.5
11.7
11.7.8
11.7.9
12.2
12.3
APPENDIX
A
TABLE OF CONTENTS
B-64483EN-2/03
B.4
c-5
1.OVERVIEW
B-64483EN-2/03
OVERVIEW
Setup for machining, which includes attaching and detaching a workpiece to be machined, and moving it
to the machining start point while viewing it, is performed with the protection door opened. The dual
check safety function provides a means for ensuring a high level of safety with the protection door
opened.
The simplest method of ensuring safety when the protection door is open is to shut off power to the motor
drive circuit by configuring a safety circuit with a safety relay module. In this case, however, no
movements can be made on a move axis (rotation axis). Moreover, since the power is shut off, some time
is required before machining can be restarted. This drawback can be corrected by adding a motor speed
detector to ensure safety. However, the addition of an external detector may pose a response problem, and
the use of many safety relay modules results in a large and complicated power magnetic cabinet circuit.
With the dual check safety function, two independent CPUs built into the CNC monitor the speed and
position of motors in dual mode. An error in speed and position is detected at high speed, and power to
the motor is shut off via two independent paths. Processing and data related to safety is cross-checked by
two CPUs. To prevent an accumulation of failure, a safety-related hardware and software test must be
conducted at certain intervals time.
The dual check safety system need not have an external detector added. Instead, only a detector built into
a servo motor or spindle motor is used. This configuration can be implemented only when those motors,
detectors built into motors, and amplifiers that are specified by FANUC are used.
The dual check safety function ensures safety with the power turned on, so that an operator can open the
protection door to work without turning off the power. A major feature of the dual check safety function
is that the required time is very short from the detection of an abnormality until the power is shut off. A
cost advantage of the dual check safety function is that external detectors and safety relays can be
eliminated or simplified.
If a position or speed mismatch is detected by a cross-check using two CPUs, the safety function of the
Dual Check Safety works the power to be shut off (MCC off) to the motor drive circuit.
1.1
1.1.1
Directives
Machine tools and their components must satisfy the EC directives listed below.
The FANUC CNC systems with the dual check safety function are compatible with all of these directives.
Directive
Directive 2006/42/EC
Directive 2004/108/EC
Directive 2006/95/EC
-1-
1.OVERVIEW
1.1.2
B-64483EN-2/03
To be compatible with the directives, especially the machine directive, the international standards and
European standards need to be observed.
EN954-1 1997
IEC 61508
ISO 13849-1
ISO 141211
EN60204-1 2006
IEC 62061
1.1.3
According to the machine directive, the manufacturer of a machine or machine components and a
responsible person who supplies a machine or machine components to the market must conduct risk
evaluation to identify all risks that can arise in connection with the machine or machine components.
Based on such risk analysis and evaluation, a machine and machine components must be designed and
manufactured. Risk evaluation must reveal all remaining risks and must be documented.
-2-
1.OVERVIEW
B-64483EN-2/03
1.1.4
EC Declaration of Conformity
EC DECLARATION OF CONFORMITY
The manufacturer,
FANUC CORPORATION
Oshino-mura, Minamitsuru-gun, Yamanashi 401-0597 JAPAN
Telephone number : 81-555-84-5555
declares that the following products
Yamanashi Japan
Takashi Yamauchi
-3-
1.OVERVIEW
B-64483EN-2/03
1.2
DEFINITION OF TERMS
1.2.1
1.2.2
Definition
Capability of a machine, machine component, or equipment to perform its required function
under a specified condition for a specified period
Capability of a machine to perform its function without injuring the health under a condition of
use for an intended purpose specified in the operator's manual and allow its transportation,
installation, adjustment, maintenance, disassembly, and disposal
Safety stop
When a safety stop occurs, power to the drive section is shut off. The drive section can generate neither a
torque nor dangerous operation. The following are measures for incorporating the safety stop feature:
Contactor between the line and drive system (line contactor)
Contactor between the power section and drive motor (motor contactor)
If an external force is applied (such as a force applied onto a vertical axis), an additional measure (such as
a mechanical brake) must be securely implemented to protect against such a force.
1.3
1.3.1
Detection
A servo motor detector signal is sent via the servo amplifier and is applied to the CNC through the FSSB
interface. Then, it is fed to two CPUs: a CNC CPU and a Servo CPU.
-4-
1.OVERVIEW
B-64483EN-2/03
A spindle motor detector signal is sent via the spindle amplifier and is applied to the CNC connected
through the FSSB interface or serial interface. Then, it is fed to two CPUs: a CNC CPU and a CPU built
into the spindle amplifier.
The safety related signal such as guard signal is sent via the independent I/O unit and is applied to the
CNC through the I/O Link or I/O Link i interface. Then, it is fed to two CPUs: a CNC CPU and a PMC
CPU.
Evaluation
The safety function is monitored independently by a CNC CPU and servo CPU or by a CNC CPU and
spindle CPU. Each CPU cross-checks data and results at certain intervals.
Response
If the monitoring function detects an error, the CNC CPU and the servo/spindle CPU switch off the MCC
via independent paths to shut off the power to the feed axis and spindle.
1.3.2
The Dual Check Safety function satisfies the requirements of the following safety standard.
The safety function of a safety-related portion must not degrade when a single failure occurs.
Single errors must be detected at all times when natural execution is possible.
To satisfy these requirements, the Dual Check Safety function is implemented using the two-channel
configuration shown below.
NOTE
The Dual Check Safety function is not meant to guarantee that the PL d
requirements are met across the entire system. The PL value of the system as a
whole is determined by the PL values of all its subsystems; therefore, the PL of
the entire system needs to be evaluated by the machine tool builder. The PL
value of the CNC, which is one of the subsystems, becomes d when the Dual
Check Safety function is used.
Category 3 requires the following:
The safety function of a safety-related portion must not degrade when a single failure occurs.
Single errors must be detected at all times when natural execution is possible.
To satisfy these requirements, the dual check safety function is implemented using the two-channel
configuration shown below.
-5-
1.OVERVIEW
B-64483EN-2/03
CNC
CPU
Motor detector
signal
Magnetic
contactor
Cross-check
of data and
results
Servo
PMC
CPU
Spindle
CPU
1.3.2.1
-6-
1.OVERVIEW
B-64483EN-2/03
CAUTION
Forced detection of a latent error on the MCC shutoff path must be performed by
the user through a MCC off Test (after power-on and at intervals of a specified
time (within normally 24 hours)).
When the system is operating in the
automatic mode (when the protection door is closed), this detection processing
is not requested as mandatory. But, before the protection door opens after the
specified time, the detection processing is required mandatory. If this has not
been performed, lock for the protection door should not be released.
Cross-check
A latent safety-related error associated with two-channel monitoring can be detected as a result of
cross-checking.
CAUTION
An error detected as the result of forced latent error detection or cross-checking
leads to a safety stop state. (See Subsec. 3.3.3).
1.3.2.2
1.3.2.3
Error analysis
Error analysis
The table below indicates the results of system error analysis controlled by the dual check safety function.
Error analysis when the protection door is open
Error
Excessive speed for
Spindle axis
Excessive speed for
feed axis
Feed axis safety
machine position
error
Input/output signal
error
Cause
Action
Cause
Action
-7-
1.OVERVIEW
1.3.2.4
B-64483EN-2/03
Remaining risks
The machine tool builder is to make a failure analysis in connection with the control system and
determine the remaining risks of the machine.
The dual check safety system has the following remaining risks:
a)
The safety function is not active until the CNC control unit and drive system have fully powered up.
The safety function cannot be activated if any one of the components of the CNC control unit or
drive is not powered on.
b) Interchanged phases of motor connections, reversal in the signal of encoder and reversal mounting of
encoder can cause an increase in the spindle speed or acceleration of axis motion. If abnormal speed
detected, system controlled to brake to zero speed, but no effective for above error. MCC off is not
activated until the delay time set by parameter has expired. Electrical faults (component failure etc.)
may also result in the response described above.
c) Faults in the absolute encoder can cause incorrect operation of the safety machine position
monitoring function.
d) With a 1-encoder system, encoder faults are detected in a single channel, but by various HW and
SW monitoring functions. The parameter related to encoder must be set carefully. Depending on the
error type, a category 0 or category 1 stop function according to EN60204-1 is activated.
e) The simultaneous failure of two power transistors in the inverter may cause the axis to briefly
(motion depend on number of pole pairs of motor)
Example:
An 8-pole synchronous motor can cause the axis to move by a maximum of 45 degrees. With a
ball-screw that is directly driven by, e.g.16mm per revolution, this corresponds to a maximum
linear motion of approximately 2.0mm.
f) When a limit value is violated, the speed may exceed the set value briefly or the axis/spindle
overshoot the set point position to a greater or lesser degree during the period between error
detection and system reaction depending on the dynamic response of the drive and the parameter
settings (see Section Safety-Functions)
g) The category 0 stop function according to EN60204-1 means that the spindles/axes are not braked to
zero speed, but coast to a stop (this may take a very long time depending on the level of kinetic
energy involved). This must be noted, for example, when the protective door locking mechanism is
opened.
h) Amplifiers (drive power modules) and motors must always be replaced by the same equipment type
or else the parameters will no longer match the actual configuration and cause Dual check Safety to
respond incorrectly.
i) Dual check Safety is not capable of detecting errors in parameterization and programming made by
the machine tool builder. The required level of safety can only be assured by thorough and careful
acceptance.
j) There is a parameter that MCC off test is not to be made in the self test mode at power-on as in the
case of machine adjustment. This parameter is protected, only changed by authorized person. IF
MCC off test is not conducted, MCC may not be off at stop response is measured.
k) Safety machine position monitoring function does not apply to the spindle axis.
l) During machine adjustment, an exact motion may be executed incorrectly until the safety functions
setup correctly and confirm test is completely.
m) Before the reference point return is performed and the MCC off test is performed, it may be
dangerous because the correct operation does not be guaranteed. So, the careful operations are
required when the machine is operated in the status that the protection door opens.
n) The delay timer is prepared for the cross-checking of the safety related I/O. When the inconsistency
exists between the signal from the 2 paths, system will recognize this failure, after this time is passed.
The system will start the sequence of MCC shut-off, when this time is passed after the inconsistency
is detected.
o) Even if <Signal State via PMC> does not match <Signal State via DCSPMC> for the time specified
by parameter No. 13810 after the CNC starts, no alarm occurs.
-8-
1.OVERVIEW
B-64483EN-2/03
p) When Break test function is used, if the brake fails in a vertical axis without a redundant brake
mechanism between the current brake test and the next, the axis may drop when the servo motor is
deactivated due to an emergency stop or servo alarm.
q) If break test function is used and brake test is interrupted by the reset or mode change, the axis may
drop when the servo motor is deactivated due to an emergency stop or servo alarm.
1.4
GENERAL INFORMATION
Training
FANUC Training Center provides regularly various practice based training courses for mainly Japanese
domestic customers for the best use of FANUC products.
For overseas customers, FANUC Overseas affiliate companies provide locally suitable training courses at
their facilities. So, it is recommended for an overseas customer to attend such a course. You are
kindly requested to send your inquiry to the most convenient overseas company.
When a desired course will not be available at the overseas company, it is required for a customer to
inquire FANUC Training Center through the company about the availability of the course. The training
courses for overseas customers will be opened not regularly but as a required basis at FANUC Training
Center.
FA Department of FANUC Training Center provides various courses such as CNC General, CNC
Programming, CNC Maintenance, CNC Connection, and also Custom MACRO, and C Language
Executer for more advanced CNC utilization.
FANUC Training Center:
Yamanakako-mura, Yamanashi Prefecture : 401-0501, JAPAN
Phone : 81-555-84-6030
Fax : 81-555-84-5540
Internet: www.fanuc.co.jp/en/training
Manufacturer
FANUC CORPORATION
Oshino-mura,Minamitsuru-gun,Yamanashi Prefecture 401-0597, Japan
Representatives
FANUC Luxembourg Corporation, S.A.
Zone Industrielle L-6468 Echternach Grand Duchy of Luxembourg
For more representatives, refer to www.fanucfa.com
-9-
1.OVERVIEW
1.5
B-64483EN-2/03
In a machine system such as a transfer line, each of its multiple stations has an operator's panel equipped
with an emergency stop button. The safety circuit of the entire system needs to be configured so that the
emergency stop signal is sent to all CNCs when the emergency stop button of any of these stations is
pressed. To allow such a safety circuit to be built among multiple CNCs, a Safety function by FL-net is
provided that uses FL-net communication.
By running this Safety function by FL-net under the Dual Check Safety function, it is possible to provide
all connected CNCs with a safety signal of up to 7 bits. For details, refer to the FL-net Board
CONNECTION MANUAL (B-64163EN).
- 10 -
2.SYSTEM CONFIGURATION
B-64483EN-2/03
SYSTEM CONFIGURATION
Applicable CNC
FANUC Series 30i-B
FANUC Series 31i-B5
FANUC Series 31i-B
FANUC Series 32i-B
FANUC Series 35i-B
FANUC Power Motion i-A
NOTE
The servo amplifiers and servo motors connected to the CNC via the I/O Link
interface do not support the dual check safety function.
- 11 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
SAFETY FUNCTIONS
3.1
APPLICATION RANGE
WARNING
The machine tool builder is responsible for the followings.
- To secure the safety by the sequence to make safety function effective
according to the status of the protective door
- To secure the safety while the protective door is closed
- To secure the safety related to the other moving components and so on than
FANUC servo motors and spindle motors controlled by the dual check safety
function, while the protective door is open
Safety function
The dual check safety function has the following safety functions:
CAUTION
This safety function is enabled while the protective door is open after a request
to open the protective door is made. If the request to open the protective door is
canceled and if the protective door is closed, this safety function is disabled. The
input check of the safety-related I/O signal monitoring function in redundant
mode and the emergency stop function are always active, regardless of whether
the protective door is opened or closed.
- 12 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
CNC
Dual monitoring of
emergency stop signal
Emergency
stop
Spindle
software
Cross
check
CNC
Spindle
motor
Spindle
amplifier
Safety related
signal is checked
by the CNC(DCS
PMC) and the
PMC in redundant
mode
DCS
PMC
Servo
motor
Servo
amplifier
Safe speed of
servo motor and
machine position
are checked by
the CNC and the
Servo in
redundant mode
Cross
check
common
power
supply
Servo
Dual monitoring
of MCC
Protective
door
Power
down
(MCC)
PMC
Power down
Protective door
lock open/close
monitoring
Dual monitoring of
protective door state
3.2
3.2.1
When using the safety function for the first time upon assembly of the machine, replacing a part, or
changing a safety parameter (such as a safe speed limit or safe range as described in Chapter 6), the user
must check that all safety parameters are correct and that all safety functions are working normally. A
return reference position must be made on each axis. The user must also check the absolute position of the
machine. For details, see Chapter 7, START UP.
3.2.2
An MCC off Test of the safe stop function monitors the contact state of the electromagnetic contactor
(MCC), compares the state with a command to the electromagnetic contactor, and checks that the safe
stop function works normally. The user of the machine must carry out the test. This test must be carried
out when the CNC is turned on or when the specified time (normally 24 hours) have elapsed after the
previous test is completed. If the CNC is turned on or if the specified time (normally 24 hours) have
elapsed after the previous test is completed, a guard open request (protective door open request) should
not be accepted until the test is performed. A machine tool builder must make the ladder program to
realize this sequence.
- 13 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
3.3
STOP
3.3.1
Because the spindle motor is an induction type motor, power-down during rotation causes the motor to
continue rotating for a certain amount of time. From a safety standpoint, the motor may have to be
stopped immediately. If an error is detected and the spindle is judged to be controlled, it is possible to
stop spindle motor by the ladder program. In case of emergency stop and abnormal condition of safety
related I/O, it is necessary to design the ladder program to shut off the power after waiting the specified
time elapses.
To speed down and stop the spindle, the machine must input the spindle Emergency Stop signals
(*ESPA<G71.1>, *ESPB<G75.1>, and so on) in PMC. When this signal is input, the spindle slows down
and stops. (A Ladder program must be created for inputting this signal in case of alarm.) The input of
*EMG emergency stop input (connector CX4) of the common power supply also has the same effect. If
the Emergency Stop signal is connected to emergency stop input (connector CX4) of the PSM, the
spindle slows down and stops in the emergency stop state. If the spindle does not stop in spite of the stop
command, the MCC is shut off.
If this processing is not performed, power-down causes the spindle motor to continue rotating at the speed
prior to power-down (and eventually stopping in the end).
CAUTION
1 When the servo alarm or spindle alarm related to the communication error or
position detector is caused, MCC off signal corresponding to the servo or spindle
is output. Shut off the MCC after executing appropriate procedure such as
spindle stop operation. According to the setting value of the parameter, MCC off
signals of all axes, which belong to the same path of the spindle that causes an
alarm, are output. Shut off the MCC after executing appropriate procedure such
as spindle stop operation.
2 A controlled stop can be made based on parameter settings on occurrence of a
safe speed over alarm.
3 Since the synchronous spindle motor is a synchronous motor, not an induction
motor, power interruption causes a dynamic break stop depending on the
system configuration.
3.3.2
Because the servo motor is a synchronous motor, power-down results in a dynamic brake stop. The
dynamic brake stop is electric braking in which the excited rotor is isolated from the power source and the
generated electric energy is used up in the winding. An internal resistor provides additional braking.
Unlike an induction motor, the servo motor does not coast because of this structure.
If the input of the Emergency Stop signal or an error of a safety-related signal or speed monitoring is
detected, the CNC automatically specifies a command to zero the speed and reduces the speed to zero
(controlled stop). After the motor slows down and stops, the power is turned off, and the motor is brought
into the dynamic brake stop state. To slow down and stop the motor, some parameters must be specified
in the CNC. If those parameters are not specified, the motor is immediately brought into the dynamic
brake stop state. If the controlled stop cannot be done, the motor is brought into the dynamic brake stop
state.
When abnormal state is detected in safe reduced speed check or so on, a dynamic brake stop is made.
- 14 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
3.3.3
Stop States
WARNING
1 The machine tool builder must design the machine so that the machine is kept in
the stop state if the power to the servo motor driving circuit is shut off.
Example) Brake mechanism that would not drop the vertical axis after the power
is shut off
2 If the power to the spindle motor driving circuit is shut off, the spindle motor
continues rotating at the speed before the power-down and eventually comes to
a stop. A measure must be taken so that this coasting does not affect safety.
3.4
- 15 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
To build a dual monitoring system, the machine tool builder needs to connect one of each pair of these
signals to the I/O module connected to the DCS PMC side (Note 1) and the other to that connected to the
PMC side (Note 2).
I/O
MODULE
CNC
Machine side
DI
CNC
(DCS PMC)
(Note 1)
I/O Link
DO
Cross-check
I/O
MODULE
DI
I/O Link
PMC
(Note 2)
DO
NOTE
1 Dual Check Safety PMC (DCS PMC)
2 First PMC to fifth PMC
Refer to PMC PROGRAMMING MANUAL (B-64513EN).
IMPORTANT
When the Emergency Stop signal or the other safety input signal is connected to
the I/O module, it is necessary to do an enough check about ladder program
which defines a one-to-one relationship between the actual input (X) and the
input to the CNC (G).
The duplicated signals are always checked for a mismatch, regardless of whether the safety function is
active or not. When a signal state changes, the pair of signals may not match for some period because of a
difference in response. The dual check safety function checks whether a mismatch between the two
signals continues for a certain period of time, so that an error resulting from the difference in response can
be avoided. The check period must be specified as a safety parameter.
Parameter number
1945
Name
Safety-related I/O check timer
The following signals are not defined as safety-related I/O signals and are not duplicated. The signals,
however, are necessary for the system.
-
- 16 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Signal name
*ESP
*SGOPN
*VLDVx
3
*VLDPs
SVAx/
SVBx
SPAs/
SPBs
ZSVx
5
ZSPs
6
*SMC
*DCALM
*MCF
7
*MCFVx
*MCFPs
BRKx
SPS
*OPIHB
RSVx
RSPs
12
RZVx
13
RZPs
Dual input
monitoring
Dual input
Dual input
monitoring
Dual input
monitoring
Dual input
monitoring
Dual input
monitoring
Dual input
monitoring
Dual input
monitoring
Dual input
monitoring
Dual output
Dual output
Dual output
Dual output
Dual output
Dual output
Dual input
monitoring
Dual output
10
11
I/O address
<X0008.4,0,1> (PMC)
<X0008.4,0,1>(DCS PMC)
Machine side signal
<Gn750.0-.7> (PMC)
<G(002+m).0-.7>(DCS PMC)
<Gn751.0-.3>(PMC)
<G(003+m).0-.3>(DCS PMC )
<Gn752/Gn753>(PMC)
<G(004+m)/G(005+m)>(DCS PMC)
<Gn754>(PMC)
<G(006+m)>(DCS PMC)
<Gn755>(PMC)
<G(007+m)>(DCS PMC)
<Gn751.4-7>(PMC)
<G(003+m).4-7>(DCS PMC)
<Gn748.6>(PMC)
<G(000+m).6>(DCS PMC)
<F0748.7>(PMC)
<F000.7>(DCS PMC)
<Fn748.1>(PMC)
<F(000+m).1>(DCS PMC)
<Fn752.0-.7>(PMC)
<F(004+m).0-.7>(DCS PMC)
<Fn753.0-.3>(PMC)
<F(005+m).0-.3>(DCS PMC)
<Fn754.0-.7>(PMC)
<F(006+m).0-.7>(DCS PMC)
<Fn755-Fn758>(PMC)
<F(007+m)-F(010+m)>(DCS PMC)
14
POSEx
15
16
ORQ
OPT
17
RQT
18
STBT
19
RQBT
- 17 -
<Fn191.0>(PMC)
<F(019+m).0>(DCS PMC)
<Fn750>(PMC)
<F(002+m) >(DCS PMC)
<Fn751.0-3>(PMC)
<F(003+m).0-3>(DCS PMC)
<Fn759>(PMC)
<F(011+m) >(DCS PMC)
<Fn751.4-7>(PMC)
<F(003+m).4-7>(DCS PMC)
<Fn766>(PMC)
<F(018+m) >(DCS PMC)
<Gn191.3>(PMC)
<Gn191.2>(PMC)
Dual output
Dual output
Dual output
Dual output
Dual output
Dual output
Input
Input
<Fn191.2>(PMC)
Output
<Gn193.2>(PMC)
Input
<Fn191.3>(PMC)
Output
3.SAFETY FUNCTIONS
B-64483EN-2/03
Safety-related I/O
1. *ESP
2. *SGOPN
The signal is provided for dual monitoring of the protective door state. The signal is connected so that it is
normally set to 1 while the protective door is closed and locked (door closed) and set to 0 otherwise (door
opened). These states are implemented by the combination of the safety door and safety relays. The PMC
ladder for safety check must check the state of axes by asserting the Safety Request signal, when a
protective door is open.
3. *VLDVx, *VLDPs
These signals are monitored in redundant mode. These signals request safety check when a protective
door is open. These signals are prepared for each axis and each spindle.
CNC monitors these signals. If safe speed range of a servo motor is exceeded in the protective door open
state, the system enters the controlled stop state. If an axis is still not stopped, the system enters the safe
stop state.
If safe speed range of a spindle motor is exceeded in the protective door open state, the spindle motor
enters free run state. (The spindle motor can also enter the controlled stop state when the safe speed range
is exceeded, depending on the parameter setting.)
If the spindle motor is not decelerated, the system enters the safe stop state.
4. SVAx/SVBx,SPAs/SPBs
These signals are monitored in redundant mode. SVAx/SVBx are the signals to select safety speed /
safety position for each servo axis.
SPAs/SPBs are the signals to select safety speed for each spindle. (The values of safety speed / safety
position are given by the parameters.)
6. *SMC
The MCC contact state is monitored in redundant mode. In normal operation, the MCC is closed,
therefore whether the contact of a relay is in an abnormally closed state cannot be detected. In the test
mode, it can be detected whether the contact of relay is abnormally closed.
With these signals, the MCC is shut off by 2 channels I/O when either one of these signals state is 0.
*DCALM is to allow turning off MCC of all system when I/O cross check alarm or some problems of
safety check function are found.
*MCF is to allow turning on MCC of each machine group according to emergency stop or MCC off Test.
*MCFVx is to allow turning on MCC of each axis according to monitor safety speed or machine position
or position error of servo axis. *MCFPs is to allow turning on MCC of each spindle according to the
result of monitoring safety speed of spindle.
These signals are assigned on both PMC and DCS PMC. Machine tool builder must output the signal to
shut off MCC when either one of these signal is 0.
8. BRKx
These signals are output to control the brake of each servo axis.
- 18 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Combination No.
DCS PMC
PMC
input
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
No.11950
No.11951
No.11952
No.11953
No.11954
No.11955
No.11956
No.11957
No.11960
No.11961
No.11962
No.11963
No.11964
No.11965
No.11966
No.11967
No.11970
No.11971
No.11972
No.11973
No.11974
No.11975
No.11976
No.11977
No.11980
No.11981
No.11982
No.11983
No.11984
No.11985
No.11986
No.11987
output
IMPORTANT
The error of ladder program cannot be checked by safety function itself. Please
make sure to check safety function (see Chapter 7).
11. *OPIHB
When the Guard Open Request signal (ORQ) is input to 1, the CNC sets this signal. The machine tool
builder must design the PMC ladder logic by this signal. The ladder must confirm safety machine position
and safety speed. If the result of confirmation is judged safe, the ladder turns on the signal to release
protective door lock and outputs the signal to open the actual protective door.
If the protective door is unlocked (*SGOPN becomes 0) while the signal is set to 0, the ladder must
notify alarm occurrence to an operator by lighting a lamp or so on and bring the motor into the safe stop
state.
NOTE
This signal is not output while MCC off Test is executing.
- 19 -
3.SAFETY FUNCTIONS
12. RSVx, RSPs
B-64483EN-2/03
These signals show the result of monitoring safety machine position and safety speed of each axis and the
result of monitoring safety speed of each spindle. When Guard Open Inhibit signal (*OPIHB) is set to 1,
a machine tool builder can judge whether the machine is in the safety state or not according to these
signals. If safety is confirmed as a result, turn on the signal to unlock the protective door lock and output
the signal to open the actual protective door.
13. RZVx, RZPs Safety Speed Zero Monitoring Result signal (output)
These signals show the result of safety speed zero monitoring of each axis and the result of safety speed
zero monitoring of each spindle.
14. POSEx
This signal is output when Dual Check Safety Function is effective and the reference point is established.
When the reference point is not established, the machine system is in danger state because Safety
Machine Position Monitoring and Safety Position Error Monitoring are not active. If this signal is 0,
Machine Tool Builder has to control not to open the protective door.
15. ORQ
When this signal is input, the CNC set the Guard Open Inhibit signal (*OPIHB) to 1 (Guard open
accept). The PMC ladder program of a machine tool builder confirms the safety machine position and the
safety speed. If both machine position and speed are judged within safe range according to the result of
confirmation, the guard unlock signal is set to 1 (guard unlock enabled). The machine tool builder must
provide an output signal that opens the actual protective door through the PMC.
16. OPT
When the signal is input, a MCC off Test is executed. The MCC off Test checks whether the contact of
the MCC is abnormally closed. When carrying out the MCC off Test manually, input this signal after the
preparation of a MCC off Test is completed.
17. RQT
If the execution of a MCC off Test is required, this signal is output. At power-on, this signal is always
output. If this signal is output, a MCC off Test must be executed.
18. STBT
This signal is used to start or resume a brake test. When the brake test is completed successfully, the
Brake Test Execution Request signal RQBT is set to "0", causing the state of this signal to change from
"1" to "0" as well.
Changing the state of this signal from "1" to "0" during the brake test causes the test to be interrupted. In
that case, the test ends as soon as the test sequence being executed is completed when the signal is set to
"0".
19. RQBT
This signal is used to request a brake test. If the signal is set to "1", please execute the brake test. Even if
this request signal is set to "1", the operation is allowed to continue until the current stage of machining is
completed. To ensure safety, however, when the current stage of machining is completed, be sure to start
a brake test by setting the Brake Test Start signal STBT to "1".
- 20 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
CNC(PMC)
Protective Door
open request
X
Ladder
Protective door
ORQ
ORQ-I
*OPIHB
RSVx
RSPx
POSEx
Y
F
F
Ladder
Protective
door unlock
The figure shows a sample connection of the protective door open request switch and the protective door
unlock signal. In the normal state, the protective door lock state is changed as follows before the safety
monitoring state is established.
Protective
*OPIH RSVx
POSEx door unlock
B
RSPs
(*SGOPN)
B
C1
C2
D
1
1
1
1
0
1
1
1
0
0
1
1
Locked
Normal
operating state
Safety function
is enabled.
NOTE
The PMC ladder must be designed to monitor whether the protective door is
open (*SGOPN is set to 0) while ORQ is set to 0. If the protective door open is
detected, the PMC ladder judges that an abnormal event has occurred and
enters the safe stop state. This can occur, for instance, when the protective door
happens to open (or to be unlocked) while machining is in progress with the
protective door closed.
- 21 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Timing diagram from protective door close state to protective door open
state
The following diagram shows the timings at which the protective door is opened and closed again.
ORQ_P
ORQ
*OPIHB
RSVx
RSPs
POSEx
*SGOPN
(Safety related
I/O signal)
Protective door
closed
Protective door
closed
Protective door
opened
(2)
(3)
(4)
(5)
(1) When the Guard Open Request signal (ORQ) is input, the CNC returns the answer signal (*OPIHB)
to PMC.
(2) The PMC ladder program checks that the machine position, speed and position error are within safe
ranges by the Monitoring Result signal (RSVx/RSPs) and the reference point is established by the
Position Information Effect signal (POSEx). Then, it turns on the protective door unlock signal.
(Caution)
This example assumes that the protective door has an electromagnetic lock mechanism. While the
protective door is open, the unlock signal is turned off.
(3) The protective door is open.
(4) The protective door is closed and locked. After this, the Guard Open Request signal (ORQ) must be
turned off. (Caution)
(5) When the Guard Open Request signal (ORQ) is turned off, the CNC turned off the answer signal
(*OPIHB).
CAUTION
1 The RSVx and RSPs are redundant and output to both PMCs (PMC and
DCSPMC). Since the RSVx and RSPs signals, the monitoring results of two
independent circuits, are output to two PMCs, the output states of the results
may not match temporarily (when, for example, the spindle speed is close to the
safe speed). Therefore, keep the following in mind when only RSVx and RSPs
are used as conditions for releasing a protective door lock. Confirm that RSVx
and RSPs of the PMCs (PMC and DCSPMC) are both placed in the safe state
before releasing a protective door lock. When RSVx and RSPs of one PMC are
used as conditions for releasing a protective door lock, keep in mind that, before
releasing a protective door lock, wait until the speed becomes low enough after
RSVx and RSPs enter the safe state.
When the protective door is assumed to be open if RSVx and RSPs of only one
PMC enter the safe state, a safe reduced speed check alarm may occur
depending on the result of the other monitoring state.
- 22 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
CAUTION
2 Ensure a time of 100 ms or longer (t in the figure) from when the protective
door is closed (locked) until the Guard Open Request signal (ORQ) goes off. If
this time requirement is not satisfied, an alarm may be raised when the door is
closed (locked).
Design an operator panel to inform an operator that Guard Open Request signal
(ORQ) is turned on by lighting a lamp.
3.5
EMERGENCY STOP
The Emergency Stop signal is monitored in redundant mode. When the emergency stop is input, the servo
motor slows down to a stop (Caution) and enters the dynamic brake stop. The spindle slows down to a stop
(Caution)
as instructed by the PMC (Ladder program), and then the power is shut off.
CAUTION
To enable the function to slow down and stop the servo motor, the
corresponding parameter must be specified. If the parameter is not specified,
the motor immediately enters the dynamic brake stop state.
The spindle motor slows down and stops as instructed by the PMC (Ladder
program). If the PMC does not instruct this, the motor maintains the high speed
prior to the power-down and coasts. If an illegal speed is specified because of
a failure on the PMC side while the safety function is active (the protective door
is open), the CNC enters the safe stop state.
WARNING
In the emergency stop state, the processing to open or close the protective door
depends on the Ladder program created by the machine tool builder.
For example, when the protective door is prohibited from being opened in the
emergency stop state (when, for example, the spindle rotates at a speed not
allowed in situations where the protective door is open, that is a speed
exceeding the safe speed limit), the processing needs to be implemented by the
ladder program.
NOTE
Emergency Stop Button must fulfill the Standard IEC60947-5-1.
3.6
If the safe speed range is exceeded while the protective door is open, the dual check safety function
immediately enters the stop state. If each axis or spindle is not stopped, the dual check safety function
enters the safety stop state. For each feed axis and spindle, up to four safe speed ranges can be specified
in safety parameters.
Both the CNC and the SV/SP monitor whether a safe speed is kept on each feed axis and spindle. Limit
speed can be changed by the Safety Speed / Safety Position Selection signals (SVAx/SVBx for feed axis,
SPAs/SPBs for spindle).
- 23 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Name
Safety speed 1
Safety speed 2
Safety speed 3
Safety speed4
0
1
0
1
0
0
1
1
No.4372
No.4438
No.4440
No.4442
When excess limit error is detected, Monitoring Result signal (RSVx/RSPs) is set to 0. In this situation,
if Safety Check Request signal (*VLDVx/ *VLDPs) is 0 and safety monitor is executed, an alarm is
generated.
Error detected CPU
Alarm
CNC
SV
SP
SV0494/SP0757
SV0476
SP9069(SPINDLE ALARM 69)
CAUTION
1 When an illegal speed is detected for the servo axis, if the axis is not stopped
after the time specified in the parameter, the MCC Off signal (*MCFVx) is turned
to 0.
2 When an illegal speed is detected for the spindle axis, CNC checks whether the
spindle speed decelerates continuously or not. If acceleration is detected, the
MCC Off signal (*MCFPs) is turned to 0.
3 For the spindle, bit 1 (CTLSTP) of parameter No. 4399 can be used to select a
stop method (free run stop or controlled stop) on occurrence of a safe speed
excess alarm.
IMPORTANT
1 A gear ratio, ball screw, and the like must be carefully selected so that a safe
speed can be kept on the feed axis.
2 Before inputting the Guard Open Request signal (ORQ), reduce each axial
speed and spindle speed to a safe speed range or below. If a speed exceeds
the limit, do not unlock the protective door. The PMC ladder must be designed
that the power to the driving circuit is shut off (safe stop state) if the protective
door is forced open.
WARNING
The safe reduced speed check function monitors whether the traveling speed
exceeds a specified limit. The function cannot monitor the stop state (zero
speed). If an error causes a movement on the feed axis at a speed lower than
the safe speed range while the protective door is open, for instance, the function
cannot detect this state. The machine must be designed so that this state does
not affect the safety of the machine system.
3.6.1
In the safety speed monitoring function of Dual Check Safety Function, the safety speed for spindle can
be switched in 4 steps by safety speed selection signal (SPAs, SPBs). However, when plural chucks are
used or the safety speed is required to be selected corresponding to the diameter of work, the more
detailed selection is needed.
- 24 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
With this function, the safety speed for spindle can be overridden from 10% to 100% by the safety
spindle speed limit override signal.
Therefore, if these signals are combined with the safety speed selection signal, safety speed can be
switched in 40 steps for one spindle in total.
When bit 1 (SOV) of parameter No.3797 is set to 1, the following override is valid to above safety speed
corresponding to the combination with the safety speed override signal (SPOV1s~SPOV4s).
SPOV1s
1
0
1
0
1
0
1
0
1
0
0
1
1
0
0
1
1
0
0
1
SPOV4s
0
0
0
1
1
1
1
0
0
0
0
0
0
0
0
0
0
1
1
1
Other combinations
Override value
10%
20%
30%
40%
50%
60%
70%
80%
90%
100%
100%
(Example)
Set as follow.
3.7
While the protective door is open, the dual check safety function checks whether the position on each
feed axis is within the safe machine position range defined by safety parameters. If it detects a machine
position beyond the safety range, the dual check safety function immediately enters the stop state. If
each axis is not stopped, the dual check safety function enters the safety stop state.
For each feed axis, up to four safe positions can be specified in safety parameters.
Both the CNC and the Servo monitor whether each axis is within the safety position. The range of the
safety machine position can be changed by the Safety Speed / Safety Position Selection signals
(SVAx/SVBx for feed axis).
Name
Safety machine position 1
Safety machine position 2
Safety machine position 3
Safety machine position 4
0
0
1
1
- direction
No.13831
No.13833
No.13835
No.13837
No.13832
No.13834
No.13836
No.13838
When out of position error is detected, Monitoring Result signal (RSVx) is set to 0. In this situation,
if Safety Check Request signal (*VLDVx) is 0 and safety monitor is executed, an alarm is generated.
This monitoring function is vaid after the reference position is established.
- 25 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Alarm
CNC
SV
SV0495
SV0477
CAUTION
1 The safe machine position monitoring function does not keep monitoring the
specified range. Only after the function detects that a position on a feed axis
exceeds the range, the system enters the stop state. Accordingly, in the stop
state, an over travel has occurred on the feed axis. The travel distance depends
on the traveling speed and other conditions.
2 When an out of position error is detected, if the axis is not stopped after the
time specified in the parameter, the MCC Off signal (*MCFVx) is turned to 0.
The user of the machine must first carry out a reference position return in order to obtain the initial
position. If the reference position return is not carried out, the check function is disabled. This check
function is enabled after the reference position is established. (The function cannot be disabled by any
means after the reference position is established.)
CAUTION
A machine operator must confirm whether the machine reference position is
established correctly by checking the actual machine position and position
display of the CNC.
While power-on, the safety function does not work. After power-on, the CNC checks whether a reference
position return is completed. If the reference position return is completed and if the protective door is
open, safe machine position monitoring, safe reduced speed check and safety position error monitoring
are performed. Then, the safety functions start working. If the reference position return is not completed,
safe machine position monitoring cannot be performed because the coordinates are not established. In this
state, the machine position monitoring function is disabled. After a reference position return is made, this
function is enabled. Depending on the safety parameter setting, however, an alarm may occur. To avoid
this alarm, set the safe machine position parameters before making a reference position return.
CAUTION
1 The machine coordinate of the safety function is based on position feed back. So
it does not always indicate the same value as the machine coordinate based on
the summation of the command value.
2 This function is activated only in position control mode.
- 26 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
3.8
The safety speed zero monitoring will monitor whether a servo axis or a spindle stays within the safety
range. The safety zero speed monitoring will start by changing the safety speed zero monitoring signal
(ZSVx/ZSPs) from "0" to "1".
The center of this range is the point, where the safety speed zero monitoring signal (ZSVx/ZSPs) is
changed from "0" to "1". And the width of this range is defined by the safety parameter.
The point where the safety speed zero monitoring
signal (ZSVx/ZSPs) is turned to "1"
Position
-
+
Width set by the parameter
(Safety speed zero
monitoring width)
When a servo axis or a spindle moves out of the range defined by the parameter, the safety speed zero
monitoring result signal (RZVx/RZPs) is turned to "0". Moreover, if safety monitor is executed (Safety
Check Request signal *VLDVx/*VLDPs is "0"), safety speed zero error alarm is caused.
If a servo axis or a spindle is stays in the safety range, the safety speed zero monitoring result signal
(RZVx/RZPs) is turned to "1".
When the safety speed zero monitoring request signal for each servo axis or each spindle (ZSVx/ZSPs) is
turned to "0", safety speed zero monitoring is finished.
Safety speed zero monitoring for a servo axis becomes effective after the reference position is established.
CAUTION
Do not perform the safety speed zero monitoring while a servo axis or a spindle
is moving. The safety speed zero monitoring should be activated after confirming
the stop of a servo axis or a spindle by axis moving signal MVx or so on.
NOTE
1 If a servo axis does not stop within the time defined by the parameter after the
safety speed zero error is detected, CNC turns MCC off signal of the axis
(*MCFVx) to "0".
2 When the servo detected the alarm of safety speed zero error, the servo motor is
stopped and the servo excitation is turned off.
3 When the spindle detected the alarm of safety speed zero error, spindle motor
starts to stop with free-running stop or controlled stop, and then excitation is off
finally.
4 The safety speed zero monitoring is effective even when the servo excitation is
turned off by the servo off signal or so on.
5 In case of servo axis, the safety speed zero monitoring is not effective during the
speed control mode or torque control mode.
- 27 -
3.SAFETY FUNCTIONS
3.9
B-64483EN-2/03
A MCC off Test must be carried out in intervals of the specified time (normally 24 hours), so that the
safety functions would not be damaged by an accumulation of failure. A warning message is displayed
that the MCC off Test must be carried out at power-on or when 24 hours have elapsed after the previous
MCC off Test. The machine tool builder can perform the MCC off Test in a longer period than 24 hours
by own application such as PMC ladder program. In this case, the machine tool builder should perform
the followings by own application:
Measuring the elapsed time after the previous MCC off Test
Displaying the warning message that the MCC off Test must be carried out at power-on or when the
specified time has elapsed after the previous MCC off Test
The machine tool builder must set up the machine not to open the protective door before a MCC off Test
is not completed.
A MCC off Test performs the test to turn on and off MCC by controlling *SMC signal in order to confirm
whether the circuit to shut off MCC is normal. The MCC off Test is performed both on PMC and the
DCS PMC. If the MCC off Test is not completed within the time specified by the parameter No.1946
(MCC off Test timer), alarm SV0488 is generated. It is necessary to carry out the MCC off Test before
the protective door is open, when power is on or the specified time (normally 24 hours) has elapsed after
previous MCC off Test.
The PMC ladder program must be designed to carry out the following control.
<1> MCC Off Test Execution Request signal (RQT) or MCC Off Test execution request signal defined
by the machine tool builder is set to 1 at power-on or when the specified time (normally 24 hours)
has elapsed after the previous MCC off Test. Then, the protective door is locked till the MCC off
Test is terminated normally. But the operator can operate the machine while the protective door is
closed.
<2> When the MCC off Test Execution Request signal (RQT) or MCC Off Test execution request signal
defined by the machine tool builder is turned to 0, the protective door can be unlocked.
CAUTION
The machine tool builder who would like to perform the MCC off Test in longer
period than 24 hours shall carry out the followings:
The risk analysis for change of the test interval
The test for ensuring that no error occurs at the MCC.
Calculation procedure of the MCC off Test period
<1> Calculate MTTFd of the MCC off Test path.
<2> Divide MTTFd of the MCC off Test path by 100 or more.*1)
<3> And you get the upper limit of the MCC off Test period.
*1) Using a large value for risk reduction is recommended.
- 28 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Example)
Test No.
128
Test completion
Test start
Test
number
Description
When the *MCF signals on both the PMC and DCSPMC sides are 1, confirm that the MCC is on.
(*SMC = 0)
Confirm that the MCC turns off (*SMC = 1) when the *MCF signal on the DCSPMC side is set to 0.
Confirm that the MCC turns on (*SMC = 0) when the *MCF signal on the DCSPMC side is returned
to 1.
Confirm that the MCC turns off (*SMC = 1) when the *MCF signal on the PMC side is set to 0.
Confirm that the MCC turns on (*SMC = 0) when the *MCF signal on the PMC side is returned to 1.
This state is entered when tests 1 to 5 end successfully.
2
3
4
5
128
IMPORTANT
Carry out the MCC off Test with the protective door closed. As the test shuts off
the MCC, prepare the system for mechanical MCC shut-off before starting the
MCC off Test.
The following describes notes and a timing chart during the MCC off Test.
<1> Before performing the MCC off Test, stop the feed axis and spindle.
<2> When the MCC off Test ends, the MCC Off Test Execution Request signal goes off. After the MCC
Off Test Execution Request signal goes off, set the test mode signal to off.
<3> When the vertical axis is present, take measures such as preparing a brake circuit for drop prevention.
Take 500 ms or more from when the brake is driven until test start signal OPT is activated, in the
ladder.
<4> Do not connect a peripheral device or noise filter between the MCC and the common power supply.
Otherwise, the test may not terminate normally.
<5> Enable the servo off signals (SVF1-8) after applying a brake to the servo axis connected to the
common power supply to be tested. If the servo off signals are not input, an alarm may occur during
the test.
<6> When the power failure backup module is connected, the ready signal (contact output signal RDY)
of the power failure backup module goes off during the MCC off Test. Therefore, make
considerations to eliminate a problem in the ladder. A possible measure is to mask the ready signal
by the test mode signal.
- 29 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Contact on
Contact off
3.10
It is checked whether the machine position is within the range of safety position switch. The checked
result is outputted to the Safety Position Switch signal. The correspondence between axes and each signal
is specified by the parameters. In case of 1 path system, up to 32 points can be specified. And in case of 2
or more paths, up to 64 points can be specified.
When a machine position of controlled axis is within a range, which is specified by the safety parameters,
this signal is output.
1
0
Parameter setting
value
Parameter setting
value
The signals are output after establishment of the reference position. The signal is not output before the
completion of reference position return.
The machine position is the actual machine position (which is calculated using feedback of position
detector), not the commanded position.
The comparison of position for safe position switch is executed in detection unit.
If the machine position equals parameter setting value, the safe position switch signal is output.
The safe position switch signal is not output for axis which the Dual Check Safety (bit 6 (DCN) of
parameter No. 1904 = 1) is not applied to.
- 30 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Safety Position switch can be assigned up to 16 points per 1 group to the output signal (F signal) and
totally up to 4 groups 64 points can be used in the CNC system. Two areas per a path are provided to
assign. It is possible to assign the group to an appropriate area.
The assignment of controlled axes is set by the safety parameters (No.13880 to No.13911, No.10501 to
No.10532). Safe position switch signals can be assigned to arbitrary controlled axes. All points can be
also assigned to one axis.
And the signals can be also assigned to the rotary axes.
When inconsistency between the position switch on PMC and that on DCS PMC is lasted for the time that
is specified by the parameter No.1945, the safety function sets MCC Off (signal *DCALM to 0) and
generates the alarm safe I/O cross check error (PW0010/PW0011) .
NOTE
The machine coordinate of the safety function is based on position feed back
which is affected by mechanical factor. So it does not always indicate the same
value as the machine coordinate based on the summation of the command
value.
Two machine coordinates that are calculated by two CPU independently are not
always the same because the position feedback is continuously changed a little.
As there is a possibility that the condition of two signals is different from each
other near the boundary, please avoid usage to stop an axis near the boundary.
CAUTION
This function is activated only in position control mode.
Hysteresis
Around the position switch boundary, the Safety Position Switch signal may repeatedly turn on and
off due to motor vibration. Since this condition is not convenient for using this signal, the concept of
hysteresis is applied as follows.
Maximum limit of
position switch
Minimum limit of
position switch
Width of hysteresis
Width of hysteresis
Activated area of position switch
Fig. 3.10(a) Activated area of the position switch when the Safety Position Switch signal is set to "0"
Minimum limit of
position switch
Maximum limit of
position switch
Fig. 3.10(b) Activated area of the position switch when the Safety Position Switch signal is set to "1"
Suppose that the minimum limit and maximum limit of the position switch are represented by an area like
those shown above. If the value of the Safety Position Switch signal used for the last measurement is "0",
then the check is made in an area that takes into account the width of hysteresis (Fig. 3.10(a)). If the value
of the last used Safety Position Switch signal is "1", then the check is made in an area that does not take
into account the width of hysteresis (Fig. 3.10(b)). This reduces the fluctuation in the Safety Position
Switch signal.
- 31 -
3.SAFETY FUNCTIONS
3.11
B-64483EN-2/03
At every power-on, the CNC checks whether the safety related parameters are destroyed and are
transferred to the SV, the SP and the PMC normally or not. The SV, the SP and the PMC also check
whether the safety related parameters are transferred from the CNC normally or not.
If some problem is found in this check, an alarm is generated and the MCC is shut off. (*DCALM=0)
3.12
3.13
Both the CNC and the SV check whether the servo position error of each axis exceeds the limit of
deviation specified by the parameters. If the servo following error exceeds, an alarm is generated and
MCC OFF signal (*MCFVx) is output immediately.
The relation between the safety monitoring state and the parameter of limit of deviation is shown in the
following table.
Safety monitoring is
activated
(In case *VLDVx =0)
No.1839
No.1838
No.1842
No.1841
No.1840
No.1840
Stopping
Moving
emergency stop, servo alarm (*1)
Servo-off and follow-up, parameter bit 1 (SOF)
pole position detection
of No.13805 is to 0.
parameter bit 1 (SOF)
of No.13805 is to 1.
Servo-off and not follow-up (*1)
*1) When emergency stop state or servo alarm are generated in the servo off state, the parameter of servo
-off and follow-up are applied.
Error detected CPU
CNC
SV
Alarm
SV1072/SV1071/SV1069
SV0474/SV0475/SV1070
When position deviation exceeds the limit given by the parameter (Refer to the parameter that safety
monitoring is activated (in case *VLDVx =0) in above table.) during safety monitoring, Monitoring result
signal RSVx is set to 0 regardless of the state of Safety check request signal *VLDVx.
This function is valid after the reference position return is finished or the follow-up of absolute position is
finished in case an absolute position coder.
- 32 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
CAUTION
This function is activated only in position control mode.
3.14
The SV and the SP transmit the data of plural axes to amplifiers through one electronic circuit (LSI). The
CNC, the SV and the SP check whether this transmission is performed normally without placing data on
wrong address.
In case of servo amplifier, the CNC axis numbers kept by the CNC are compared with the CNC axis
numbers kept by the SV. In the case of the spindle amplifier, the spindle numbers kept by the CNC are
compared with those kept by the spindle amplifier. The checking sequence is as follows.
[Checking sequence for servo amplifier]
<1> When a servo amplifier is set up at the first time, an alarm SV0498 is generated. At that time, the
CNC transfers the CNC axis numbers to the SV and the SV keeps the data. Then the power of all
CNC system (amplifiers are included) must be turned off and on.
When an alarm is generated after the configuration of servo amplifiers is changed, it is necessary to
carry out the operation to send the CNC axis numbers to servo amplifiers. Set the parameter
No.2212#4 to 1 then return to 0. Then turned off the power of all CNC system (amplifiers are
included.)
<2> After the power-on, the CNC and the SV start monitoring the CNC axis numbers. The CNC
monitors by comparing the CNC axis number kept by the CNC itself with that kept by the SV. The
SV monitors by comparing the CNC axis numbers kept by the SV with that sent by the CNC.
When some error is found, an alarm SV0478 or SV0496 is output, and MCC Off signal (*DCALM)
is turned to 0.
[Checking sequence for spindle amplifier]
<1> When a spindle amplifier is set up for the first time, alarm SP9148 is generated. During this process,
the CNC transfers the spindle numbers to the spindle amplifier, which in turn keeps those numbers.
When this occurs, the power of the entire CNC system (including the amplifier) must be turned off
and then back on.
If an alarm is generated because the configuration of the spindle amplifier is changed, it is necessary
to send the spindle numbers to the spindle amplifier (set bit 7 of parameter No. 4541 to "1", then set
it back to "0", and then turn off the power of the entire CNC system (including the amplifier)).
<2> The CNC compares the spindle numbers kept by the CNC itself with that sent from spindle amplifier.
If inconsistency is found, an alarm SP0756 is output and MCC Off signal (*DCALM) is turned to
0.
<3> The SP compares the spindle numbers with that kept by the spindle amplifier. If inconsistency is
found, alarm SP9070 (Spindle alarm 70) is output, and MCC Off signal (*DCALM) is turned to 0.
3.15
The CNC and the SV output the Safety Brake signal (*BRKx) to control the mechanical brake. When this
signal is 0, mechanical brake must be activated. When this signal is 1, mechanical brake is allowed to
be released.
When the inconsistency between the break signal on PMC and that on DCS PMC is lasted for the time
that is specified by the parameter No.1945, the safety function sets MCC Off signal (*DCALM) to 0
and generates the alarm safe I/O cross check error (PW0010/PW0011).
- 33 -
3.SAFETY FUNCTIONS
3.16
B-64483EN-2/03
The CNC, the PMC, the SV and the SP carry out the following self-diagnosis. If the error is detected, the
alarm is generated and sets MCC Off signal (*DCALM) to 0.
<1> CPU check
It is checked whether each CPU runs normally or not.
It is checked whether the instructions related to safety function is executed normally or not.
Error detected CPU
CNC
PMC
SV
SP
ALARM
PW0014
PW0024(DCS PMC), PW0025(PMC)
SV0484
SP9074 (Spindle alarm 74)
ALARM
PW0017 / SV0490
PW0030(DCS PMC), PW0031(PMC)
SV0484
SP9076 (Spindle alarm 76), SP0755
PMC relation
3.17
SV0490/SV0484
SP9072 (Spindle alarm 72),
SP9077 (Spindle alarm 77),
SP9078 (Spindle alarm 78),
SP0755
PW0010(DCS PMC), PW0011(PMC)
PW0012(DCS PMC), PW0013(PMC)
ECC (Error Check and Correct) function is applied to the battery back-upped file memory. Then a simple
error is corrected. And, when an error that cannot be corrected occurs, an alarm is generated.
Other memory for dual check safety is checked as follows. If the error is detected, the alarm is generated
and sets MCC Off signal (*DCALM) to 0.
1) Test at power-on
The several test patterns are written to the RAM area. It is checked whether the written test data are
read correctly. If read error occurs, an alarm is generated.
2) Test during normal operation
RAM area is checked sequentially at constant interval during normal operation. The several test
patterns are written to the RAM. It is checked whether the written test data are read correctly. If read
error occurs, an alarm is generated.
- 34 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
3.18
Alarm
PW0016
SV0484
PW0028(DCS PMC), PW0029(PMC)
SP9016 (Spindle alarm 16)
At power-on and after power on, the data that are related to Dual Check Safety and stored in the ROM
area are checked. The CNC software, the servo software, the PMC software and the spindle software are
checked. If some error is found, an alarm is generated.
At power on
Error detected Software
CNC software
Servo software
PMC management software
Spindle software
Alarm
CRC CHECK ERROR: NC BASIC.
SERVO ROM TEST: CRC CHECK ERROR
LED 6
Spindle alarm 75
After power on
Error detected Software
CNC software
PMC management software
3.19
Alarm
PW0018 CRC CHECK ERROR
PW0032(DCS PMC), PW0033(PMC)
When a protective door is open, safe stop monitoring for servo axis and spindle can be realized by the
combination of several functions.
3.SAFETY FUNCTIONS
b)
B-64483EN-2/03
There is a possibility that spindle rotate at speed lower than safety speed limit. Then it is necessary
to select the function to make position control loop, such as spindle positioning, Cs contouring
control or spindle orientation.
3.20
BRAKE TEST
To ensure the safety of the brake, the brake signals (*BRKx) that are output in redundant mode are used
to control the brake of the servo axis mechanically. To ensure the safety of this control, a periodical test is
performed on the servo axis brake.
Specifications
A brake test can be performed on servo axes that have a brake. The test needs to be done only on those
axes that require brake control, such as vertical axes. Whether to perform the test can be selected on an
axis-by-axis basis using a parameter. As with the MCC shut-off test, the brake test is performed when the
power is turned on or when time t has elapsed since the last test (t is the value set in parameter No.
13913).
NOTE
Since the test involves giving the move command to the servo motor, make sure
it is performed in position control mode in the servo on state. The test will not be
executed if the axis to be tested is in a mode other than the position control
mode (velocity control or torque control) or in the servo off state or if the torque
limit mode. An alarm is generated if the conditions are not satisfied.
Executing the brake test
(1) When the brake test execution request mentioned above is accepted, all the axes eligible for the
brake test are tested simultaneously. Using combinations of states of two brake signals *BRKx
(PMC side and DCSPMC side), three different tests are executed per axis in the order shown below.
*BRKx(PMC)
*BRKx(DCSPMC)
Brake state
Test 1
Test 2
Test 3
0
0
Applied
0
1
Applied
1
0
Applied
3.SAFETY FUNCTIONS
B-64483EN-2/03
*BRKx(PMC)
1
0
1
0
1
0
1
0
Under test
Test sequence
Not under test
Test 1
Test 2
Test 3
NOTE
1 Execute the test in the servo on state.
2 The amount of travel, feedrate, and positional deviation value must be set in
advance using parameters.
3 Make sure that the protective door is closed when the test is executed. To
ensure safety, create a ladder program that prohibits the protective door from
being opened, even if a protective door open request is issued, until the break
test is executed when the Brake Test Execution Request signal RQBT is turned
on after time t has elapsed (t is the value set in parameter No. 13913).
4 Do not execute the test with the protective door open. Create a ladder program
that prohibits the Brake Test Start signal STBT from being turned on so that the
test cannot be executed while the protective door is open.
5 The brake test cannot be executed on axes subject to feed axis synchronization
control or synchronous, composite, or superimposed control. Before executing
the test, be sure to turn off the relevant selection signal.
6 If the brake test causes an alarm, the axis can be moved manually, while the
automatic operation cannot be continued unless the alarm is cleared by the
reset. Make sure that the automatic operation is performed in a safe condition. If
the brake test is interrupted due to an alarm or for some other reason, the axis
may not be able to be returned to its original position.
7 The override for the feedrate command is fixed at 100%, and the dry run and
rapid traverse signals are disabled.
8 The interlock and machine lock states are effective during the brake test.
CAUTION
The axis may move during the brake test. Before the test, move the axis to a
safe place where it does not interfere with any other part.
- 37 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
(a) Brake signals *BRKx are output according to the test step to be executed. The torque limit value of
the axis subject to the brake test is used as the torque limit value for the brake test. The torque limit
value can be set using a parameter.
(b) The NC waits for t1 (t1 is the value set in parameter No. 13914) until the brake is applied and the
command can be issued.
(c) Next, the NC outputs the position command according to the amount of travel and feedrate set in
parameters.
(d) After issuing the command, the NC checks the positional deviation amount in order to determine
whether the brake is applied normally. If the brake is applied normally, the axis has not been moved
and there is accumulated positional deviation equivalent to the specified amount of travel. The range
of the positional deviation amount to be checked is equal to the corresponding positional deviation
amount plus and minus the tolerance value (the value set in parameter No. 13918). The time during
which the NC checks whether the brake is applied normally is specified by t2 (t2 is the value set in
parameter No. 13919). If the positional deviation amount is outside the range, the NC regards the
brake as failing to be applied normally and generates an alarm.
(e) After the check, the NC issues a command to reset the accumulated positional deviation amount.
(f) Before executing the next test, the NC waits for t1 (t1 is the value set in parameter No. 13914).
Next test
Current test
Torque limit
Enable
Disable
*BRKx(PMC,
DCSPMC)
0
Command
Command
(POS)
t1
t1
Command
(travel
amount/feedrate)
No command
Cancel
command
Command -
Monitored
Error monitoring
Not monitored
t2
(a)
(b)
(d)
(c)
(e)
(f)
Changing the state of the Brake Test Start signal STBT from "1" to "0" during the brake test causes
the test to be interrupted. The test sequence being executed when the signal is set to "0" is suspended,
and the amount of travel occurring during the brake test, brake signals, and torque limit are reset. To
execute the brake test again, set this signal to "1". The brake test will resume from the beginning.
If the brake test is interrupted by an emergency stop or servo alarm, the test is forced to end even
during a test sequence. After the servo motor is activated by the reset process, the brake signals and
torque limit are reset. Also, make sure that, during the brake test, the servo ready signal SA
<Fn000.6> is monitored in addition to the brake signals to control the brake. To execute the brake
test again, set this signal to "0" and then to "1". The brake test will resume from the beginning.
If the brake test is interrupted due to the reset or mode change, the test sequence being executed is
suspended, while the brake signals and torque limit are not reset, leaving the test as it is when it is
interrupted. To reset the amount of travel occurring during the brake test, brake signals, and torque
limit, set the Brake Test Start signal STBT to "0" and then to "1". After all these interruption
operations are complete, it becomes possible to execute the brake test again.
- 38 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
CAUTION
When brake test is interrupted by the reset or mode change, the state during
brake test of the brake signal and the torque limit, etc. is maintained. Note that
the brake signal doesn't change even if the emergency stop signal is operated in
this state. Operate the emergency stop signal after brake test start signal STBT
is turned to "0" and 1 again without fail and after the state of brake signal and
torque limit etc. returns to original state.
- 39 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
Brake configuration
This function assumes the brake configuration shown in either Fig. 3.20 (c) Brake configuration - 1 or Fig.
3.20 (d) Brake configuration - 2.
I/O Module 1
I/O Link
Channel 1
I
CNC (30i)
PMC
I/O Link
signal divider
JD1B
*BRKx
24V
RL
JD44A-1
JD51A
0V
JD51B
JD1A
built-in
motor
brake
I/O Module 2
DCS
PMC
*BRKx
JD1B
I/O Link
Channel 3
RL
O
0V
0V
Fig. 3.20 (c) Brake configuration - 1
I/O Module 1
CNC (30i)
PMC
I/O Link
Channel 1
I/O Link
signal divider
*BRKx
JD1B
RL
built-in
motor
brake
0V
JD51B
24V
JD44A-1
JD51A
24V
External
brake
I/O Module 2
JD1A
I
DCS
PMC
JD1B
I/O Link
Channel 3
*BRKx
0V
0V
RL
0V
Fig. 3.20 (d) Brake configuration - 2
- 40 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
3.21
During setup mode for a machine tool, which includes attaching or detaching a workpiece, the operator
may rotate the spindle manually. Conventionally, in such case, the following methods have been used to
ensure safety:
Cutting off the input power to all spindle and servo axis by placing the machine tool into the
emergency stop state
Installing a magnetic contactor between the spindle amplifier and the spindle motor for cutting off
the power to the spindle motor from the spindle amplifier
In this function, the safe power-off of the spindle by the dual monitoring is realized by the combination of
the Dual Check Safety function and the spindle amplifier which outputs the dual excitation status signals
indicating the power-off status of the spindle motor as two independent signals.
This function enhances the usability of machine tools for adding no magnetic contactors between the
spindle amplifier and the spindle motor. Also, this function can be used with the Spindle Enabling Switch,
which enables to drive the spindle by the safe speed.
(EXOF1)
Status of
Protection door
PMC CPU
Safe
I/O
Protection Door
Spindle
Motor
Servo Amplifier
PMC ladder
Monitor and
Control
Cross
Check
Servo
Motor
Power Supply
Safe
I/O
Spindle
Enabling Switch
Spindle Enabling
Switch signal
(SPEN1, 2)
CNC CPU
Contact
Driver
DCS PMC ladder
Monitor and
Control
AC reactor
Magnetic
Contactor
Specifications
The following safety function can be realized with the Spindle Amplifier supporting the Safe Spindle
Stop function.
1.
2.
When the protection door is open, it can be checked safely that the power to the motor is cut off
without turning off the magnetic contactor installed to the main power input for the Power Supply.
And if abnormalities are detected during monitoring, the magnetic contactor installed to the main
power input for the Power Supply is turned off.
By using two ladders of the PMC and the DCS PMC, monitor independently if excitation status of
Spindle Amplifier is normal. And if abnormalities are detected, turn off the magnetic contactor
installed to the main power input for the Power Supply by the independent two paths.
Two excitation status signals outputted from Spindle Amplifier can be crosschecked by the
Programmable Safety I/O signal.
- 41 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
In order to check the mismatch between two excitation status signals (EXOF1, and EXOF2 by
contact driver) outputted from Spindle Amplifier, assign both signals as the Programmable Safety
I/O signal.
CAUTION
In order to make sure of the application of this safety function, above 1 and 2
should be done by the machine tool builder.
Moreover, in case of driving the spindle with protection door open, in addition to above 1 and 2,
following 3 should be done by the machine tool builder.
3.
In order to check the mismatch between two signals (SPEN1, SPEN2) from the Spindle Enabling
Switch, assign both signals as the Programmable Safety I/O signal.
The Safe Speed Monitoring function of the spindle axis is still effective during monitoring the excitation
status of the spindle (*SGOPN=0, and EXOF=1). Therefore, during monitoring the excitation status of
the spindle, it is necessary to set the Safety Speed to higher and proper value.
Concretely, please change the Safety Speed Selection signal SPAs/SPBs according to the spindle enable
status by a user ladder and set a suitable Safety Speed as a parameter. Please refer to the section 3.6.
- 42 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
3.21.1
An example of the total connection of the signals in the first spindle axis is shown as follows.
PMC
*SGOPN
Spindle Enabling
Switch signal
SPEN1
SPEN2
User
ladder
(Timing
chart is
described
in the next
section)
I/O Link
X, Y
Gn191.3
ORQ
Gn751.0
*VLDP1
Gn754.0
SPA1
Fn751.0
RSP1
Gn071.1
*ESPA
Fn047.4
EXOFA
Rxxx.a
EXOF1
Rxxx.b
SPEN1
Rxyz
Magnetic contactor
enable signal
Safety I/O
DCS PMC
User
ladder
(Timing
chart is
described
in the next
section)
G(003+m).0
*VLDP1
G(006+m).0
SPA1
Ryyy.a
EXOF2
Ryyy.b
SPEN2
Rabc
Magnetic contactor
enable signal
Release the guard lock under the condition that Guard Open Request signal (ORQ) is 1 and the
spindle is stopped and the excitation status signal of spindle (EXOF1) is 1.
At the condition that Guard State signal (*SGOPN) is 0 (guard open) and the Spindle Enabling
Switch signal (SPEN) is 0 (drive disable), if the spindle excitation status signal EXOF1 is 0 or
the spindle excitation status signal EXOF2 is open contact (spindle excitation on) for a certain time*1,
turn off the magnetic contactor inserted to the main power input for the Power Supply.
(Timing charts 1 and 2)
At the power-on, EXOFA is invalid until the start-up of the transmission between CNC and Spindle
Amplifier is finished. Therefore, forcibly mask EXOF1 to 1 by timer in the user ladder.
(Timing chart 3)
- 43 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
*ESPA
(*2)
EXOF1
Abnormal
status
*OPIHB, RSVx, RSPs, POSEx
Guard lock release command
*SGOPN
Actual guard status
closed
opened
closed
SPEN1
(*1) Mask the alarm with timer
Magnetic contactor enable signal
Rxyz
Monitor the status of points,
and turn off the magnetic contactor if abnormal status is detected.
(*1) When the Spindle Enabling Switch signal (SPEN1) is set to 0, an alarm condition is detected until
the excitation of the spindle becomes off (EXOF1 is set to 1). Mask the alarm by timer in the user
ladder during this period.
(*2) The spindle motor is excited (EXOF1 = 0, EXOF2 = 0: contact open) when any of Spindle Forward
Rotation / Reverse Rotation Command signals SFRA<Gn070.5>, SRVA<Gn070.4>, and Spindle
Orientation Command signal ORCMA<Gn070.6> is set to 1. (G signal is for the first spindle)
Abnormal
status
*SGOPN
SPEN2
(*1) Mask the alarm with timer
Magnetic contactor enable signal
Rabc
Monitor the status of points,
and turn off the magnetic contactor if abnormal status is detected.
(*1) When the Spindle Enabling switch signal (SPEN2) is set to 0, an alarm condition is detected until
the excitation of the spindle becomes off (EXOF2 is set to 1: contact close). Mask the alarm by
timer in the user ladder during this period.
- 44 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
EXOF1
Set EXOF1 to 1 forcedly with timer by the user ladder until the start-up of the
transmission between CNC and Spindle Amplifier is finished.
b
SPEN1
a
EXOF2
b
SPEN2
Ryyy
Above a and b indicate a bit number in 1 Byte (8 bits), and you can assign signals to any bit number.
However, assign the pair of signals that should be cross-checked (eg. EXOF1 and EXOF2) to the same bit
number in Rxxx and Ryyy.
3.21.2
Example of Connections
In addition to the connections of the Dual Check Safety, the wiring from a connector JX4 on Spindle
Amplifier to the I/O unit (DCS PMC side) is required.
Moreover, when the Spindle Enabling Switch is used, two further wiring is required. Concretely, one
output signal from the switch should be connected to I/O Unit for the PMC side and the other signal from
the switch should be connected to I/O Unit for the DCSPMC side respectively.
- 45 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
CNC
3ch I/O Link
adapter
I/O Link
(JD51A)
JD51B
JD44A-1
JD44A-2
JD1A
I/O Unit
DC24V
CPD1
JD1B
JD1A
I/O Unit
DC24V
CPD1
JD1B
I/O Link #3
JD1A
COP10B
FSSB(COP10A-1)
Spindle Enabling
Switch signal
SPEN
COP10A
TB2
SV
JX4
COP10B
COP10A
Spindle Excitation
Status signal 2
EXOF2
JF1
SP
JYA2
TB2
To Servo Amp or
Spindle Amp
Connection in case of I/O Link
(For details, see Chapter 4, INSTALLATION.)
I/O Unit
JX4
(11)
COMEXOF
(13)
EXOF2
Isolated
Opt-coupler
Output
24V
DI
0V
Half-pitch connector
Hirose Electric
Connector and case
FI40B-20S-CVS5
- 46 -
3.SAFETY FUNCTIONS
B-64483EN-2/03
CAUTION
There is a possibility that the internal circuit of Spindle Amplifier is damaged by
24V supplied from the outside, when inserted other connector except JX4.
- 47 -
4.INSTALLATION
B-64483EN-2/03
INSTALLATION
The hardware installation such as field wiring, power supply, etc. should be referred to connection
manual for CNC units and for servo amplifier. EMC problem should be referred to EMC guideline
manual.
As for the environmental conditions for each unit, such as CNC controller, servo amplifier and etc, please
refer to each connection manual.
Degree of IP protection:
Servo Motors: IP55
Spindle Motors: IP54 with oil-seal, IP40 without oil-seal
Servo and Spindle amplifiers: IP1x
CNC and other accessories: IPxx
The peripheral units and the control unit have been designed on the assumption that they are housed in
closed cabinets.
CAUTION
Servo/Spindle amplifiers, CNC are to be installed in IP54 protected cabinets.
CNC
(DCS PMC)
(Note 2)
I/O Link or
PROFIBUS -DP
(Note 4)
I/O
MODULE
Machine side
DCSPMC side
I/O MODULE
CNC
CNC
(DCS PMC)
(Note 2)
DI
DO
DI
DO
(Note 1)
I/O
MODULE
Cross check
Cross check
DI
PMC
(Note 3)
Machine side
I/O Link
PMC
(Note 3)
DO
I/O Link i
(Note 1)
DI
DO
NOTE
1 I/O Link i allows the safety-related I/O signals of both the PMC and DCS PMC
sides to be connected over a single path.
2 Dual Check Safety PMC (DCS PMC)
3 First PMC to fifth PMC
Refer to PMC PROGRAMMING MANUAL (B-64513EN).
4 Enable broken wire detection for the slave device connected to PROFIBUS-DP
for the safety-related I/O. For details, see Section 6.6, "PROFIBUS-DP
PARAMETER SETTINGS".
- 48 -
4.INSTALLATION
B-64483EN-2/03
4.1
4.1.1
I/O Link(JD51A)
JD44A-1
JD44A-2
JD1A
24VDC
Distribution-type
I/O board
JA3
CPD1
JD1B
I/O Link #3
(DCS PMC side
safety-related
I/O)
Operator's
panel
JD1A
I/O UNIT, etc.
24VDC
CPD1
JD1B
JD1A
Power
magnetics
cabinet
CPD1
JD1B
JD1A
Power
magnetics
cabinet
The above figure shows only the two-channel I/O Link used to input and output the safety-related I/O
signals for the Dual Check Safety function. For information about other types of connection, refer to the
general connection manual.
- 49 -
4.INSTALLATION
4.1.2
B-64483EN-2/03
I/O Link i
(JD51A)
I/O Link i
(General I/O, PMC side
safety-related I/O
DCS PMC side safety-related I/O)
24VDC
Distribution-type
I/O board
JA3
CPD1
JD1B
Operator's
panel
JD1A
I/O UNIT, etc.
24VDC
CPD1
JD1B
JD1A
(PMC side)
Power
magnetics
cabinet
CPD1
JD1B
JD1A
NOTE
To establish connections using the I/O Link i, the I/O modules and all the other
components to be connected need to support the I/O Link i.
The above figure shows only the l I/O Link i used to input and output the safety-related I/O signals for the
Dual Check Safety function. For information about other types of connection, refer to the general
connection manual.
- 50 -
4.INSTALLATION
B-64483EN-2/03
4.1.3
I/O Link(JD51A)
I/O Link or I/O Link i
(General I/O, PMC side
safety-related I/O)
PROFIBUS-DP
master board
CN1
24VDC
Distribution-type
I/O board
JA3
CPD1
JD1B
Operator's
panel
JD1A
PROFIBUS-DP
(DCS PMC side
safety-related
I/O)
CPD1
JD1B
JD1A
Power
magnetics
cabinet
Slave device
Power supply
Power
magnetics
cabinet
The above figure shows only the I/O Link and PROFIBUS-DP used to input and output the safety-related
I/O signals for the Dual Check Safety function. For information about other types of connection, refer to
the general connection manual.
- 51 -
5.I/O SIGNALS
I/O SIGNALS
5.1
OVERVIEW
B-64483EN-2/03
The Dual Check Safety Function provides two input paths and two output paths for safe-related signals
(safety signals).
Input signals (safety input signals) are input via two paths; one is connected to the CNC (DCS PMC) via
I/O Link channel 3, I/O Link i, or PROFIBUS-DP (Note 1) and the other is connected to the PMC via I/O
Link channel 1/2 or I/O Link i (Note 1). The CNC (DCS PMC) (Note 2) and the PMC (Note 2) constantly
exchange safety input signals with each other and monitor each other. If a mismatch is found between a
safety input signal via one path and the same signal via another path and such a state lasts for the period
set in a parameter or more, the CNC (DCS PMC) and the PMC independently detect an alarm.
(Dual-check for safety input signals)
Output signals (safety output signals) are output via two paths; one originates from the CNC (DCS PMC)
via I/O Link channel 3, I/O Link i, or PROFIBUS-DP (Note 1) and the other originates from the PMC via
I/O Link channel 1/2 or I/O Link i (Note 1). The MCC Off signal (*MCF) is output via these two paths.
The value of this signal is regarded as "1" only when the signals output via the two paths are both set to
"1". If either of them is set to "0", the value of the signal should be regarded as "0". In other words,
turning on the MCC is allowed only when the *MCF signal of the PMC side and the *MCF signal of the
DCS PMC side are both set to "1", and if either of them is set to "0", the MCC needs to be turned off.
Section 5.3 shows the name of the signal, the code representing the signal, and the signal address (<PMC
side> and <DCS PMC side>), as well as the classification, function, and operation (for an input signal) or
the classification, function, and output condition (for an output signal).
NOTE
1 Of the I/O Link, I/O Link i, and PROFIBUS-DP, only one of them can be
assigned to the X/Y area of the DCS PMC side.
2 DCS PMC : Dual Check Safety PMC
PMC: Normal PMC (First PMC to fifth PMC)
Refer to PMC PROGRAMMING MANUAL (B-64513EN) for details.
- 52 -
5.I/O SIGNALS
B-64483EN-2/03
5.2
SIGNAL ADDRESS
#6
#5
#4
#3
#2
#1
#0
*ESP
*ESP
#2
#1
#0
#3
#2
#1
#0
ORQ
OPT
#1
#0
*ESP
X0008
#7
#6
#5
#4
#3
*ESP
Gn008
#7
#6
#5
#4
Gn191
#7
#6
#5
#4
#3
Gn193
#2
STBT
#7
#6
#5
#4
#3
#2
#1
#0
#5
#4
#3
#2
#1
#0
*SMC
Gn748
#7
#6
Gn749
#7
#6
#5
#4
#3
#2
#1
#0
Gn750
*VLDV8
*VLDV7
*VLDV6
*VLDV5
*VLDV4
*VLDV3
*VLDV2
*VLDV1
#7
#6
#5
#4
#3
#2
#1
#0
Gn751
ZSP4
ZSP3
ZSP2
ZSP1
*VLDP4
*VLDP3
*VLDP2
*VLDP1
#7
#6
#5
#4
#3
#2
#1
#0
Gn752
SVA8
SVA7
SVA6
SVA5
SVA4
SVA3
SVA2
SVA1
#7
#6
#5
#4
#3
#2
#1
#0
Gn753
SVB8
SVB7
SVB6
SVB5
SVB4
SVB3
SVB2
SVB1
#7
#6
#5
#4
#3
#2
#1
#0
Gn754
SPB4
SPB3
SPB2
SPB1
SPA4
SPA3
SPA2
SPA1
#7
#6
#5
#4
#3
#2
#1
#0
Gn755
ZSV8
ZSV7
ZSV6
ZSV5
ZSV4
ZSV3
ZSV2
ZSV1
#7
#6
#5
#4
#3
#2
#1
#0
Gn756
SPOV42
SPOV32
SPOV22
SPOV12
SPOV41
SPOV31
SPOV21
SPOV11
#7
#6
#5
#4
#3
#2
#1
#0
Gn757
SPOV44
SPOV34
SPOV24
SPOV14
SPOV43
SPOV33
SPOV23
SPOV13
#7
#6
#5
#4
#1
Fn191
#7
Fn748
#6
#5
#4
#3
#2
RQBT
RQT
#3
#2
*DCALM
#7
#0
*OPIHB
#1
#0
*MCF
#6
#5
#4
Fn749
- 53 -
#3
#2
#1
#0
5.I/O SIGNALS
B-64483EN-2/03
#7
#6
#5
#4
#3
#2
#1
#0
Fn750
RSV8
RSV7
RSV6
RSV5
RSV4
RSV3
RSV2
RSV1
#7
#6
#5
#4
#3
#2
#1
#0
Fn751
RZP4
RZP3
RZP2
RZP1
RSP4
RSP3
RSP2
RSP1
#7
#6
#5
#4
#3
#2
#1
#0
Fn752
*MCFV8
*MCFV7
*MCFV6
*MCFV5
*MCFV4
*MCFV3
*MCFV2
*MCFV1
#7
#6
#5
#4
Fn753
#3
#2
#1
#0
*MCFP4
*MCFP3
*MCFP2
*MCFP1
#7
#6
#5
#4
#3
#2
#1
#0
Fn754
*BRK8
*BRK7
*BRK6
*BRK5
*BRK4
*BRK3
*BRK2
*BRK1
#7
#6
#5
#4
#3
#2
#1
#0
Fn755
SPS08
SPS07
SPS06
SPS05
SPS04
SPS03
SPS02
SPS01
#7
#6
#5
#4
#3
#2
#1
#0
Fn756
SPS16
SPS15
SPS14
SPS13
SPS12
SPS11
SPS10
SPS09
#7
#6
#5
#4
#3
#2
#1
#0
Fn757
SPS24
SPS23
SPS22
SPS21
SPS20
SPS19
SPS18
SPS17
#7
#6
#5
#4
#3
#2
#1
#0
Fn758
SPS32
SPS31
SPS30
SPS29
SPS28
SPS27
SPS26
SPS25
#7
#6
#5
#4
#3
#2
#1
#0
Fn759
RZV8
RZV7
RZV6
RZV5
RZV4
RZV3
RZV2
RZV1
#7
#6
#5
#4
#3
#2
#1
#0
Fn766
POSE8
POSE7
POSE6
POSE5
POSE4
POSE3
POSE2
POSE1
- 54 -
5.I/O SIGNALS
B-64483EN-2/03
0 to 9: Path number-1
#6
#5
#4
#3
#2
*ESP
X0008
#7
#6
#1
#0
*ESP
*ESP
#5
#4
#3
#2
#1
#0
#5
#4
#3
#2
#1
#0
*SMC
G000+m
#7
#6
G001+m
#7
#6
#5
#4
#3
#2
#1
#0
G002+m
*VLDV8
*VLDV7
*VLDV6
*VLDV5
*VLDV4
*VLDV3
*VLDV2
*VLDV1
#7
#6
#5
#4
#3
#2
#1
#0
G003+m
ZSP4
ZSP3
ZSP2
ZSP1
*VLDP4
*VLDP3
*VLDP2
*VLDP1
#7
#6
#5
#4
#3
#2
#1
#0
G004+m
SVA8
SVA7
SVA6
SVA5
SVA4
SVA3
SVA2
SVA1
#7
#6
#5
#4
#3
#2
#1
#0
G005+m
SVB8
SVB7
SVB6
SVB5
SVB4
SVB3
SVB2
SVB1
#7
#6
#5
#4
#3
#2
#1
#0
G006+m
SPB4
SPB3
SPB2
SPB1
SPA4
SPA3
SPA2
SPA1
#7
#6
#5
#4
#3
#2
#1
#0
G007+m
ZSV8
ZSV7
ZSV6
ZSV5
ZSV4
ZSV3
ZSV2
ZSV1
#7
#6
#5
#4
#3
#2
#1
#0
G008+m
SPOV42
SPOV32
SPOV22
SPOV12
SPOV41
SPOV31
SPOV21
SPOV11
#7
#6
#5
#4
#3
#2
#1
#0
G009+m
SPOV44
SPOV34
SPOV24
SPOV14
SPOV43
SPOV33
SPOV23
SPOV13
#7
#6
#5
#4
#3
#2
#1
#0
#3
#2
#1
#0
*ESP
G019+m
#7
F000+m
#6
#5
#4
*DCALM
#7
*MCF
#6
#5
#4
#3
#2
#1
#0
F001+m
#7
#6
#5
#4
#3
#2
#1
#0
F002+m
RSV8
RSV7
RSV6
RSV5
RSV4
RSV3
RSV2
RSV1
#7
#6
#5
#4
#3
#2
#1
#0
F003+m
RZP4
RZP3
RZP2
RZP1
RSP4
RSP3
RSP2
RSP1
#7
#6
#5
#4
#3
#2
#1
#0
F004+m
*MCFV8
*MCFV7
*MCFV6
*MCFV5
*MCFV4
*MCFV3
*MCFV2
*MCFV1
#7
#6
#5
#4
#3
#2
#1
#0
*MCFP4
*MCFP3
*MCFP2
*MCFP1
F005+m
- 55 -
5.I/O SIGNALS
B-64483EN-2/03
#7
#6
#5
#4
#3
#2
#1
#0
F006+m
*BRK8
*BRK7
*BRK6
*BRK5
*BRK4
*BRK3
*BRK2
*BRK1
#7
#6
#5
#4
#3
#2
#1
#0
F007+m
SPS08
SPS07
SPS06
SPS05
SPS04
SPS03
SPS02
SPS01
#7
#6
#5
#4
#3
#2
#1
#0
F008+m
SPS16
SPS15
SPS14
SPS13
SPS12
SPS11
SPS10
SPS09
#7
#6
#5
#4
#3
#2
#1
#0
F009+m
SPS24
SPS23
SPS22
SPS21
SPS20
SPS19
SPS18
SPS17
#7
#6
#5
#4
#3
#2
#1
#0
F010+m
SPS32
SPS31
SPS30
SPS29
SPS28
SPS27
SPS26
SPS25
#7
#6
#5
#4
#3
#2
#1
#0
F011+m
RZV8
RZV7
RZV6
RZV5
RZV4
RZV3
RZV2
RZV1
#7
#6
#5
#4
#3
#2
#1
#0
F018+m
POSE8
POSE7
POSE6
POSE5
POSE4
POSE3
POSE2
POSE1
#7
#6
#5
#4
#3
#2
#1
F019+m
#0
*OPIHB
CAUTION
1 The hatched signals are double-checking signals.
2 The Emergency Stop signals in X address are double checking signals.
3 For the Safety Position Switch signal, the following points are provided
depending on the number of paths.
(1) When the number of paths is 1 ...................... Up to 32 points
(2) When the number of paths is 2 or more......... Up to 64 points
4 The following signals are provided for each machine group. Emergency Stop
(*ESP: X0008), Test Mode signal(OPT), Guard Open Request signal(ORQ),
Guard Open Inhibit signal(*OPIHB), MCC Off signal (*MCF), MCC Contact State
signal (*SMC)
5 The signal (Fxxxx/Gxxxx), which is provided for each machine group, is assigned
in the path area for the smallest path number of the paths in the machine group.
Example)
When the 3rd and 5th path belong to the 2nd machine group, test Mode signal
(OPT) for the 2nd machine group is assigned at G2191.2 in 3rd path area.
- 56 -
5.I/O SIGNALS
B-64483EN-2/03
[For 1-path CNC] (when the number of control axes is 8 per path or less and
the number of spindles per path is 4 or less)
PMC
F0000~
G0000~
DCSPMC
F0000~
G0000~
[For 2-path CNC] (when the number of control axes is 8 per path or less and
the number of spindles is 4 per path or less)
CNC path 1
CNC path 2
PMC
F0000~
PMC
G0000~
F1000~
DCSPMC
F000~
G1000~
DCSPMC
G000~
F020~
G020~
For control axis signals, the signal layout changes depending on whether the number of control axes per
path is greater than 8 or not.
(1) When the number of control axes per path is 8 or less
The signal for the x-th axis of the k-th path is placed in the (x - 1)-th bit in the address (F or G) for
the k-th path in the above figure.
PMC ( n = k-1 )
#7
Fn???
8th axis
#6
7th-axis
#5
6th-axis
#4
5th-axis
- 57 -
#3
4th-axis
#2
3rd-axis
#1
2nd-axis
#0
1st-axis
5.I/O SIGNALS
B-64483EN-2/03
#7
Gn???
#6
8th-axis
#5
7th-axis
#4
6th-axis
5th-axis
#3
#2
4th-axis
#1
3rd-axis
#0
2nd-axis
1st-axis
DCSPMC ( m = (k-1)20 )
#7
#6
F???+m
8th-axis
G???+m
8th-axis
#5
7th-axis
#7
#4
6th-axis
#6
5th-axis
#5
7th-axis
#3
#4
6th-axis
5th-axis
#2
4th-axis
#1
3rd-axis
#3
#2
4th-axis
#0
2nd-axis
1st-axis
#1
3rd-axis
#0
2nd-axis
1st-axis
(2) When the number of control axes per path is greater than 8, the 9th and subsequent axes cannot be
placed. In this case, the interface address of the PMC is assigned by parameter No. 3021.
For example, for a 1-path 11-axis system, control axis signals can be assigned to addresses from
F0000/G0000 (PMC) and addresses from F1000/G1000 (PMC) as shown below.
PMC
Path 1
#0
#1
#2
#3
#4
#5
#6
#7
#7
#6
#5
#4
#3
#2
#1
#0
#7
#6
#5
#4
#3
#2
#1
#0
F1???
F0???
#7
#6
#5
#4
#3
#2
#1
#0
G1???
G0???
DCSPMC
When signals are assigned to PMC as shown above, the control axis signals of the DCSPMC are
placed according to the assignment.
Path 1
#0
#1
#2
#3
#4
#5
#6
#7
F000 to
F019
#7
#6
#5
#4
#3
#2
#1
#0
#7
#6
#5
#4
#3
#2
#1
#0
F020 to
F039
#7
#6
#5
#4
#3
#2
#1
#0
G000 to
G019
G020 to
G039
- 58 -
5.I/O SIGNALS
B-64483EN-2/03
NOTE
For details on setting of parameter No. 3021, see Chapter 6, "PARAMETERS".
As with spindle signals, when the number of spindles per path is greater than 4, the 5th and
subsequent axes cannot be placed. In such a case, the interface address of the PMC needs to be
assigned by parameter No. 3022.
NOTE
For details on setting of parameter No. 3022, see Chapter 6, "PARAMETERS".
5.3
SIGNALS
CAUTION
1 The Emergency Stop signal for DCS PMC is assigned to each
machine group, like the signal for PMC.
<X0008.4> for 1st machine group
<X0008.0> for 2nd machine group
<X0008.1> for 3rd machine group
2 The related parameter must be set in order to perform the
controlled stop of a servo motor. If the parameter is not set, a servo
motor is stopped by dynamic brake control just after an emergency
stop is detected.
- 59 -
5.I/O SIGNALS
B-64483EN-2/03
CAUTION
3 A spindle motor is slowed down by the command (PMC ladder
program). If the PMC does not command to slow down, the spindle
motor continues rotating at the speed prior to power-down and runs
by inertia (and eventually stopping in the end). When safety
function is active (protective door is open) and abnormal speed is
given due to the trouble of PMC, the spindle is brought into safe
stop state.
WARNING
A machine tool builder must make the ladder to control to open and
shut protective door in emergency stop state. For instance, a
machine tool builder must make the ladder program for procedure
to inhibit to open the protective door in emergency stop state.
IMPORTANT
1 Emergency stop button must fulfill the Standard IEC60947-5-1.This
is mandatory.
2 As MCC Off signal (*MCF) is effective for each machine group,
MCC is controlled per a machine group. Then, although the
Emergency Stop signal by G signal is effective for each path,
design to turn on Emergency Stop by G signal of all paths in a
machine group at the same time.
Example of protective door open/shut sequence
The following figure shows the sequence in case of emergency stop.
EMG_P
*ESP
*SMC
RSVx
RSPs
Actual door lock releasing signal
*SGOPN
(Safety related I/O)
Door closed
Door closed
Door opened
(1)
(2)
(3)
(4)
(5)
5.I/O SIGNALS
B-64483EN-2/03
(2) In this example, it is assumed that a protective door with an electronic door lock is applied. When a
door is opened, door lock releasing signal must be turned off. At the same time, Guard State signal
(*SGOPN: machine side signal) is changed to show guard-releasing state.
(3) This is door open state
(4) Protective door is shut and locked. Then Emergency Stop signal (*ESP) is released (1). Pay
attention the time t.
(5) After Emergency Stop signal is released, CNC turns MCC Off signal (*MCF) to 1.
1
2
3
4
5
CAUTION
While MCC off Test is being carried out, do not turn Test Mode
signal (OPT) to 0.
It is not permitted to carry out MCC off Test for plural machine
groups simultaneously. Carry out MCC off Test for only one
machine group independently.
If MCC is shared between two or more machine groups and MCC
off Test is carried out in a machine group, VRDY off alarm in
another machine group, which shared MCC, must be ignored by
using all axes of each path VRDY off alarm ignore signal IGNVRY
<Gn066.0> or each axis VRDY off alarm ignore signal IGNVRY1 to
IGNVRY8 <Gn192>.
The MCC shall have the mechanism such as a mirror contact that
can monitor the state of the main contact by mechanically linked
auxiliary contacts.
Before performing the MCC off Test, stop the spindle and feed
axis. For axes (such as the vertical axis) that move when the MCC
is turned off, apply a brake in advance regardless of the state of the
brake signal (*BRKx) to place the axes in the servo off state.
- 61 -
5.I/O SIGNALS
B-64483EN-2/03
WARNING
While the MCC off Test processing is in progress, the MCC Off
signal (*MCF) goes high and low to turn on and off the MCC. Carry
out the MCC off Test in such a state that the turning on or off of the
MCC will not cause a problem.
NOTE
If MCC off Test is executed when MCC is forced to shut off in
emergency stop state, servo alarm state or spindle alarm state, the
test cannot be executed normally. MCC off Test should be
executed only when the test can be executed normally.
Test No.
*MCF (DCS PMC)
128
*MCF (PMC)
*SMC (DCS PMC)
*SMC (PMC)
Timer limit
Timer
Test start
Test completion
Test No.
Timer
Test start
Example 2) Timing chart 2 of MCC off test (abnormal state)
- 62 -
5.I/O SIGNALS
B-64483EN-2/03
IMPORTANT
The mistake of the ladder program cannot be checked. So be sure
to perform the confirmation of the safety function. (refer to the
chapter 7)
Guard State signal (Machine side input signal)
*SGOPN <PMC:X machine side signal><DCS PMC:X machine side signal> (for
each safety door)
Input the guard state of the protective door to this signal. When the protective door is open (Guard State
signal (*SGOPN) =0), set Safety Check Request signal (*VLDVx, *VLDPs) to 0 in order to activate
the alarm monitoring of safety functions.
[Classification] Input signal (Dual signal)
[Function] Guard State signal informs CNC of the guard open/closed state for the Dual Check Safety
Function.
0: Guard open state
1: Guard closed state
[Operation] When Guard State signal (*SGOPN) is 0, the ladder program turn Safety Check
Request signal (*VLDVx, *VLDPs) to 0 in order to activate the alarm monitoring of
safety speed, safety machine position and safety position error. If the ladder program
detects abnormal condition in each CPU, it generates a safety related alarm and stops
motors.
NOTE
As for the contacts for Guard State signal, it is recommended to
fulfill the Standard IEC60947-5-1.
MCC Contact State (input)
*SMC <PMC: Gn748.6><DCS PMC: G(000+m).6> (for each machine group)
The state of MCC contact is checked in redundant mode. It is not possible to check whether the contact of
MCC is melted and adhered abnormally because MCC contact is closed during normal operation. The
state of MCC contact can be checked by performing MCC off Test.
- 63 -
5.I/O SIGNALS
B-64483EN-2/03
CAUTION
Input this signal according to the MCC state.
Safety Check Request signal (input)
*VLDVx <PMC:Gn750.0 to 7><DCS PMC:G(002+m).0 to 7> (for each axis)
*VLDPs <PMC:Gn751.0 to 3><DCS PMC:G(003+m).0 to 3> (for each spindle)
If these signals are set to 0 when Guard State signal (*SGOPN: machine side signal) is 0, the alarm
monitoring of safety speed limit, safety machine position and safety position error is activated.
[Classification] Input signal (Dual signal)
[Function] Safety Check Request signals request each CPU to carry out the safety check for the Dual
Check Safety Function.
These signals select a servo axis and a spindle that must be checked when a protective
door is open.
0: Alarm by safety check is monitored, as a protective door is open.
1: Alarm by safety check is not monitored, as a protective door is closed
[Operation] Each CPU carries out the safety check of the servo axis and the spindle that are selected
by these signals. (Safety speed limit for a spindle, safety speed, safety machine position
and safety position error for a servo axis.) If each CPU finds out any problem, it generates
a safety related alarm and stops motors.
NOTE
During the MCC off Test, this signal is set to "0" regardless of the
state of the guard open request signal (ORQ).
- 64 -
5.I/O SIGNALS
B-64483EN-2/03
IMPORTANT
The mistake of the ladder program cannot be checked. So be sure
to perform the confirmation of the safety function. (refer to the
chapter 7)
Monitoring Result signal (output)
RSVx <PMC:Fn750.0 to 7><DCS PMC:F(002+m).0 to 7> (for each axis)
RSPs <PMC:Fn751.0 to 3><DCS PMC:F(003+m).0 to 3> (for each spindle)
These signals show the result of monitoring safety speed, safety machine position and safety position
error.
By checking these signals, a machine tool builder can judge whether a machine is in safe state or not.
When a machine is judged to be in safe state, it is necessary to turn on the signal for releasing a guard
lock and outputs a signal actually to open a protective door.
[Classification] Output signal (Output to both PMC but not checked in redundant mode)
[Function] These signals show the result of monitoring of the Dual Check Safety Function.
These signals notify that an abnormal condition is detected in safety monitoring function
of the Dual Check Safety Function, such as safe reduced speed check, safety machine
position check and safety position error check.
In the following case, these signals are turned to 0.
0: In dangerous condition (Abnormal condition is detected by safety function.)
In the following case, these signals are turned to 1.
1: In safe condition (Abnormal condition is not detected.)
[Operation] Each CPU notifies PMC of the result of safety monitoring through these signal.
A machine tool builder can release a guard lock by his ladder program when Guard Open
Inhibit signal (*OPIHB) =1, these Monitoring Result signal (RSVx/RSPs) =1 and the
condition of machine side is confirmed to be safe.
- 65 -
5.I/O SIGNALS
B-64483EN-2/03
NOTE
When the spindle motor (induction motor) is powered off while
rotating, the motor coasts at the speed before power-off, eventually
stopping after a period of time. In some cases, however, it is better
to stop the motor as quickly as possible for safety.
When the spindle is decided to be controlled even if the MCC Off
signal is set to "0", the rotation of the spindle can be stopped under
control of the ladder program (controlled stop). To do this, make a
ladder program that interrupts power upon lapse of the timer set
time after the MCC Off signal is set to "0".
MCC Off signal (output)
*MCF <PMC: Fn748.1, DCS PMC: F(000+m).1> (for each machine group)
When this signal is set to "0", the MCC is shut off in redundant mode on the two-channel I/O Link side.
This signal is set to 0, when Emergency Stop signal (*ESP ) is 0 or MCC off Test is carried out.
A machine tool builder makes a ladder program to output a signal to shut off MCC when this signal is
turned to 0.
[Classification] Output signal (This signal output to both PMC but is not monitored in redundant mode)
[Function] When the Dual Check Safety Function is applied, this signal allows turning on MCC.
When either MCC Off signal through PMC or that through DCS PMC is 0, MCC is
turned off. When both MCC Off signal through PMC and that through DCS PMC is 1,
MCC is turned on.
0: MCC off
1: MCC on
[Operation] When Emergency Stop signal is input, CNC turns off this signal.
When MCC off Test is carried out, CNC turns off this signal, too.
[Output condition] In the following case, this signal turns to 0 (not permit MCC on)
MCC off Test is carried out.
In emergency stop state
In other than the above case, this signal turns to 1 (permit MCC on).
NOTE
When the spindle motor (induction motor) is powered off while
rotating, the motor coasts at the speed before power-off, eventually
stopping after a period of time. In some cases, however, it is better
to stop the motor as quickly as possible for safety.
When the spindle is decided to be controlled even if the MCC Off
signal is set to "0", the rotation of the spindle can be stopped under
control of the ladder program (controlled stop). To do this, make a
ladder program that interrupts power upon lapse of the timer set
time after the MCC Off signal is set to "0".
MCC Off signal (output)
*MCFVx <PMC: Fn752.0 to 7><DCS PMC: F(004+m).0 to 7> (for each axis)
In case this signal is 0, MCC is shut off through 2 channels of I/O line respectively.
This signal is set to 0, when an alarm occurs in safe reduced speed check, safety machine position
check or safety position error check for each servo axis.
A machine tool builder makes a ladder program to output a signal to shut off the MCC of the path that the
axis belongs, when this signal is turned to 0.
[Classification] Output signal (This signal output to both PMC but is not monitored in redundant mode)
- 66 -
5.I/O SIGNALS
B-64483EN-2/03
[Function] When the Dual Check Safety Function is applied, this signal allows turning on MCC.
0: MCC off
1: MCC on
[Operation] If each CPU finds out the abnormal state of the axis when Safety Check Request signal
for the axis (*VLDVx)=0, each CPU brings the axis into controlled stop state at first. In
case of an alarm of safe reduced speed check or safety machine position monitoring, each
CPU watches whether the axis is decelerated and stopped or not. If the axis does not stop,
each CPU turns this signal corresponding to the alarm axis to 0. In case of an alarm of
Safety Position Error Monitoring, each CPU turns this signal corresponding to the alarm
axis to 0 immediately.
In case of an alarm other than described above and related to data communication or
position detector, each CPU turns this signal corresponding to the alarm axis to 0
immediately. But according to the parameter setting (bit0(AVM) of parameter No.10500),
it is possible to turn to 0 this signals of all the axes belonged to the path that involves
the alarm axis in case of any servo alarms.
NOTE
When the spindle motor (induction motor) is powered off while
rotating, the motor coasts at the speed before power-off, eventually
stopping after a period of time. In some cases, however, it is better
to stop the motor as quickly as possible for safety.
When the spindle is decided to be controlled even if the MCC Off
signal is set to "0", the rotation of the spindle can be stopped under
control of the ladder program (controlled stop). To do this, make a
ladder program that interrupts power upon lapse of the timer set
time after the MCC Off signal is set to "0".
MCC Off signal (output)
*MCFPs <PMC: Fn753.0 to 3><DCS PMC: F(005+m).0 to 3> (for each spindle)
In case this signal is 0, MCC is shut off through 2 channels of I/O Link line respectively.
This signal is set to 0, when an alarm occurs in safe reduced speed check for each spindle.
A machine tool builder makes a ladder program to output a signal to shut off the MCC of the path that the
spindle belongs, when this signal is turned to 0.
[Classification] Output signal (This signal output to both PMC but is not monitored in redundant mode)
[Function] When the Dual Check Safety Function is applied, this signal allows turning on MCC.
0: MCC off
1: MCC on
[Operation] When the safe reduced speed check alarm is detected because the Safety Check Request
signal (*VLDPs ) of each spindle is 0, each CPU first sets the spindle to the free-running
state or the controlled stop state. After that, if the spindle is not decelerated, each CPU
turns this signal to 0.
In case of an alarm other than described above and related to data communication or
position detector, each CPU turns this signal corresponding to the alarm spindle to 0
immediately. But according to the parameter setting (No.10500#1 = 1), it is possible to
turn to 0 this signals of all the spindles belonged to the path that involves the alarm
spindle in case of any spindle alarms.
- 67 -
5.I/O SIGNALS
B-64483EN-2/03
[Function] This signal notifies that MCC off Test mode is required and a check should be made to
determine whether the safety output signals (MCC Off signal (*MCF)) operate normally.
When MCC Off Test Execution Request signal (RQT) is set to 1, set MCC off Test mode
and carry out a safety output signal MCC off Test as soon as possible.
When MCC Off Test Execution Request signal (RQT) is 1, a machine tool builder must
make ladder not to release a guard lock.
Once a guard is closed when MCC Off Test Execution Request signal (RQT) is set to 1
while a guard is open by Guard Open Request signal (ORQ), it is necessary not to release
a guard lock until MCC off Test request signal (RQT) turns to 0.
When MCC Off Test Execution Request signal (RQT) is 1, the following screen is
displayed and the warning EXECUTE MCC TEST is displayed.
MCC Off Test Execution Request signal (RQT) is not output via the DCS PMC.
Make a ladder program to lock a protective door when MCC Off Test Execution Request
signal (RQT) =1.
[Output condition] In the following case, this signal is set to 1.
MCC off Test is not completed after power-on (when bit 3(STP) of parameter
No.10500 is 0).
Twenty-four hours have elapsed since the completion of the last MCC off Test.
In the following case, this signal sets to 0.
CAUTION
1 Do not turn Test Mode signal (OPT) to 0 during MCC off Test.
2 In case that there are plural machine groups in a machine, carry
out MCC off Test for each machine group independently.
3 If MCC is shared between two or more machine groups, do not
carry out MCC off Test for those machine groups at the same time.
4 If MCC is shared between two or more machine groups and MCC
off Test is carried out in a machine group, VRDY off alarm in
another machine group, which shared MCC, must be ignored by
using all axes of each path VRDY off alarm ignore signal IGNVRY
<Gn066.0> or each axis VRDY off alarm ignore signal IGNVRY1 to
IGNVRY8 <Gn192>.
- 68 -
5.I/O SIGNALS
B-64483EN-2/03
WARNING
While the MCC off Test processing is in progress, the MCC Off
signal (*MCF) goes high and low to turn on and off the MCC. Carry
out the MCC off Test in such a state that the turning on or off of the
MCC will not cause a problem.
Safety Brake signal (output)
*BRKx <PMC:Fn754.0 to 7><DCS PMC:F(006+m).0 to 7> (for each axis)
This signal is used to control mechanical brake of each axis.
CNC and SV output Safety Brake signal (*BRKx) to control mechanical brake. When *BRKx is 0,
mechanical brake is active. When *BRKx is 1, mechanical brake is not active.
[Classification] Output signal (Dual signal)
[Function] When the Dual Check Safety Function is applied, this signal notifies to activate a
mechanical brake. When MCC is off, a brake should be activated.
[Operation] In emergency stop state or alarm state, a mechanical brake is activated by this signal.
A machine tool builder must connect this signal to a mechanical brake.
[Output condition] In the following case, this signal is 1.
CAUTION
During the MCC off Test, the MCC is turned off and on several
times. The brake state of the signal may change depending on the
state of the MCC.
For the control of the brake during the MCC off Test, see "MCC off
Test".
- 69 -
5.I/O SIGNALS
B-64483EN-2/03
1
0
1
0
Power-on
Power
*BRK
1
0
1
0
*ESP
*MCF
MCC
*BRK
1
0
1
0
1
0
1
NOTE
Periodical maintenance of a brake must be done.
Safety Position Switch signal (output)
SPS1 to SPS32<PMC:Fn755 to Fn758><DCS PMC:F(007+m) to F(010+m)>
This signal shows whether the machine position of a servo axis is within the range specified by the
parameter or not.
[Classification] Output signal (Dual signal)
[Function] This signal notifies that the machine position of the axis specified by the safety parameter
(No.13880 to No.13911) is within the range specified by the safety parameter (No.13920
to No.13951, No.13960 to No.13991). In case of single path system, up to 32 points can
be used.
- 70 -
5.I/O SIGNALS
B-64483EN-2/03
In case of 2 or more path system, another 32 points in 2 path area can be used. Then up to
64 points can be used at maximum. This signal notifies that the machine position of the
axis specified by the safety parameter (No.10501 to No.10532) is within the range
specified by the safety parameter (No.10533 to No.10564, No.10565 to No.10596).
NOTE
In a system with 3 or more paths, it is also possible to specify the
path to which the Safety Position Switch signal is to be output, by
using a parameter. For the Safety Position Switch signal, 16 points
can be set for an output signal (F area) per group, and up to 4
groups can be set. Two areas can be assigned to one path.
[Output condition] In the following case, this signal is set to 1.
NOTE
The Safety Position Switch signal starts to work when the reference
position of the target axis is established after the power is turned
on. Until then, "0" is output. The state of position switch is kept to
0 till then.
Once activating, position is always checked and state of signal is
changed according to the result of checking. Even if the reference
point is lost, the state of signal is changed according to the
coordinate kept in both CNC and servo CPU. So if the special
procedure is required when the reference point is lost, design the
ladder program by combining with Position Information Effect signal
(POSEx).
Safety Speed/Safety Position Selection signal A
SVAx <PMC:Gn752.0 to 7> <DCS PMC:G(004+m).0 to 7> (for each axis)
SPAs <PMC:Gn754.0 to 3> <DCS PMC:G(006+m).0 to 3> (for each spindle)
Safety speed/safety position selection signal B
SVBx <PMC:Gn753.0 to 7> <DCS PMC:G(005+m).0 to 7> (for each axis)
SPBs <PMC:Gn754.4 to 7> <DCS PMC:G(006+m).4 to 7> (for each spindle)
[Classification] Input signal (Dual signal)
[Function] When the Dual Check Safety Function is activated, it is possible to select safety limit
speed and safety machine position of each axis.
This signal is prepared for each axis and each spindle. The final number in the signal
name shows the number of the controlled axis and spindle.
- 71 -
5.I/O SIGNALS
B-64483EN-2/03
SVAx, SVBx
x
1:
2:
3:
:
:
1:
2:
:
:
SPAs, SPBs
[Operation] According to the combination of Safety Speed/Safety Machine Position Selection signal,
safety speed and safety machine position are selected as the following table.
Safety Speed/
Safety Machine Position
Selection signal
SVAx
SVBx
SPAs
SPBs
0
Parameter
for spindle
- direction
parameter
CAUTION
Safety Speed/Safety Machine Position Selection signal is a safety
signal. This signal is input through both PMC and DCS PMC. Both
CNC and PMC check doubly inconsistency of this signal.
Safety Spindle Speed Limit Override Signal
SPOV11~SPOV41<PMC:Gn756.0~3><DCS PMC:G(008+m).0~3>(for 1st spindle)
SPOV12~SPOV42<PMC:Gn756.4~7><DCS PMC:G(008+m).4~7>(for 2nd spindle)
SPOV13~SPOV43<PMC:Gn757.0~3><DCS PMC:G(009+m).0~3>(for 3rd spindle)
SPOV14~SPOV44<PMC:Gn757.4~7><DCS PMC:G(009+m).4~7>(for 4th spindle)
Select the override value of safety speed by this signal.
[Classification] Input signal (dual signal)
[Function] In the dual check safety function, when the bit 1 (SOV) of parameter No.3797 is set to 1,
the override is valid to the safety speed.
This signal is provided for each spindle, and the number attached to the end of signal
name means spindle number.
SPOV11, SPOV21, SPOV31,SPOV41
1: The safety speed override of 1st spindle.
2: The safety speed override of 2nd spindle.
:
:
:
:
- 72 -
5.I/O SIGNALS
B-64483EN-2/03
[Operation] According to the combination with the safety spindle speed limit override signal, the
following override is applied to the safety speed.
SPOV1s
1
0
1
0
1
0
1
0
1
0
Override value
0
0
0
0
0
0
0
1
1
1
10%
20%
30%
40%
50%
60%
70%
80%
90%
100%
100%
If all signals of the safety spindle speed limit override signals is 0 (SPOV1s=0,
SPOV2s=0, SPOV3s=0, SPOV4s=0), override is applied to 100%.
When the follow up operation of absolute pulse coder is finished after power-on
In the following case, this signal is turned to 0.
NOTE
In case that the reference point is re-established, this signal is
turned to 0 till the reference point is re-established from the
dog-signal is turned off.
Safety Speed Zero Monitoring Request signal
ZSVx <PMC: Gn755><DCS PMC: G(007+m)> (for each axis)
ZSPs <PMC: Gn751.4 to 7><DCS PMC: G(003+m).4 to 7> (for each spindle)
[Classification] Input signal (Dual signal)
[Function] This signal starts or stops safety speed zero monitoring.
[Operation] 1: Safety speed zero monitoring is effective.
0: Safety speed zero monitoring is not effective.
- 73 -
5.I/O SIGNALS
B-64483EN-2/03
NOTE
The safety speed zero monitoring result signalsRZVx, RZPsare
the duplicated output signals. And each output signal of RZVx,
RZPs is monitored by the different circuits respectively, so the
inconsistent state may occur between these signals according to
the stop position. In order to confirm the safety stop state certainly,
it shall be checked whether both safety speed zero monitoring
result signals of PMC and DCSPMC are "1".
Programmable Safety I/O signals
[Classification] Input/Output signal (Dual signal)
[Function] The 8 bytes (64 bit) programmable safe I/Os can be freely defined as the different address
from the above basic safe signals. Each byte of 8 byte programmable safe I/Os can be
assigned on either address of X/Y/R/D or K by parameter. Each byte of the
programmable safe I/O between the PMC and DCS PMC is cross-checked by the CNC
and PMC.
- 74 -
5.I/O SIGNALS
B-64483EN-2/03
PMC CPU(PMC)
Input Signal 1
Input Signal 1
Input Signal 2
Input Signal 2
Input Signal 8
Input Signal 8
Output Signal 1
Output Signal 1
Output Signal 2
Output Signal 2
Output Signal 8
Output Signal 8
I/O Link#3,
I/O Link i,
or
PROFIBUS-DP
I/O Link#1/#2
or
I/O Link i
[Operation] The combinations of cross-checking these signals are defined by using Safety parameters
as follows.
Signal type
Combination No.
PMC (PMC)
Input
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
No. 11950
No. 11951
No. 11952
No.11953
No.11954
No.11955
No.11956
No.11957
No.11960
No.11961
No.11962
No.11963
No.11964
No.11965
No.11966
No.11967
No. 11970
No. 11971
No. 11972
No.11973
No.11974
No.11975
No.11976
No.11977
No.11980
No.11981
No.11982
No.11983
No.11984
No.11985
No.11986
No.11987
Output
5.I/O SIGNALS
B-64483EN-2/03
Changing the state of this signal from "0" to "1" starts the brake test. When the brake test
is completed successfully, the Brake Test Execution Request signal RQBT is set to "0",
causing the state of this signal to change from "1" to "0" as well.
Changing the state of this signal from "1" to "0" during the brake test causes the test to be
interrupted. The test sequence being executed when the signal is set to "0" is suspended,
and the amount of travel occurring during the brake test, brake signals, and torque limit
are reset. To execute the brake test again, set this signal to "1". The brake test will resume
from the beginning.
5.4
The Programmable Safety I/O signal is a safety signal that can be defined by the machine tool builder.
The Dual Check Safety function performs dual monitoring on the system-defined safety signals and the
Programmable Safety I/O signals defined by the machine tool builder. To define the Programmable
Safety I/O signals, use the relevant parameters. (See also the description of the programmable safety I/O
signal in Section 5.3.)
5.5
This section describes cautions about safe-related I/O signals that should be taken in multi-path control.
5.5.1
CNC can treat servo axes and spindles by dividing into two classes of groups, machine group and path
In case that a machine has plural machine parts that are controlled independently, machine group is
provided to control a part of machine in such machine. Emergency stop is prepared for each machine
group. The signals for MCC off Test and protective door open/close sequence are provided for each
machine group.
In case that a work piece is machined by plural cutters and plural programs at the same time, multi path
control is applied. An alarm is checked by each path. If servo alarm occurs in a path, MCC of all axes in
the path is shut off.
In case of the alarm by safety check function, MCC of all axes in the path are shut off. Then the safety
area should be set for each path basically.
- 76 -
5.I/O SIGNALS
B-64483EN-2/03
When plural safety areas are defined in a path, MCC may be shut off by an alarm that occurs in another
safety area. When the safety area is composed by the axes that change assignment to a path, MCC of
other axes are not always shut off. So wire the MCC of all paths, which include the axes changed
assignment to the path, to shut off at the same time.
The safety signals that are cross-checked are provided both on PMC and DCS PMC for each path. The
state must be controlled to be equal.
CAUTION
When Composite control or Path speed control of Multi path control is
specified, it is possible to give a command to control a servo axis or a spindle in
another path. But in this case, the correspondence between a path and a
belonging servo axis or spindle is not changed. An alarm related to a servo axis
or a spindle occurs in the path that the axis and the spindle originally belong to,
and MCC shut off signal correspond to the axis or spindle is output also in
original path.
Then, as the path that gives a command and the path that an axis and a spindle
belongs to should be regarded as the same group, it is necessary to wire MCC
off signal (*MCFVx, *MCFPs) to shut off the MCC of both path at the same time
when Composite control or Path speed control of Multi path control is
specified.
- 77 -
6.PARAMETERS
B-64483EN-2/03
PARAMETERS
6.1
OVERVIEW
The parameters related to the dual check safety function (safety parameters) are protected by a code (No.
3225) for the safety parameters. The value of a safety parameter cannot be modified unless the same value
as the code for the safety parameters is set as the key (No. 3226) for the safety parameters.
The safety parameters are stored in two locations on the CNC. The CNC, PMC, servo and spindle
software check the matching of the parameters stored at the two locations. If a mismatch is found, an
alarm is issued.
If the setting of a safety parameter is modified, the power must be turned off then back on. The new
setting of the parameter becomes effective after the power is turned back on.
6.2
DATA TYPE
Remarks
Bit
Bit machine group
Bit path
0 or 1
Bit axis
Bit spindle
Byte
Byte machine group
Byte path
Byte axis
Byte spindle
Word
Word machine group
Word path
Word axis
Word spindle
2-word
2-word machine group
2-word path
2-word axis
2-word spindle
Real
Real machine group
Real path
Real axis
Real spindle
-128 to 127
0 to 225
-32768 to 32767
0 to 65535
0 to 999999999
NOTE
1 Each of the parameters of the bit, bit machine group, bit path, bit axis, and bit
spindle types consists of 8 bits for one data number (parameters with eight
different meanings).
- 78 -
6.PARAMETERS
B-64483EN-2/03
NOTE
2 The machine group type allows data to be set separately for each machine
group.
3 The path type allows data to be set separately for each path.
4 The axis type allows data to be set separately for each control axis.
5 The spindle type allows data to be set separately for each spindle axis.
6 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.
6.3
REPRESENTATION OF PARAMETERS
Parameters of the bit type, bit machine group type, bit path type, bit axis type,
and bit spindle type
#7
#6
#5
0000
Data No.
#4
#3
#2
#1
#0
EIA
NCR
ISP
CTV
TVC
Data No.
Data
NOTE
1 The parameters, which are described here, are related directly to
Dual Check Safety function. As for the other parameters, please
refer to the parameter manual (B-64490EN).
2 A parameter usable with only one path control type, namely, the
lathe system (T series) or the machining center system (M series),
is indicated using two rows as shown below. When a row is blank,
the parameter is not usable with the corresponding series.
[Example 1]
Parameter HTG is a parameter common to the M and T series, but
Parameters RTV and ROC are parameters valid only for the T
series.
#7
1403
RTV
#6
#5
#4
HTG
ROC
#3
#2
#1
#0
T series
M series
HTG
[Example 2]
The following parameter is provided only for the M series.
T series
1411
Cutting feedrate
- 79 -
M series
6.PARAMETERS
B-64483EN-2/03
NOTE
3 When "to" is inserted between two parameter numbers, there are
parameters with successive numbers between the two starting and
ending parameter numbers, but those intermediate parameter
numbers are omitted for convenience.
4 The lower-case letter "x" or "s" following the name of a bit-type
parameter indicates the following:
x : Bit axis type parameters
-
-
s : Bit spindle type parameters
6.4
Overview
This section defines the standard minimum data units and valid data ranges of the CNC parameters of the
real type, real machine group type, real path type, real axis type, and real spindle type. The data type and
unit of data of each parameter conform to the specifications of each function.
Explanation
(A) Length and angle parameters (type 1)
Unit of data
mm
deg.
inch
Increment system
IS-A
IS-B
IS-C
IS-D
IS-E
IS-A
IS-B
IS-C
IS-D
IS-E
to +999999.99
to +999999.999
to +99999.9999
to +9999.99999
to
+999.999999
to +99999.999
to +99999.9999
to +9999.99999
to +999.999999
to
+99.9999999
mm
deg.
inch
Increment system
IS-A
IS-B
IS-C
IS-D
IS-E
IS-A
IS-B
IS-C
IS-D
IS-E
- 80 -
to +999999.99
to +999999.999
to +99999.9999
to +9999.99999
to
+999.999999
to +99999.999
to +99999.9999
to +9999.99999
to
+999.999999
to
+99.9999999
6.PARAMETERS
B-64483EN-2/03
Increment system
mm/min
degree/min
IS-A
IS-B
IS-C
IS-D
IS-E
0.01
0.001
0.0001
0.00001
0.000001
0.00
0.000
0.0000
0.00000
0.000000
inch/min
IS-A
IS-B
IS-C
IS-D
IS-E
0.001
0.0001
0.00001
0.000001
0.0000001
0.000
0.0000
0.00000
0.000000
0.0000000
to +999000.00
to +999000.000
to +99999.9999
to
+9999.99999
to
+999.999999
to +96000.000
to +9600.0000
to +4000.00000
to
+400.000000
to
+40.0000000
Increment system
mm/sec2
deg./sec2
IS-A
IS-B
IS-C
IS-D
IS-E
0.01
0.001
0.0001
0.00001
0.000001
0.00
0.000
0.0000
0.00000
0.000000
inch/sec2
IS-A
IS-B
IS-C
IS-D
IS-E
0.001
0.0001
0.00001
0.000001
0.0000001
0.000
to +99999.999
0.0000
to +99999.9999
0.00000 to +9999.99999
0.000000 to
+999.999999
0.0000000 to
+99.9999999
to +999999.99
to +999999.999
to +99999.9999
to +9999.99999
to
+999.999999
Notes
(1) Values are rounded up or down to the nearest multiples of the minimum data unit.
(2) A valid data range means data input limits, and may differ from values representing actual
performance.
(3) For information on the ranges of commands to the CNC, refer to Appendix, "List of Command
Ranges," in the "OPERATORS MANUAL (Common to Lathe System/Machining Center System)"
(B-64484EN).
(4) The setting value of the parameter related with length and angle depends on whether the attribute of
the axis is diameter specification or radius specification. In case safety function, set the parameter
according to the attribute of the axis at power on.
Even if the attribute is changed after power on, changed value is not used by each safety function.
Each safety function refers to the value that is specified at power on. .
6.5
PARAMETERS
0980
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte path
[Valid data range] 1 to 3
Set the machine group number which each path belongs.
- 81 -
6.PARAMETERS
B-64483EN-2/03
NOTE
When 0 is set, each path is assumed to belong to machine group 1.
0981
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte axis
[Valid data range] 1 to 10
Set the path to which each axis belongs.
NOTE
When 0 is set, each axis is assumed to belong to path 1.
0982
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte spindle
[Valid data range] 1 to 10
Set the path to which each spindle belongs.
NOTE
When 0 is set, each spindle is assumed to belong to path 1.
1023
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte axis
[Valid data range] 0 to Number of controlled axis
Set the servo axis for each control axis. Usually set to same number as the control axis
number.
The control axis number is the order number that is used for setting the axis-type
parameters or axis-type machine signals
*
With an axis for which Cs contour control/spindle positioning is to be performed, set
-(spindle number) as the servo axis number.
Example)
When exercising Cs contour control on the fourth controlled axis by
using the first spindle, set -1.
*
For tandem controlled axes or electronic gear box (EGB) controlled axes, two axes
need to be specified as one pair. So, make a setting as described below.
- 82 -
6.PARAMETERS
B-64483EN-2/03
Tandem axis: For a master axis, set an odd (1, 3, 5, 7, ...) servo axis number.
For a slave axis to be paired, set a value obtained by adding 1 to the
value set for the master axis.
EGB axis:
For a slave axis, set an odd (1, 3, 5, 7, ...) servo axis number. For a
dummy axis to be paired, set a value obtained by adding 1 to the value
set for the slave axis.
1240
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Minimum unit of data]
[Valid data range]
Parameter input
Real axis
mm, inch, degree (machine unit)
Depend on the increment system of the applied axis
9 digit of minimum unit of data (Refer to standard parameter setting table(A). But in case
that CMR1, data range becomes 1/CMR of 9 digits of minimum unit of data.)
(When the increment system is IS-B and CMR=1, -999999.999 to +999999.999)
(When the increment system is IS-B and CMR=2, -499999.999 to +499999.999)
NOTE
Whether to specify this parameter by using a diameter value or
radius value depends on whether the corresponding axis is based
on diameter specification or radius specification.
Set the coordinate values of the reference position in the machine coordinate system.
1838
Position deviation limit for each axis in moving state during safety check
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
Detection unit
0 to 99999999
Position deviation limit for each axis in moving state for safety check of Dual Check
Safety function is specified.
If position deviation of a moving axis exceeds position deviation limit while Safety
Check is carried out (Safety Monitoring Request *VLDVx =0), a servo alarm (SV0475,
SV1071) is generated and axes are stopped immediately like emergency stop state.
In Dual Check Safety function, position deviation is always checked by CNC and Servo.
In case that Safety Check is carried out (Safety Monitoring Request *VLDVx =0), the
servo alarm (SV0475,SV1071) is generated when each CPU finds out that the deviation
exceeds position deviation limit in moving state.
- 83 -
6.PARAMETERS
1839
B-64483EN-2/03
Position deviation limit for each axis in stopped state during safety check
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
1840
Parameter input
2-word axis
Detection unit
0 to 99999999
Set the positioning deviation limit in stopped state for each axis for Dual Check Safety
function.
If the positioning deviation exceeds the positioning deviation limit during stopped state
while Safety Check is carried out (Safety Monitoring Request *VLDVx =0), a servo
alarm (SV0474, SV1072) is generated, and operation is stopped immediately (as in
emergency stop).
In Dual Check Safety function, position deviation is always checked by CNC and Servo.
In case that Safety Check is carried out (Safety Monitoring Request *VLDVx =0),
servo alarm (SV0474,SV1072) is generated when each CPU finds out that the deviation
exceeds position deviation limit in stopped state.
Position deviation limit for each axis in servo-off state during safety check
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
Detection unit
0 to 99999999
Set the positioning deviation limit in servo-off state for each axis for Dual Check Safety
function.
If the positioning deviation exceeds the positioning deviation limit during servo-off, a
servo alarm (SV1069,SV1070) is generated, and operation is stopped immediately (as in
emergency stop).
In Dual Check Safety function, position deviation is always checked by CNC and Servo.
Servo alarm (SV1069,SV1070) is generated when each CPU finds out that the deviation
exceeds position deviation limit in servo-off state.
1841
Position deviation limit of each axis in moving state during other than Safety Check is carried out
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
Detection unit
0 to 99999999
Set the positioning deviation limit in moving state for each axis for Dual Check Safety
function, in case that Safety Check is not carried out (Safety Monitoring Request
*VLDVx=1).
- 84 -
6.PARAMETERS
B-64483EN-2/03
In case that Safety Check is not carried out (Safety Monitoring Request *VLDVx =1),
servo alarm (SV0475,SV1071) is generated and operation is stopped immediately (as in
emergency stop), when each CPU finds out that the deviation exceeds position deviation
limit in moving state.
If the value of this parameter is 0, the parameter No.1828 is used for the value of
deviation limit in moving state.
In case that Safety Check is carried out (Safety Monitoring Request *VLDVx =0), the
parameter No.1838 is used for the value of deviation limit in moving state.
1842
Position deviation limit of each axis in stopped state during other than Safety Check is carried out
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
Detection unit
0 to 99999999
Set the positioning deviation limit in stopped state for each axis for Dual Check Safety
function, in case that Safety Check is not carried out (Safety Monitoring Request
*VLDVx=1).
In case that Safety Check is not carried out (Safety Monitoring Request *VLDVx =1),
servo alarm (SV0474,SV1072) is generated and operation is stopped immediately (as in
emergency stop), when each CPU finds out that the deviation exceeds position deviation
limit in stopped state.
If the value of this parameter is 0, the parameter No.1829 is used for the value of
deviation limit in stopped state.
In case that Safety Check is carried out (Safety Monitoring Request *VLDVx =0), the
parameter No.1839 is used for the value of deviation limit in stopped state.
#7
1902
#6
#5
#4
#3
#2
#1
#0
DCE
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Bit
#6
- 85 -
6.PARAMETERS
B-64483EN-2/03
NOTE
1 When Dual Check Safety function is used, this parameter must be
set to 1. If Dual Check Safety function is ordered and this
parameter is 0, an alarm (DS0022) is displayed at power-on. This
alarm can be reset by pushing CAN and RESET key on MDI at
the same time.
2 When the Dual Check Safety function is disabled, almost
safety-related functions become disabled. Only the following
functions become enabled when the Dual Check Safety function is
disabled.
MCC Off signal *MCF (for each machine group)
The state of MCC Off signal *MCF on the PMC and DCSPMC
sides changes depending on the state of the emergency stop
signal on the PMC side (the state of the emergency stop signal
on the DCSPMC side has no effect). The MCC off Test is
disabled.
Brake signal *BRKx (for each axis)
Brake signal *BRKx operates only on the PMC side. Note that
the signal on the DCSPMC side always indicates the brake
release state. The output signals other than the above are
described below.
(1) The following signals always indicate "1" on both the PMC and
DCSPMC sides.
- MCC Off signal *DCALM (one for each system)
- MCC Off signals *MCFVx (for each axis) and *MCFPs (for
each spindle)
- Safety monitoring result signals RSVx (for each axis) and
RSPs (for each spindle)
(2) The following signals always indicate "0" on both the PMC and
DCSPMC sides.
- Safe Position Switch signals SPS1 to SPS32
- Guard Open Inhibit signal *OPIHB
- MCC Off Test Execution Request signal RQT
- Position Information Effect signal POSEx
#7
1904
#6
#5
#4
#3
#2
#1
DCN
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Bit axis
#6
DCN The checks of the target axis by Dual Check Safety function are:
0: carried out.
1: not carried out.
- 86 -
#0
6.PARAMETERS
B-64483EN-2/03
NOTE
1 It is not possible to inhibit each check of Dual Check Safety
Function of all axes by the parameter DCN.
2 Set the DCN bit to 1 for the dummy axis under tandem control or
for the tool axis of a electronic gear box or electronic gear box
2-pair.
3 The checks by the dual check safety function are not carried out on
an axis for which the DCN bit is set to 1. Set the DCN bit to 0 for
normal axes.
1945
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word machine group
msec
0 to 2000
There are two paths for the safety-related I/O signals (those duplicated by the Dual Check
Safety function): one on the PMC side and the other on the DCS PMC side. The CNC
CPU and the PMC CPU constantly exchange their I/O signals with each other and
monitor each other. If a mismatch between double input/output signals through two paths
lasts greater than the time set in this parameter, alarm PW0010, PW0011, PW0012 or
PW0013 is generated.
If a value of less than 16 is specified, it is assumed that 16 ms is specified.
If a value of more than 2000 is specified, it is assumed that 2000 ms is specified.
NOTE
The same value is applied to each path that belongs to a machine
group.
1946
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word machine group
msec
0 to 32767
When MCC off Test mode is selected with Dual Check Safety function, CNC CPU
carries out MCC off Test by the safety output signal (*MCF). If MCC off Test is not
completed within the time set in this parameter, a servo alarm SV0488 is generated.
If a value of less than 0 is specified, it is assumed that 10000 ms is specified.
NOTE
The same value is applied to each path that belongs to a machine
group.
- 87 -
6.PARAMETERS
B-64483EN-2/03
1948
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word machine group
msec
0 to 32767
CNC CPU and PMC CPU set MCC Off signal (*MCFVx) to 0, when an axis is not
stopped within the time set by this parameter after Safe Speed Monitoring or Safe
Machine Position Monitoring function of Dual Check Safety function detects
abnormal condition.
When there is no spindle (spindle for which *VLDPs = 1 is set) not being monitored
for its safety in the machine group, MCC Off signal *MCF (for each machine group)
is set to "0" upon elapse of the time set in this parameter after an emergency stop is
made.
When a crosscheck alarm or CPU self diagnosis alarm occurs, MCC Off signal
*DCALM (one for each system) is set to "0" upon elapse of the time set in this
parameter. If a crosscheck alarm or CPU self diagnosis alarm related to the spindle
occurs, however, the time set in this parameter takes no effect.
NOTE
The same value is applied for each path that belongs to a machine
group.
1950
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word machine group
msec
0 to 32767
Set a time period from when CNC CPU and Servo CPU in Dual Check Safety function
detects that the servo amplifier is ready (MCC on state) until Safety Brake signal
(*BRKx) goes 1 (brake release enabled).
NOTE
The same value is applied for each path that belongs to a machine
group.
3021
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
- 88 -
6.PARAMETERS
B-64483EN-2/03
G0000 to G0767
G1000 to G1767
G9000 to G9767
F0000 to F0767
F1000 to F1767
F9000 to F9767
#0
#1
#7
#0
#1
#7
[Example of setting]
Axis number
No.3021
1
2
3
4
5
0
1
2
10
11
Signal allocation
+J1<G0100.0>, -J1<G0102.0>, ZP1<F0090.0>, ...
+J2<G0100.1>, -J2<G0102.1>, ZP2<F0090.1>, ...
+J3<G0100.2>, -J3<G0102.2>, ZP3<F0090.2>, ...
+J4<G1100.0>, -J4<G1102.0>, ZP4<F1090.0>, ...
+J5<G1100.1>, -J5<G1102.1>, ZP5<F1090.1>, ...
If eight or less axes are used per path, the following signal allocation results when 0 is set
for all axes:
Axis 1 of path 1 = Setting equivalent to 0
Axis 2 of path 1 = Setting equivalent to 1
:
Axis 1 of path 2 = Setting equivalent to 10
:
NOTE
Set this parameter when more than eight axes are used per path.
The valid data range varies, depending on the system software.
3022
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte spindle
[Valid data range] 0to3,10to13,20to23, ... ,90to93
For each axis of the CNC, set a PMC interface address.
Set a value according to the tables below.
- 89 -
6.PARAMETERS
B-64483EN-2/03
G0000 to G0767
G1000 to G1767
9
G9000 to G9767
Value of parameter No. 3022 (the first digit)
Setting value
Input signal address
0
1
2
3
Bit position A
Bit position B
Bit position C
Bit position D
No.3022
Signal allocation
1
2
3
4
0
1
10
11
If four or less axes are used per path, the following signal allocation results when 0 is set
for all axes:
Axis 1 of path 1 = Setting equivalent to 0
Axis 2 of path 1 = Setting equivalent to 1
:
Axis 1 of path 2 = Setting equivalent to 10
NOTE
Set this parameter when more than four axes are used per path.
The valid data range varies, depending on the system software.
3225
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] 2-word
[Valid data range] 0 to 99999999
Set a code (password) for protecting against modifications to parameters related to Dual
Check Safety function (safety parameters). When a code for safety parameters is set other
than the value 0, the parameters are locked. In this state, the setting (code) is not
displayed but is blank, and safety parameter input is disabled.
If an attempt is made to input data in a locked safety parameter, the result indicated in the
table below is produced, depending on the method of input. No attempt is successful.
Input method
MDI input
Input via reader/puncher interface
Input through window function
Result
Warning WRITE PROTECT
No alarm is generated. But parameter input is disabled.
Completion code 7 (WRITE PROTECT)
- 90 -
6.PARAMETERS
B-64483EN-2/03
If the value other than 0 is set to this parameter, the safety parameter is not displayed.
The safety parameters can be set when the safety parameters are not locked, that is, when
the code for safety parameters is 0, or when the code for safety parameters is the same as
the key for safety parameters (No. 3226).
The following safety parameters are protected by a code for safety parameters:
No.980, No.981, No.982, No.1023, No.1240, No.1838, No.1839, No.1840, No.1841,
No.1842, No.1902#6, No.1904, No.1945, No.1946, No.1948, No.1950, No.2000,
No.2023, No.2024, No.2084, No.2085, No.2185, No.3021, No.3022, No.3225, No.3717,
No.3797, No.4372, No.4438, No.4440, No.4442, No.4448, No.4460, No.4545,
No.10500- No.10596, No.11950-No.11957, No.11960-No.11967, No.11970-No.11977,
No.11980- No.11987, No.13806, No.13811, No.13821-No.13829, No.13831-No.13838,
No.13840-No.13844, No.13880-No.13919, No.13920- No.13951, No.13960- No.13991
NOTE
Once parameters are locked, the lock must be released or memory
must be cleared before the safety parameters can be modified.
Moreover, the code for the safety parameters cannot be modified in
locked condition. Be careful when setting a code for safety
parameters.
3226
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] 2-word
[Valid data range] 0 to 99999999
When the same value as the code for safety parameters No.3225 is set in this parameter,
the key is opened to enable modifications to the safety parameters. The value set in this
parameter is not displayed.
When the value other than 0 is set to the code for safety parameters No.3225 and the
value is different from this parameter, the key is locked and the safety parameters can not
be modified.
When the power is turned off, the value set in this parameter is cleared to 0. Then the
power-off results in the locked state.
3717
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte spindle
[Valid data range] 0 to Maximum number of controlled spindle axes
Set a spindle amplifier number to be assigned to each spindle.
0: No spindle amplifier is connected.
1: Spindle motor connected to amplifier number 1 is used.
2: Spindle motor connected to amplifier number 2 is used.
to
n: Spindle motor connected to amplifier number n is used.
- 91 -
6.PARAMETERS
B-64483EN-2/03
#7
#6
#5
#4
#3
#2
3797
#1
#0
SOV
DCN
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Bit spindle
#0
DCN Each safety check of Dual Check Safety function for the specified spindle is
0: carried out.
1: not carried out.
Set 1 to this bit for the spindle that is not required to apply Dual Check Safety.
#1
SOV In the safe speed monitoring function of the dual check safety function, the safety spindle
speed limit override signal is
0: Invalid.
1: Valid.
4372
4438
4440
4442
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word spindle
min-1
0 to 32767
Set a safe speed for each spindle in terms of motor speed. In case Dual Check Safety
function is activated, CNC and Spindle always check the speed of each spindle motor.
When it is detected that revolution speed of spindle exceeds safety speed limit,
Monitoring Result signal (RSPs) is set to 0. Moreover if the safety check is carried out
(Safety Check Request signal *VLDPs =0), an alarm SP0757(CNC side) or
SP9069(Spindle side) occurs.
Safety Speed can be set up to 4 data. Which speed should be selected is decided by Safety
Speed Selection signal (SPAs/SPBs). Please refer more detail to the description about
Safety Speed/Safety Position Selection signal.
#7
#6
#5
#4
4399
#3
#2
#1
CTLSTP
- 92 -
#0
6.PARAMETERS
B-64483EN-2/03
#1
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word spindle
min-1
0 to 32767
When the speed of the spindle motor is reduced to the speed specified by this parameter
or less during free running or controlled stop operation due to the safe speed over alarm,
the motor is assumed to have stopped. The setting value must be lower than the parameter
Safe Speed for each spindle.
4460
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word spindle
deg
0 to 32767
Set the safety speed zero monitoring width for a spindle. Please set not the spindle angle
but the motor angle to this parameter in degree.
#7
#6
#5
#4
10500
#3
STP
#2
#1
#0
APM
AVM
NOTE
When at least one of these parameters is set, the power must be
turned off before operation is continued.
[Input type] Parameter input
[Data type] Bit path
#0
#1
6.PARAMETERS
B-64483EN-2/03
In case that this parameter is set to 1, MCC off signal (*MCFPs) of all spindles, which
belong to the same path as the alarm spindle, are turned to 0 when a spindle alarm
occurs.
#3
STP
CAUTION
1 The STP parameter is used temporarily, for example, when a MCC
off Test is not to be made at power-on as in the case of machine
adjustment.
2 After adjustment, set STP = 0.
3 Even if STP is 1, the MCC off Test is required if the power is
turned on after the specified time (normally 24 hours) has passed
since the completion of the previous MCC off Test.
4 The same value must be set to the path that belongs to the same
machine group.
5 The screen is changed to ALARM SCREEN when an alarm
occurs at power-on. In this case, Dual Check Safety Diagnosis
screen is not displayed at power-on automatically.
#7
#6
#5
#4
10597
#3
#2
#1
#0
SDS
DPN
IDD
IDD On the Dual Check Safety Diagnosis screen, the following information is:
0: Not displayed.
1: Displayed.
NOTE
When using the virtual MDI key function, do not set this parameter to
"1".
#1
DPN The ALARM INFORMATION screen for the cross check by the Dual Check Safety
function displays:
0: CNC-side address
1: PMC-side address and PMC path number
- 94 -
6.PARAMETERS
B-64483EN-2/03
#2
SDS In the CROSS CHECK DATA screen of the Dual Check Safety Diagnosis screen, the
code name of the signal is:
0: Not displayed.
1: Displayed.
#7
#6
#5
#4
#3
13805
#2
#1
DTS
SOF
#0
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
# 1 SOF When the setting of that follow-up is executed by follow-up signal (*FLWU) in servo-off
state is effective (the value of the parameter FUPx(No.1819#0) is 0), the following limit
is applied to the safety position error monitoring function during servo off state and
follow-up state including emergency stop and servo alarm etc, or pole position detection .
0: The position deviation limit in moving state (The parameter No.1838, 1841)
1: The position deviation limit in servo-off state (The parameter No.1840)
# 2 DTS Test mode of Acceptance test is
0: ineffective
1: effective
The Acceptance Test mode becomes effective by setting the parameter DTS to '1'.
This function becomes ineffective when DTS is changed from '1' to '0', and a usual DCS
function works.
Moreover, when the power is turned on when this parameter DTS is '1', the alarm
DS0081 ACCEPTANCE TEST MODE IS SELECTED is generated to alert to an
operator. This alarm can be released by pushing both RESET and CAN of MDI key
during Acceptance Test mode. It is possible to confirm in diagnosis screen No.3703#0
that Test Mode for Acceptance Test is effective, too.
Finish Acceptance Test within 24 hours after this parameter DTS set to '1'. When 24
hours pass away, the parameter DTS is compulsorily changed to 0 and the alarm of
PW0023 ACCEPTANCE TEST MODE TIME OVER is generated. As this alarm can
not be released if the power is not turned off, when you want to continue Acceptance Test,
set this parameter to 1 again and the power is turned off/on It is possible to confirm the
remainder time until 24 hours pass in diagnosis No.3704.
CAUTION
It is dangerous when a machine is operated with parameter DTS
set to '1'. Please set it to '0' when the machine is shipped.
#7
#6
#5
#4
13806
#3
#2
#1
D10
- 95 -
#0
6.PARAMETERS
B-64483EN-2/03
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
#1
D10 In the safety limit speed monitoring of the feed axis of Dual Check Safety function, the
unit of safety speed monitoring of the safety limit speed in position control (parameter
No.13821 to No.13824) is
0: Not changed.
1: Regarded as ten times.
When above parameter is set to 1, the range of the safety limit speed of the feed axis is
from 0 to 9999999.99 in the case of IS-B.
13810
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
13811
Parameter input
Word
msec
0 to 32767
In Dual Check Safety function, the time from CNC start-up to I/O cross check error
start is specified just after power-on.
Hysteresis width of position switch (Dual Check Safety)
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Least unit of data]
[Valid data range]
Parameter input
Real axis
mm, inch, deg (Machine unit)
According to the input increment of corresponding axis
0 or positive 9 digit of least input increment of data (Refer to standard parameter setting
table(B). But in case that CMR1, data range becomes 1/CMR of 9 digits of least input
increment of data.)
(When the increment system is IS-B and CMR=1, 0 to +999999.999)
(When the increment system is IS-B and CMR=2, 0 to +499999.999)
NOTE
Whether to specify this parameter by using a diameter value or
radius value depends on whether the corresponding axis is based
on diameter specification or radius specification.
Around the position switch boundary for the Dual Check Safety function, the Safety
Position Switch signal may repeatedly turn on and off due to motor vibration. According
to this problem, position switch is inconvenient to use. So hysteresis described below is
applied.
- 96 -
6.PARAMETERS
B-64483EN-2/03
Minimum limit of
position switch
Maximum limit of
position switch
Width of hysteresis
Width of hysteresis
Activated area of position switch
Fig.6.5(a) Activated area of the position switch when the Safety Position Switch signal is set to "0"
Minimum limit of
position switch
Maximum limit of
position switch
Fig.6.5(b) Activated area of the position switch when the Safety Position Switch signal is set to "1"
Suppose that the minimum limit and maximum limit of the position switch are
represented by an area like those shown above. If the value of the Safety Position Switch
signal used for the last measurement is "0", then the check is made in an area that takes
into account the width of hysteresis (Fig. 6.5 (a)). If the value of the last used Safety
Position Switch signal is "1", then the check is made in an area that does not take into
account the width of hysteresis (Fig. 6.5 (b)). This reduces the fluctuation in the Safety
Position Switch signal.
13821
13822
13823
13824
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type]
[Data type]
[Unit of data]
[Minimum unit of data]
[Valid data range]
Parameter input
Real axis
mm/min, inch/min, degree/min (machine unit)
Depend on the increment system of the applied axis
Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 to +240000.0)
Set a safety speed for each axis in position control.
CNC and Servo always check the velocity command of each axis in Dual Check Safety
function. If the speed is exceeded the safety limit even on one axis, Monitoring Result
signal (RSVx) corresponding to that axis is set to 0. Moreover if Safety Check request
signal (*VLDVx) is set to 0, an alarm SV0476 or SV0494 is generated for the
corresponding axis.
A safety speed parameter for each axis in feed control is from No.13826 to No.13829.
Up to 4 safety speed can be specified. Safety speed is selected by Safety Speed / Safety
Position Selection signal (SVAx/SVBx). As for the detail of Safety Speed / Safety
Position Selection signal, refer to the description about Safety Speed / Safety Position
Selection signal.
- 97 -
6.PARAMETERS
B-64483EN-2/03
CAUTION
1 The safe reduced speed checks are made on the basis of the
speed converted to the detection unit. Accordingly, a calculation
error may occur.
2 After safety speed parameters No.13821 to No.13824 have been
set, the power must be turned off then back on for the setting to
become effective
3 For diameter specification, set the speed by the diameter (use
changes in diameter/rev or in diameter/min).
13825
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Minimum unit of data]
[Valid data range]
Parameter input
Real axis
mm/min, inch/min, degree/min (machine unit)
Depend on the increment system of the applied axis
0 to 10000
This parameter sets the speed regarded as axis stop in case that an abnormal condition is
found in safety speed check or safety machine position check of Dual Check Safety
function.
When an abnormal condition is found in safety speed check or safety machine position
check, a servo alarm occurs. And whether MCC off signal (*MCFVx) is turned off or not
is decided by judging if an axis is stopped after the decided time elapse. At that time, this
parameter gives the speed to judge axis stop.
In case an abnormal condition is detected and an axis is stopped within the given time, an
MCC is not turned off. Then the system can be recovered by reset operation without
power-off.
NOTE
1 For diameter specification, set the speed by the diameter (use
changes in diameter/rev or in diameter/min).
2 In case of velocity control, set the value calculated by the following
formula to this parameter when R(min-1) is the velocity, at which the
axis is regarded as stopped.
Setting value = R * PLS * Minimum data unit (Machine unit)
* N / CMR
PLS: Pulse per one revolution of motor (Detection unit)
CMR: Command multiplier
N:
In case of diameter specification, N=2.
In other case, N=1.
Minimum data unit: Refer to STANDARD PARAMETER
SETTING TABLE.
13826
13827
- 98 -
6.PARAMETERS
B-64483EN-2/03
13828
13829
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
min-1
0 to maximum motor speed
This parameter sets the safety speed 1 to 4 for each axis in velocity control mode in Dual
Check Safety function.
13831
13832
13833
13834
13835
13836
13837
13838
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type]
[Data type]
[Unit of data]
[Minimum unit of data]
[Valid data range]
Parameter input
Real axis
mm, inch, degree (machine unit)
Depend on the increment system of the applied axis
9 digits of minimum unit of data (Refer to standard parameter setting table(A). But in
case that CMR1, data range becomes 1/CMR of 9 digits of minimum unit of data.)
(When the increment system is IS-B and CMR=1, -999999.999 to +999999.999)
(When the increment system is IS-B and CMR=2, -499999.999 to +499999.999)
NOTE
Whether to specify this parameter by using a diameter value or
radius value depends on whether the corresponding axis is based
on diameter specification or radius specification.
Set a safe machine position for each axis.
CNC and Servo always check the machine position on each axis in Dual Check Safety
function.
If the machine position is out of the safety machine range even on one axis, Monitoring
Result signal (RSVx) corresponding to that axis is set to 0. Moreover if Safety Check
request signal (*VLDVx) is set to 0, an alarm SV0477 or SV0495 is generated for the
corresponding axis.
- 99 -
6.PARAMETERS
B-64483EN-2/03
CAUTION
The safety machine position checks are made on the basis of the
machine position to the detection unit. Accordingly, a calculation
error may occur.
WARNING
1 CNC and Servo check the machine position of only each axis
whose reference position is established, and not check it of each
axis whose reference position is not established.
2 After safety machine position parameters No.13831 to No.13838
have been set, the power must be turned off then back on for the
setting to become effective.
13840
13841
13842
13843
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type] Parameter input
[Data type] Byte
[Valid data range] 0 to 1, 10 to 11, 20 to 21, ... , 90 to 91
According to this parameter, the address to output 64 points of position switch signals can
be assigned for each 16 points. The assigning addresses are F*755 to F*756 (PMC) /
F(007+m) to F(008+m) (DCS PMC) and F*757 to F*758 (PMC) / F(009+m) to
F(010+m) (DCS PMC) in each path. (*: 0 to 9 [path])
The units of this parameter value specifies which address the signal of each path should
be output to, F*755 to F*756 (PMC) / F(007+m) to F(008+m) (DCS PMC) or
F*757 to F*758 (PMC) / F(009+m) to F(010+m) (DCS PMC).
Setting value
Assigned address
F*755 to F*756(PMC),
F(007+m) to F(008+m) (DCS PMC)
F*757 to F*758(PMC),
F(009+m) to F(010+m) (DCS PMC)
The tens of this parameter value specify which path the signal should be output to.
Setting value
Output path
0
1
Path 1
Path 2
...
Path 10
- 100 -
6.PARAMETERS
B-64483EN-2/03
The relationship between parameter settings and assigned addresses is shown below.
Setting value
00
01
10
11
20
21
30
31
40
41
50
51
60
61
70
71
80
81
90
91
F0755 - F0756
F0757 - F0758
F1755 - F1756
F1757 - F1758
F2755 - F2756
F2757 - F2758
F3755 - F3756
F3757 - F3758
F4755 - F4756
F4757 - F4758
F5755 - F5756
F5757 - F5758
F6755 - F6756
F6757 - F6758
F7755 - F7756
F7757 - F7758
F8755 - F8756
F8757 - F8758
F9755 - F9756
F9757 - F9758
F007 - F008
F009 - F010
F027 - F028
F029 - F030
F047 - F048
F049 - F050
F067 - F068
F069 - F070
F087 - F088
F089 - F090
F107 - F108
F109 - F110
F127 - F128
F129 - F130
F147 - F148
F149 - F150
F167 - F168
F169 - F170
F187 - F188
F189 - F190
[Example]
Parameter No.
Setting value
13840
00
13841
01
13842
50
13843
71
NOTE
1 If all setting values are 0, the output address is regarded as
follows.
Position switch 1 to 16: F755-F756 (PMC) / F007-F008 (DCS PMC)
Position switch 17 to 32: F757-F758 (PMC) / F009-F010 (DCS
PMC)
Position switch 33 to 48: F1755-F1756 (PMC) / F027-F028 (DCS
PMC)
Position switch 49 to 64: F1757-F1758 (PMC) / F029-F030 (DCS
PMC)
2 Do not assign two or more position switch to the same address.
3 The specifiable range depends on the system software.
- 101 -
6.PARAMETERS
13844
B-64483EN-2/03
Safety speed zero monitoring width for a servo axis
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Minimum unit of data]
[Valid data range]
Parameter input
Real axis
mm, inch, degree (machine unit)
Depend on the increment system of the applied axis
9 digits of minimum unit of data (Refer to standard parameter setting table(A).
(When the increment system is IS-B, -999999.999 to +999999.999)
Set the safety speed zero monitoring width for a servo axis.
13880
13881
13910
13911
10501
10502
10531
10532
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type] Parameter input
[Data type] Byte
[Valid data range] 0 to Number of controlled axes
Specify the control axis number corresponding to each of the first to 64th safety position
switches sequentially. If the machine coordinate value of the associated axis is within the
range specified by the parameter, the corresponding Safety Position Switch signal is
output on the PMC side and DCS PMC side.
NOTE
1 Set 0 for those position switch numbers that are not to be used.
(The safe position switch signal of that number is not output.)
The safe position switch signal for the axis whose bit 6 (DCN) of
parameter No.1904 is 1 (Dual Check Safety is disabled) is not
output.
2 After safety position switch parameters No.13880 to No.13911,
No.10501 to No.10532 have been set, the power must be turned
off then back on for the setting to become effective.
- 102 -
6.PARAMETERS
B-64483EN-2/03
13920
13921
13950
13951
10533
10534
10563
10564
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type]
[Data type]
[Unit of data]
[Min. unit of data]
[Valid data range]
Parameter input
Real
mm, inch, deg (machine unit)
Depend on the increment system of the reference axis
9 digit of minimum unit of data (refer to standard parameter setting table (A)). But in case
that CMR1, data range becomes 1/CMR of 9 digits of minimum unit of data.)
(When the increment system is IS-B and CMR=1, -999999.999 to +999999.999)
(When the increment system is IS-B and CMR=2, -499999.999 to +499999.999)
NOTE
Whether to specify this parameter by using a diameter value or
radius value depends on whether the corresponding axis is based
on diameter specification or radius specification.
These parameters set the maximum limit of the 1st through 64th safe position switches.
CAUTION
1 When the machine position is equal to parameter setting value, it is
regarded that the machine position is within the range.
2 When the setting of operation range is maximum limit < minimum
limit, the corresponding safe position switch is not output.
3 After safety position switch parameters Nos. 13920 to 13951 and
10533 to 10564 have been set, the power must be turned off then
back on for the setting to become effective.
13960
13961
13990
13991
10565
- 103 -
6.PARAMETERS
10566
B-64483EN-2/03
The minimum limit of the 34th safe position switch
10595
10596
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type]
[Data type]
[Unit of data]
[Min. unit of data]
[Min. unit of data]
[Valid data range]
Parameter input
Real
mm, inch, deg (machine unit)
Depend on the increment system of the reference axis
Depend on the increment system of the reference axis
9 digit of minimum unit of data (refer to standard parameter setting table (A)). But in case
that CMR1, data range becomes 1/CMR of 9 digits of minimum unit of data.)
(When the increment system is IS-B and CMR=1, -999999.999 to +999999.999)
(When the increment system is IS-B and CMR=2, -499999.999 to +499999.999)
NOTE
Whether to specify this parameter by using a diameter value or
radius value depends on whether the corresponding axis is based
on diameter specification or radius specification.
These parameters set the minimum limit of the 1st through 64th safe position switches.
CAUTION
1 When the machine position is equal to parameter setting value, it is
regarded that the machine position is within the range.
2 When the setting of operation range is maximum limit < minimum
limit, the corresponding safe position switch is not output.
3 After safety position switch parameters Nos. 13960 to 13991 and
10565 to 10596 have been set, the power must be turned off then
back on for the setting to become effective.
13912
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Byte axis
None
0,1
Select whether to enable or disable the brake test. Set "0" to disable the test and "1" to
enable it.
- 104 -
6.PARAMETERS
B-64483EN-2/03
13913
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
13914
Parameter input
Word machine group
Hour
0 to 168
Set the interval of time between the last brake test and the next one. When the time set in
this parameter has elapsed after the brake test ends, the Brake Test Execution Request
signal RQBT is set to "1". If "0" is set, the interval is assumed to be 8 hours.
Time t1 allowed to elapse after the output of the brake signal until the brake is applied
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
ms
0 to 999999999
To control when to output the *BRKx signal and move command during the brake test
for an individual axis, set the time allowed to elapse after the *BRKx signal is controlled
until the brake is applied, as well as the time allowed to elapse after the *BRKx signal is
controlled until the brake is released. If the time for applying the brake differs from the
time for releasing it, set the longer time. If "0" is set, the time is assumed to be 400 ms.
13915
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
(100/255)%
0 to 255
Set the current limit override value for the brake test. The relationship between the value
set in this parameter and the torque limit override value is as follows.
Torque limit override value = (set value/255) 100 (%)
If "0" is set, 12% is assumed.
13916
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Real axis
- 105 -
6.PARAMETERS
B-64483EN-2/03
CAUTION
If this parameter specifies a value that is smaller than the tolerance
value (No. 13918) for the positional deviation to be checked by the
brake test, the brake test may fail to be executed normally.
NOTE
When the diameter is specified ("1" is set in bit 3(DIAx) of parameter
No. 1006), set the diameter value.
13917
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Min. unit of data]
[Valid data range]
Parameter input
Real axis
mm/min, inch/min, degree/min (machine unit)
Depend on the increment system of the applied axis
Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 to +240000.0)
Set the feedrate to be specified for each axis at the time of the brake test. If "0" is set, 10
mm/min is assumed.
13918
Tolerance value for the positional deviation amount checked by the brake test
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word axis
Detection unit
0 to 999999999
Set the tolerance value for the positional deviation amount to be checked by the brake test
for an individual axis. The specified amount is compared with the positional deviation
value during brake control, and the amount is considered to be valid if it is within the
range represented by the positional deviation value plus the value set in this parameter
and the positional deviation value minus that value. If the amount is outside this range, an
alarm occurs. If "0" is set, 100 is assumed.
- 106 -
6.PARAMETERS
B-64483EN-2/03
Tolerance value
Reference positional deviation amount (positional deviation amount relative to the specified
amount)
13919
Time (t2) during which the positional deviation amount is checked during the brake test
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word axis
ms
0 to 32767
Set the time (t2) during which the positional deviation amount is checked during the brake
test for an individual axis. During this time, the torque is applied to the brake. If "0" is set,
1000 ms is assumed.
11950
11951
11957
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type] Parameter input
[Data type] 2-word
[Valid data range] 0 to 5999999
Specify the address of the input signal on the CNC CPU side subject to dual monitoring
for programmable safety I/O.
Setting value = TYPE + ADRS
ADRS = Byte address
TYPE
Meaning
0
1000000
2000000
3000000
5000000
11961
11967
- 107 -
6.PARAMETERS
B-64483EN-2/03
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type] Parameter input
[Data type] 2-word
[Valid data range] 0 to 5999999
Specify the address of the output signal on the CNC CPU side subject to dual monitoring
for programmable safety I/O.
Setting value = TYPE + ADRS
ADRS = Byte address
TYPE
Meaning
0
1000000
2000000
3000000
5000000
11971
11977
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type] Parameter input
[Data type] 2-word
[Valid data range] 0 to 505999999
Specify the address of the input signal on the PMC CPU side subject to dual monitoring
for programmable safety I/O.
Setting value = TYPE + ADRS
ADRS = Byte address
TYPE
Meaning
0
101000000
102000000
103000000
104000000
105000000
201000000
202000000
203000000
204000000
205000000
301000000
302000000
303000000
- 108 -
6.PARAMETERS
B-64483EN-2/03
TYPE
Meaning
304000000
305000000
401000000
402000000
403000000
404000000
405000000
501000000
502000000
503000000
504000000
505000000
11981
11987
NOTE
When these parameters are set, the power must be turned off
before operation is continued.
[Input type] Parameter input
[Data type] 2-word
[Valid data range] 0 to 505999999
Specify the address of the output signal on the PMC CPU side subject to dual monitoring
for programmable safety I/O.
Setting value = TYPE + ADRS
ADRS = Byte address
TYPE
Meaning
0
101000000
102000000
103000000
104000000
105000000
201000000
202000000
203000000
204000000
205000000
301000000
302000000
303000000
304000000
305000000
401000000
402000000
403000000
404000000
- 109 -
6.PARAMETERS
B-64483EN-2/03
TYPE
Meaning
405000000
501000000
502000000
503000000
504000000
505000000
6.6
PROFIBUS-DP DI/DO signals can be assigned to Dual Check Safety PMC per each slot unit.
To configure PROFIBUS-DP parameters, please refer to Chapter II.SETTING of FANUC
PROFIBUS-DP board CONNECTION MANUAL (B-63993EN). The following is the additional
information relating to Dual Check Safety function.
6.PARAMETERS
B-64483EN-2/03
- 111 -
7.START-UP
B-64483EN-2/03
START-UP
7.1
START-UP OPERATION
The machine tool builder has to do tests for insulation and protective bonding. Testing must be performed
according to Chapter 18.2 and 18.3 of the standard IEC 60204-1 by an appropriately authorized person
and recorded.
7.1.1
Acceptance report
A qualified person is to check each dual check safety function and record the test results in a check report.
NOTE
When modifying dual check safety function data, conduct an additional check
test on the modified dual check safety function and record the test results in a
check report.
7.START-UP
B-64483EN-2/03
Data modification
The user needs to enter the correct password before setting safety parameters with the system. After a
safety parameter is modified, a check test needs to be conducted on the related safety function, and the
test results need to be recorded in a report.
7.2
7.2.1
Initial Start-up
Main flow
Disable dual check
safety
Machine start-up
Safety parameter
input
Step 1
Initial state
First, check that the machine starts up normally when the dual check safety function is disabled.
Preparation 1
Preparation 2
- 113 -
7.START-UP
B-64483EN-2/03
NOTE
When the dual check safety function is disabled, the MCC Off signal (*DCALM,
*MCFVx, *MCFPs) is set to 1. The MCC Off signal (*MCF) is changed
according to the emergency stop signal. ) So, make a ladder program to output
DO signal to control the relay for the MCC control according to the MCC Off
signal.
Step 2
DCS PMC side I/O setting
Set the related I/O on the DCS PMC side. Make a ladder program for the safe related I/O.
(PMC/DCS PMC)
In case PROFIBUS-DP is used, please refer to the sub-section 6.6PROFIBUS-DP PARAMETER
SETTINGS.
Step 3
Safety parameter input
Enable the dual check safety function, and enter the safety parameters.
Preparation 1
Meaning
Machine group number of each path
Absolute path number of each axis
Absolute path number of each spindle
Servo axis number of each axis
Coordinates value of the reference position in the machine coordinate system
Position deviation limit for each axis in moving state
Position deviation limit for each axis in stopped state
Position deviation limit for each axis in servo-off state
Position deviation limit of each axis in moving state during other than Dual Check
Safety monitoring (for Dual Check Safety Function)
Position deviation limit of each axis in stopped state during other than Dual Check
Safety monitoring (for Dual Check Safety Function)
Enable safety function for each axis
Timer for safety-related I/O check
Timer for MCC off Test
Timer for MCC off
Break signal timer
Motor number to each spindle
Enable safety function for each spindle
Safety speed 1 on each spindle
Safety speed 2 on each spindle
Safety speed 3 on each spindle
Safety speed 4 on each spindle
Speed regarded as spindle stop for Dual Check Safety
Safety speed 1 on each axis
Safety speed 2 on each axis
Safety speed 3 on each axis
Safety speed 4 on each axis
Speed regarded as axis stop for Dual Check Safety
Safety position 1 (+ direction) on each axis
Safety position 1 (- direction) on each axis
Safety position 2 (+ direction) on each axis
- 114 -
7.START-UP
B-64483EN-2/03
Parameter setting
13834
13835
13836
13837
13838
Meaning
Safety position 2 (- direction) on each axis
Safety position 3 (+ direction) on each axis
Safety position 3 (- direction) on each axis
Safety position 4 (+ direction) on each axis
Safety position 4 (- direction) on each axis
Step 4
When a servo amplifier is started up for the first time, alarm SV0498, AXIS NUMBER NOT SET
(CNC), is issued. When a spindle amplifier is started up for the first time, alarm SP9148, AXIS
NUMBER NOT SET, is issued.
In this case, turn the power to the CNC, servo amplifier, and spindle amplifier off, then on the power to
the servo amplifier, spindle amplifier, and CNC on in this order.
If the configuration of servo amplifiers is changed, alarms SV0478, ILLEGAL AXIS DATA (SV), and
SV0496, ILLEGAL AXIS DATA (CNC), are issued. For the relevant axes, set
Bit 4 of parameter No. 2212 to 1, then to 0 successively,
and turn the power to the CNC, servo amplifiers, and spindle amplifiers off. Then, turn the power to the
servo amplifiers, spindle amplifiers, and CNC on in this order.
If the configuration of spindle amplifiers is changed, alarms SP0756 and SP9070, ILLEGAL AXIS
DATA, are issued, For the relevant spindles, set
Bit 7 of parameter No. 4541 to 1, then to 0 successively,
and turn the power to the CNC, servo amplifiers, and spindle amplifiers off. Then, turn the power to the
servo amplifiers, spindle amplifiers, and CNC on in this order.
Step 5
Execution of general machine tests
Axis and spindle optimization
Dual check safety function adjustment (safety limitation speed, safety machine position, Safe position
error monitoring)
Step 6
Test for checking the safety function
Check test execution and report creation
Step 7
Parameter preservation
Save all parameters including the safety parameters. The parameters are used to start up the series.
Step 8
Set a password.
A password is used to disable unauthorized persons from modifying safety parameters. Before safety
parameters of the equipment for which a password (No. 3225) is set can be modified, the password
value must be set as the keyword (No. 3226). Only those persons authorized to conduct a check test
should know the password value.
7.2.2
The parameters for the safety monitoring function are transferred together with other parameters to the
CNC as in the case of normal series start-up. Perform a safety function check test in addition to the
normal start-up procedure.
- 115 -
7.START-UP
7.2.3
B-64483EN-2/03
Troubleshooting
Alarms related to the safety function are output on the ALARM screen.
Correct the cause of trouble according to the chapter describing alarms and messages in this manual.
When a component related to the safety function is to be replaced, an authorized person must conduct a
safety function check test.
7.3
7.3.1
Outline
A machine tool builder must perform safety confirmation test called Acceptance Test, to confirm
whether the safety function of a machine works correctly. In Acceptance Test, it must be confirmed that
an alarm is generated correctly and a machine stops safely, when the machine is placed in not safe
condition intentionally. If Acceptance Test is performed in the conventional state, the power of CNC must
be turned off/on every time when the safely related alarm of Dual Check Safety function is generated and
the safety parameter is rewritten. Redundant time is required for power on/off.
By using Test Mode Function, the following functions are effective in Acceptance Test. Therefore, it is
possible to continue the acceptance test without turning off/on the power of CNC, and then the test time
can be shortened.
When the safety parameter is changed, the changed parameter is effective without turning the
power-off.
Even if the safety related alarm is generated, the alarm state can be released by the reset operation.
NOTE
This function is not safety function.
7.3.2
Test Mode for Acceptance Test becomes effective, when the parameter DTS(No.13805#2) sets to '1' and
the power of CNC is turned off/on.
In case Test Mode for Acceptance Test is effective (When the parameter DTS is '1'), the alarm "DS0081
ACCEPTANCE TEST MODE IS SELECTED is generated when CNC starts up. You can perform
Acceptance Test after releasing this alarm by pushing both RESET and CAN of MDI key. It is
possible to confirm in diagnosis screen No.3703#0 that Test Mode for Acceptance Test is effective, too.
It is necessary to finish Acceptance Test within 24 hours after this parameter DTS set to '1'. The
parameter DTS will be changed to 0 automatically when 24 hours pass, and the alarm of "PW0023
ACCEPTANCE TEST MODE TIME OVER" is generated. As this alarm can not be released if the power
is not turned off, when you want to continue Acceptance Test, set this parameter to 1 again and the
power is turned off/on. It is possible to confirm the remainder time until 24 hours pass in diagnosis
No.3704.
The sample of test items/procedure of Acceptance Test is described in the next chapter. Perform
Acceptance Test along the test item and the procedure of the next chapter.
Change the parameter DTS from '1' to '0' when Acceptance Test is finished.
When the parameter DTS is changed from '1' to '0', Test Mode for Acceptance Test is released.
CAUTION
Set the parameter DTS to '0' when a machine is shipped. Moreover, do not
operate a machine with the parameter DTS set to '1'.
- 116 -
7.START-UP
B-64483EN-2/03
7.3.3
Acceptance Test, the safety confirmation test, is performed to confirm whether the safety function of a
machine works correctly. Acceptance Test should be done by a qualified person, because a machine is
placed in not safe state intentionally during the test. And, it is necessary to record the test result in the
report.
The execution items and the execution procedures of standard Acceptance Test are described as follows.
Because the content of the items and the procedures are different according to the composition of a
machine, necessary items and procedures should be selected and tested.
Contents of Test
Test signals
PMC: *SMC=1
DCSPMC:
*SMC=1
PMC<Y0010.0>=1
DCSPMC
<Y0010.0>=1
Test Method
Short-circuit the input of X
signal<X0010.0> of *SMC on
PMC side
Short-circuit the output of Y
signal<Y0010.0> on PMC
side
Result (Alarm)
PW0010
PW0011
SV1068
MCC OFF
PW0012
PW0013
SV1068
MCC OFF
- Return the short-circuited signal to the former state when the test is finished.
- Though the power must be turned off after generating PW0010, PW0011, PW0012, PW0013, and
SV1068 alarm usually, the power need not be turned off because these can be released by reset during the
test mode.
7.START-UP
B-64483EN-2/03
Contents of Test
Usual MCC off test
Test that to confirm
whether MCC off test
timer works normally
Test parameters
None
Test Method
OPT = 1
OPT = 1
Result (Alarm)
No alarm
SV0488
SV1068
MCC OFF
Return the value of parameter No.1946, which is changed when the test is executed, to the former
value.
Though the power must be turned off by changing the parameter No.1946 or generating SV0488 and
SV1068 alarm usually, the power need not be turned off by these alarms and changing the parameter
during the test mode.
Contents of Test
Test to confirm
whether emergency
stop signal is turned
on/off correctly.
Test to confirm
whether cross check
of emergency stop
signal is executed
correctly.
Test parameters
None
Test Method
Result (Alarm)
No Alarm
None
PW0010
PW0011
SV1068
MCC OFF
Return the short-circuited signal to the former state when the test is finished.
Though the power must be turned off by generating PW0010, PW0011 and SV1068 alarm usually,
the power need not be turned off because these can be released by reset during the test mode.
7.START-UP
B-64483EN-2/03
Contents of Test
Test to confirm
whether brake test is
executed normally.
Test to confirm
whether an alarm is
generated when brake
test ends abnormally.
Test parameters
None
Tolerance of positional
deviation for Z axis,
Change the parameter
No.13918 from 100 to 1
Test Method
STBT=01
in JOG mode and no
alarm.
STBT=01
in JOG mode and no
alarm.
Result (Alarm)
No Alarm
DS0040
Return the value of parameter No.13918, which is changed when the test has been executed, to the
former value.
Though the power must be turned off by changing the parameter No.13918 usually, the power need
not be turned off because PW0000 alarm is not generated during the test mode. The DS0040 alarm
can be released by reset.
Contents of Test
Test parameters
- 119 -
Test Method
Safe speed limit 1 is
selected. The safe guard is
opened, and X-axis is moved
in JOG mode. The speed
exceeds safe speed limit
1(2000 mm/min) of X-axis.
Safe speed limit 1 is
selected. The safe guard is
opened, and Y-axis is moved
in JOG mode. The speed
exceeds safe speed limit
1(2000 mm/min) of Y-axis.
Safe speed limit 1 is
selected. The safe guard is
opened, and Z-axis is moved
in JOG mode. The speed
exceeds safe speed limit
1(2000 mm/min) of Z-axis.
Result (Alarm)
SV0494
SV0476
SV0494
SV0476
SV0494
SV0476
7.START-UP
B-64483EN-2/03
No.
Contents of Test
Test parameters
None
Test Method
Safe speed limit 2 is
selected. The safe guard is
opened, and X-axis is moved
in JOG mode. The speed
exceeds safe speed limit
2(4000 mm/min) of X-axis.
Safe speed limit 2 is
selected. The safe guard is
opened, and Y-axis is moved
in JOG mode. The speed
exceeds safe speed limit
2(4000 mm/min) of Y-axis.
Safe speed limit 2 is
selected. The safe guard is
opened, and Z-axis is moved
in JOG mode. The speed
exceeds safe speed limit
2(4000 mm/min) of Z-axis.
Safe speed limit 1 is
selected. The safe guard is
opened, and spindle is
rotated by the command of
M3S50. The speed exceeds
safe speed limit 1(40 1/min)
of the first spindle. (In case
the gear ratio between
spindle and motor is 1:1.)
Result (Alarm)
SV0494
SV0476
SV0494
SV0476
SV0494
SV0476
SP0757
SP9069
Return the value of parameter, which is changed when the test has been executed, to the former
value.
Though the power must be turned off by generating SV494, SV476, SP0757 and SP9069 alarm
usually, the power need not be turned off because these can be released by reset during the test
mode.
Contents of Test
Test to confirm whether
safety position error
monitoring on stop
condition for X axis
works correctly
Test parameters
Test Method
- 120 -
Result (Alarm)
SV0474
SV1072
MCC OFF
7.START-UP
B-64483EN-2/03
No.
Contents of Test
Test to confirm whether
safety position error
monitoring in moving
state of X axis works
correctly
Test to confirm whether
safety position error
monitoring on stop
condition for Y axis
works correctly
Test to confirm whether
safety position error
monitoring on moving
condition for Y axis
works correctly
Test to confirm whether
safety position error
monitoring on moving
condition for Z axis
works correctly
Test to confirm whether
safety position error
monitoring on moving
condition for Z axis
works correctly
Test parameters
Position deviation limit for each
axis on moving condition
Change the X axis parameter
No.1838 from 40000 to 300
Test Method
The safe guard is
opened, the parameter
is changed, and X-axis
is moved in JOG
mode.
Result (Alarm)
SV0475
SV1071
MCC OFF
SV0474
SV1072
MCC OFF
SV0475
SV1071
MCC OFF
SV0474
SV1072
MCC OFF
SV0475
SV1071
MCC OFF
Return the values of parameter No.1838 and No.1839, which are changed when the test is performed,
to the former value.
Though the power must be turned off by changing the parameter No.1838, 1839 and generating
SV474, SV475, SV1071 and SV1072 alarm usually, the power need not be turned off because these
alarms can be released by reset during the test mode.
Contents of Test
Test parameters
Test to confirm X
minus direction of safe
machine position
monitoring 1 works
correctly
- 121 -
Test Method
The safe guard is opened,
X-axis is moved in the plus
direction in JOG mode, and it
exceeds plus direction limit
(X=665.000) of safe machine
position 1.
The safe guard is opened,
X-axis is moved in the minus
direction in JOG mode, and it
exceeds minus direction limit
(X=-300.000) of safe machine
position 1.
Result (Alarm)
SV0477
SV0495
SV0477
SV0495
7.START-UP
B-64483EN-2/03
No.
Contents of Test
Test to confirm Y
minus direction of safe
machine position
monitoring 1 works
correctly
Test to confirm Z
minus direction of safe
machine position
monitoring 1 works
correctly
Test parameters
Test Method
The safe guard is opened,
Y-axis is moved in the plus
direction in JOG mode, and it
exceeds plus direction limit
(Y=344.000) of safe machine
position 1.
The safe guard is opened,
Y-axis is moved in the minus
direction in JOG mode, and it
exceeds minus direction limit
(Y=-190.000) of safe machine
position 1.
The safe guard is opened,
Z-axis is moved in the plus
direction in JOG mode, and it
exceeds plus direction limit
(Z=195.000) of safe machine
position 1.
The safe guard is opened,
Z-axis is moved in the minus
direction in JOG mode, and it
exceeds minus direction limit
(Z=-50.000) of safe machine
position 1.
Result (Alarm)
SV0477
SV0495
SV0477
SV0495
SV0477
SV0495
SV0477
SV0495
Return the value of parameter, which is changed when the test is performed, to the former value.
Though the power must be turned off by generating SV477 and SV495 alarm usually, the power
need not be turned off because these can be released by reset during the test mode.
Contents of Test
Test to confirm whether the
signal output correctly when
X-axis moves over the
maximum value of the first
position switch range.
Test to confirm whether the
signal output correctly when
X-axis moves under the
minimum value of the first
position switch range.
Test signals
None
None
- 122 -
Test Method
X axis is moved in the plus
direction in JOG mode, and the
position exceeds the maximum
setting value X450.0 of the first
position switch.
X axis is moved in the minus
direction in JOG mode, and the
position goes down the
minimum setting value X0.0 of
the first position switch.
Result (Alarm)
SPS01=0
(PMC and DCSPMC)
SPS01=0
(PMC and DCSPMC)
7.START-UP
B-64483EN-2/03
No.
Contents of Test
Test to confirm whether the
signal is output correctly
when X-axis moves
between the maximum and
minimum value of the first
position switch range.
Test to confirm whether the
signal is output correctly
when X-axis moves over
the maximum value of the
second position switch
range.
Test to confirm whether the
signal is output correctly
when X-axis moves under
the minimum value of the
second position switch
range.
Test to confirm whether the
signal is output correctly
when X-axis moves
between the maximum and
minimum value of the
second position switch
range.
Test signals
Test Method
Result (Alarm)
None
SPS01=1
(PMC and DCSPMC)
None
SPS02=0
(PMC and DCSPMC)
None
SPS02=0
(PMC and DCSPMC)
None
SPS02=1
(PMC and DCSPMC)
7.3.4
About the Parameter, the Alarm, and the Signal that the
Specification Changes
The parameters, the alarms, and the signals, which need to be turned off the power usually when they are
operated but need not be turned off the power during Acceptance Test mode, are as follows.
Parameter
The following safety parameters need not to be turned off the power, because the power off alarm
(PW0000) is not generated even if the value is changed during the Acceptance Test mode (when setting it
to parameter DTS (No.13805#2)= 1').
The changed value becomes effective immediately when the parameter value is changed.
1838
Position deviation limit for each axis in moving state during safety check
1839
Position deviation limit for each axis in stopped state during safety check
1946
13918
Tolerance value for the positional deviation amount checked by the brake test
Alarm
After removing the cause of the alarm, the following alarms can be released by resetting it during
Acceptance Test mode. Therefore, it is not necessary to be turned off the power by this alarm.
Number
Message
Description
SV0474 EXCESS ERROR (STOP:SV) The Servo detected that the positional deviation during stopping exceeded
the parameter (No. 1839, No.1842) setting value.
- 123 -
7.START-UP
Number
B-64483EN-2/03
Message
Description
- 124 -
7.START-UP
B-64483EN-2/03
NOTE
Release these alarms by turning on the reset signals ERS(Gn008.6) of all paths
or pushing the reset key of MDI key, because the alarm of PW0010 to PW0014
is generated in all paths.
3
Signals
The following MCC off signals become from "1" to "0" after the alarm is generated, but during
Acceptance Test mode these signals become from "0" to "1" when the alarm is released by reset.
The power must be turned off when the low voltage alarm of the amplifier is generated, if * ESP on the
servo or spindle amplifier is not input when MCC is turned off by these MCC off signals. * ESP on the
amplifier must be turned off so as not to cause a low voltage alarm during Acceptance Test mode when
MCC is turned off.
- 125 -
8.ALARM MESSAGE
B-64483EN-2/03
ALARM MESSAGE
Alarm
When Dual Check Safety function finds out some abnormal condition in safety check and generates an
alarm, the alarm can be reset by reset operation if the abnormal condition is cleared.
However, if the problem related with the system is found and an alarm is generated when unfit condition
is found by double check function of signals or so on, alarm cannot be cancelled by a reset. In this case, to
cancel the alarms, turn off the power. After removing the cause of the alarm, turn on the power again.
Message
Description
SV0477
SV0478
SV0481
SV0484
SV0488
- 126 -
8.ALARM MESSAGE
B-64483EN-2/03
No.
Message
Description
Error for safety parameter check function is detected on n-th axis by
CNC.
Execute memory all clear according to the following procedure.
1. Refer to the "Appendix J.3 DATA TYPES TO BE CLEARED" in
the MAINTENANCE MANUAL (B-64485, B-64525, B-64575) and
confirm the data that will be cleared.
2. Output the necessary data to an external device.
3. Execute memory all clear.
4. Input the necessary data from the external device.
An error occurred in safety functions of CNC:
1. The Servo detected the inexecution of CNC safety functions.
2. A mismatch between the CNC results of the safety functions and
the Servo results of them occurred.
Replace the CPU card.
The CNC detected that the specified speed exceeded the setting
(parameter No. 13821 to 13824 in case of position control, No. 13826
to 13829 in case of velocity control) during safety monitoring (the
safety check request signal(*VLDVx) is 0).
When the guard is open, confirm a proper value is set to parameter
(No. 13821 to 13824, No. 13826 to 13829), and the operation is done
within the safety speed.
The CNC detected that the machine position is not in the safety area
(parameter No.13831 to 13838) during safety monitoring (the safety
check request signal(*VLDVx) is 0).
When the guard is open, confirm proper values is set to parameters
Nos. 13831 to 13838, and operation is done in the safety area.
The safe machine position monitoring is done for the axis whose
machine reference position is established.
The CNC detected that an error occurred during axis data transfer.
If the alarm occurs after performing axis number setting for the servo
amplifier, set parameter No.2212#4 to 1, and reset the bit to 0, and
then turn off the power to the entire system.
When a multiaxis amplifier is used, the alarm may not be cleared even
if the above operation is performed once. In this case, repeat the
operation on the axis for which the alarm persists until it is cleared.
In the other case, replace the servo amplifier where the alarm
occurred.
The CNC detected that the axis number is not set with the servo
amplifier.
Turn off the power to the entire system. Then an axis number is
automatically set.
The alarm which shut off the MCC(system common) occurred in the
dual check safety function.
The CNC detected that the positional deviation at servo off time
exceeded the parameter (No. 1840) setting value.
The Servo detected that the positional deviation at servo off time
exceeded the parameter (No. 1840) setting value.
The CNC detected that the positional deviation during moving
exceeded the parameter (No.1838, No.1841) setting value.
The CNC detected that the positional deviation during stopping
exceeded the parameter (No.1839, No.1842) setting value.
The CNC detected that the axis position exceeded the safety speed
zero monitoring width (parameter No.13844).
The Servo detected that the axis position exceeded the safety speed
zero monitoring width (parameter No.13844).
- 127 -
8.ALARM MESSAGE
-
Message
B-64483EN-2/03
Description
An error occurred in safety functions of the n-th spindle:
The CNC detected that the safely function of the n-th spindle was
not executed.
A mismatch between the CNC results of the safety functions and
the Spindle results of them occurred.
The CNC CPU detected an error on the n-th spindle during spindle
data transfer.
If this alarm is issued after the configuration of spindle amplifiers is
changed, set the spindle numbers to the spindle amplifiers (set bit 7 of
parameter No. 4541 to 1, then to 0 again, and turn the power to the
entire system off).
The CNC CPU detected that during safety monitoring (the safety
check request signal(*VLDPs) is 0), the spindle motor speed exceeds
the safety speed (parameter No. 4372, 4438, 4440, or 4442, the
safety spindle speed limit override signal SPOV1s to SPOV4s) on the
n-th spindle. Operate within the safety speed.
The CNC CPU detected error in safety parameter check function.
The CNC detected that the spindle motor position exceeded the
safety speed zero monitoring width (parameter No.4460).
Message
Description
The DCS PMC detected the error in the CPU self test function.
The PMC detected the error in the CPU self test function.
On the DCS PMC side, the I/O cross check function detected an error
in system definition safety-related I/O.
On the PMC side, the I/O cross check function detected an error in
system definition safety-related I/O.
On the DCS PMC side, the I/O cross check function detected an error
in programmable safety I/O.
On the PMC side, the I/O cross check function detected an error in
programmable safety I/O.
An error occurred in a CNC CPU test.
The CNC detected error for safety parameter check function other
than the servo axis type and the spindle axis type parameter..
The CNC detected error in RAM check function.
The CNC detected abnormal condition in the execution of CNC safety
functions.
The CNC detected the CRC check error.
Because 24 hours have passed away after Acceptance Test mode
DTS (No.13805#2=1) is selected, the setting of DTS was returned to
'0'. When the power turns off and on, Acceptance Test mode is
cancelled.
DCS PMC CPU test failed.
PMC CPU test failed.
The DCS PMC detected an error in safety parameter.
- 128 -
8.ALARM MESSAGE
B-64483EN-2/03
No.
Message
Description
The PMC detected the safety functions of the DCS PMC stopped.
The DCSPMC detected CRC check error.
The PMC detected CRC check error.
The DCS PMC detected an error in safety parameter setting.
The PMC detected an error in safety parameter setting.
The DCS PMC detected the safety functions of the PMC stopped.
DS0022
Message
DUAL CHECK SAFETY IS NOT
WORKED
Description
DS0039
A brake test did not terminate normally. For the cause of this
alarm, check the number displayed for diagnosis No. 3701.
DS0040
DS0081
An error was detected in the n axis during a brake test, and the brake
test did not terminate normally. For the cause of this alarm, check the
number displayed for diagnosis No. 3701.
Acceptance Test mode (No.13805#2) is selected in Dual Check
Safety.
Message
SP
indication
16
69
70
SP9071 SAFETY
PARAMETER
ERROR
71
Remedy
Description
- 129 -
8.ALARM MESSAGE
No.
B-64483EN-2/03
SP
indication
Message
Description
SP9072 MISMATCH
RESULT OF
MOTOR SPEED
CHECK
SP9074 CPU TEST
ERROR
72
74
75
76
SP9076 INEXECUTION
OF SAFETY
FUNCTIONS
77
SP9077 MISMATCH
RESULT OF AXIS
NUMBER CHECK
Remedy
SP9078 MISMATCH
RESULT OF
SAFETY
PARAMETER
CHECK
SP9079 INITIAL TEST
ERROR
SP9135 SAFETY SPEED
ZERO
ERROR(SP)
78
SP9136 MISMATCH
RESULT OF
SAFETY SPEED
ZERO
CHECK(SP)
SP9148 AXIS NUMBER
NOT SET
d6
79
d5
E8
Description
CRC CHECK ERROR:NC BASIC. CRC error occurs in CNC BASIC ROM. Please install CNC BASIC ROM in flash
memory again.
In case that the parameter No.10500#0 (AVM) is set to 0, the MCC off Signal (*MCFVx) of an alarm
axis is turned to 0 immediately when the alarm related to data communication or detector occurs. The
following table shows this kind of servo alarm.
Number
SV0301
Message
APC ALARM: COMMUNICATION
ERROR
Description
Since the absolute-position detector caused a communication
error, the correct machine position could not be obtained. (data
transfer error)
The absolute-position detector, cable, or servo interface module is
thought to be defective.
- 130 -
8.ALARM MESSAGE
B-64483EN-2/03
Number
SV0302
SV0303
SV0304
SV0305
SV0306
SV0307
SV0360
SV0361
SV0362
SV0363
SV0364
SV0365
SV0366
SV0367
SV0368
SV0369
SV0380
SV0381
SV0382
SV0383
SV0384
SV0385
SV0386
SV0387
SV0445
SV0448
Message
Description
- 131 -
8.ALARM MESSAGE
Number
B-64483EN-2/03
Message
SV0453
SV0460
FSSB DISCONNECT
SV0462
SV0463
SV0474
EXCESS ERROR(STOP:SV )
SV0475
EXCESS ERROR(MOVE:SV)
SV1067
FSSB:CONFIGURATION
ERROR(SOFT)
SV5134
SV5136
FSSB:NUMBER OF AMP. IS
INSUFFICIENT
SV5137
FSSB:CONFIGURATION ERROR
SV5139
FSSB : ERROR
SV5197
SV5311
FSSBILLEGAL CONNECTION
Description
Software disconnection alarm of the pulse coder.
Turn off the power to the CNC, then remove and insert the pulse
coder cable. If this alarm is issued again, replace the pulse coder.
The FSSB connection was discontinued. Or, the FSSB connection
cable was disconnected or broken.
The amplifier was turned off.
In the amplifier, the low-voltage alarm occurred.
The correct data could not be received on a slave side because of
the FSSB communication error.
The correct data could not be received in the servo software
because of the FSSB communication error.
The Servo detected that the positional deviation during stopping
exceeded the parameter (No. 1839, No.1842) setting value.
The Servo detected that the positional deviation during moving
exceeded the parameter (No. 1838, No.1841) setting value.
The FSSB configuration error occurred. (Detected in software).
Or, there is a difference in the type of connected amplifier and
FSSB setting.
In the initialization, the FSSB could not be in an open ready sate.
The servo card is thought to be defective.
The number of amplifier identified by the FSSB is insufficient than
the number of control axes. Or, the setting of the number of axes
or the amplifier connection is in error.
An FSSB configuration error occurred.
The connecting amplifier type is incompatible with the FSSB
setting value.
Servo initialization did not terminate normally.
The optical fiber cable may be defective, or there may be an error
in connection to the amplifier or another module.
Check the optical cable and the connection status.
The initialization of the FSSB was completed, but it could not be
opened. Or, the connection between the CNC and the amplifier in
is incorrect.
The current control cycles (HRV) set for FSSB lines are not the
same. Set the same current control cycle for the FSSB lines.
In case that the parameter No.10500#1 (APM) is set to 0, the MCC off Signal (*MCFPs) of an alarm
spindle is turned to 0 immediately when the alarm related to data communication or detector occurs.
The following table shows this kind of spindle alarm.
Number
SP1220
SP1225
SP1226
SP1227
SP1228
SP1229
SP1245
SP1246
Message
Description
NO SPINDLE AMP.
- 132 -
8.ALARM MESSAGE
B-64483EN-2/03
Number
SP1247
SP1976
Message
Description
SP1980
SP1981
SP1982
SP1983
SP1987
SP1977
SP1978
SP1979
SP9073
SP9081
SP9082
SP9083
Message (Servo)
No.
EXCESS ERROR(STOP:SV )
EXCESS ERROR(MOVE:SV)
ILLEGAL SPEED CMD.(SV )
ILLEGAL MACHINE POS.(SV)
ILLEGAL AXIS DATA(SV)
SAFETY PARAM ERROR(SV)
SAFETY FUNCTION ERROR(SV)
EXCESS ERROR(SERVO OFF:SV)
SAFETY SPEED ZERO ERROR (SV)
SV1072
SV1071
SV0494
SV0495
SV0496
SV0489
SV0490
SV1069
SV1073
Message (CNC)
EXCESS ERROR(STOP:CNC)
EXCESS ERROR(MOVE:CNC)
ILLEGAL SPEED CMD.(CNC)
ILLEGAL MACHINE POS.(CNC)
ILLEGAL AXIS DATA(CNC)
SAFETY PARAM ERROR(CNC)
SAFETY FUNCTION ERROR(CNC)
EXCESS ERROR(SERVO OFF:CNC)
SAFETY SPEED ZERO ERROR (CNC)
Message (Spindle)
No.
Message (CNC)
SP0757
SP0756
SP1700
SP9072
(72)
SP9076
(76)
SP0755
SP9077
(77)
SP9078
(78)
- 133 -
8.ALARM MESSAGE
No.
B-64483EN-2/03
Message (Spindle)
No.
SP9136
(d6)
SP9135
(d5)
SP1701
Message (CNC)
Dual Check Alarm by PMC CPU and CNC CPU (Power must be off)
No.
Message (PMC)
No.
PW0009
PW0011
PW0013
PW0025
PW0027
PW0029
PW0031
PW0033
PW0035
- 134 -
Message (CNC)
9.DIAGNOSIS
B-64483EN-2/03
DIAGNOSIS
The diagnosis screen for the maintenance operation of the Dual Check Safety function is displayed in the
group of [SYSTEM] screens.
The operation to select the Dual Check Safety diagnosis screen is as a follows:
(1) Press the
key.
(2) Press the continuous menu key [+] key several times then the [DUAL CHECK] soft key is
displayed.
(3) Press the [DUAL CHECK] soft key then the Dual Check Safety diagnosis screen is displayed.
The state of MCC OFF TEST, the state of signals in case that the alarm related to safety occurs and the
cause of alarm is displayed on the Dual Check Safety diagnosis screen.
9.1
By pressing [MCC TEST] soft key, the following MCC OFF TEST STATUS screen is displayed.
- 135 -
9.DIAGNOSIS
B-64483EN-2/03
9.2
When bit 1 (DNP) of parameter No. 10597 is set to 1, the address and path number of the PMC are
displayed as shown below.
- 136 -
9.DIAGNOSIS
B-64483EN-2/03
Example) When parameter No. 11920 (I/O address of CNC-PMC interface 1) is set to 201
(F1000 to F1767/G1000 to G1767 of the 2nd PMC assigned)
When bit 2 (SDS) of parameter No. 10597 is set to 1, under each address, the relevant signal name is
displayed as shown below.
- 137 -
9.DIAGNOSIS
B-64483EN-2/03
The status of the following signals can be checked in the [DI SIGNALS] screen.
PMC
DCSPMC
X0008
G0748
G0750
G0751
G0752
G0753
G0754
G0755
G0756
G0757
G0008
X0008
G0000
G0002
G0003
G0004
G0005
G0006
G0007
G0008
G0009
G0019
Signal name
#4 : *ESP1; #0 : *ESP2; #1 : *ESP3
#6 : *SMC
#0-#7: *VLDVx
#0-#3: *VLDPs
#0-#7: SVAx
#0-#7: SVBx
#1-#3: SPAs;
#4-#7: SPBs
#0-#7: ZSVx
#0-#3: SPOV11- SPOV 41; #4-#7: SPOV12- SPOV 42
#0-#3: SPOV13- SPOV 43; #4-#7: SPOV14- SPOV 44
#4 : *ESP
- 138 -
9.DIAGNOSIS
B-64483EN-2/03
When bit 2 (SDS) of parameter No. 10597 is set to 1, under each address, the relevant signal name is
displayed as shown below.
- 139 -
9.DIAGNOSIS
B-64483EN-2/03
The status of the following signals can be checked in the [DO SIGNALS] screen.
PMC
DCSPMC
F0748
F0750
F0751
F0752
F0753
F0754
F0755
F0756
F0757
F0758
F0759
F0000
F0002
F0003
F0004
F0005
F0006
F0007
F0008
F0009
F0010
F0011
Signal name
#1 : *MCF;
#7: *DCALM
#0-#7: SRVx
#0-#3: RSPs
#0-#7: *MCFVx
#0-#3: *MCFPs
#0-#7: *BRKx
#0-#7: SPS01-SPS08
#0-#7: SPS09-SPS16
#0-#7: SPS17-SPS24
#0-#7: SPS25-SPS32
#0-#7: RZVx
- 140 -
9.DIAGNOSIS
B-64483EN-2/03
Cross check data about the following items for the spindle CPU and CNC CPU is displayed.
When no alarm is detected in a cross check, the results of the current check are indicated. When an
alarm is detected in a cross check, the held data is indicated upon detection.
Bit (symbol)
N
O
P
Description
Set to "1" when a safety parameter failure is detected.
Set to "1" when an axis data failure is detected.
Set to "1" when the speed exceeds "Safety Limit Speed for each Spindle" set by the parameter.
- 141 -
9.DIAGNOSIS
B-64483EN-2/03
Cross check data about the following items for the servo CPU and CNC CPU is displayed.
When no alarm is detected in a cross check, the results of the current check are indicated. When an
alarm is detected in a cross check, the held data is indicated upon detection.
Bit (symbol)
J
K
L
M
N
Description
Set to "1" when the amount of positional deviation exceeds "Positional Deviation Limit during
Safety Monitoring" set by the parameter.
Set to "1" when the speed exceeds "Safety Limit Speed for each Axis" set by the parameter.
Set to "1" when the machine position falls outside the range of "Safety Machine Position for
each Axis" set by the parameter.
Set to "1" when an axis data failure is detected.
Set to "1" when a safety parameter failure is detected.
- 142 -
9.DIAGNOSIS
B-64483EN-2/03
9.3
The [BRAKE TEST] screen shows the remaining time of a brake test.
And press the [BRAKE TEST] soft key. The screen shown below appears.
9.4
- 143 -
9.DIAGNOSIS
B-64483EN-2/03
If each safety function works normally, the present value shows the same value as the default.
9.5
The feed limit monitoring screen shows data related to the safety limitation feed of the Dual Check Safety
function.
(1) SERVO
The data that are related to the safety limitation feed of the servo and the Dual Check Safety function
are displayed.
Press the [FEED LMT.] soft key. The screen shown below appears.
The following items (a) to (d) are displayed for every servo axis.
(a) MNT.
0:Not Monitoring / 1:Monitoring
- 144 -
9.DIAGNOSIS
B-64483EN-2/03
When bit 0 (IDD) of parameter No. 10597 is set to 1, the following screen appears.
The following items (a) to (f) are displayed for every servo axis.
(a) MNT.
OFF: Not Monitoring / ON: Monitoring
(b) ZERO MNT The state of the safety speed zero monitoring request signal (SVZRx) is displayed.
OFF:Not Monitoring / ON:Monitoring
(c) FEED
Safety limitation feed 1 to 4 that is selected is displayed.
(d) FEED LMT. In the safety limitation feed 1 to 4 (Set by the parameters Nos.13821 to 13824
(in position control) and 13826 to 13829 (in velocity control)), the safety limit
feed that is selected by the Safety speed/Safety Position Selection signal
A,B(SVAx,SVBx) is displayed
(e) UNIT
Unit of feed (Position control: mm/min, inch/min, deg/min), (Velocity control:
min-1)
(f) ACT. FEED Current actual feed rate (NC side and Servo side)
(g) FEED LV (ALM)
Safety limitation feed level 1 to 4 that was selected when a Dual Check Safety
alarm occurred is displayed. 0 is displayed when no alarm occurs.
(2) SPINDLE
The data that are related to the safety limitation feed of the spindle and the Dual Check Safety
function are displayed.
Press the [PAGE DOWN] key, the screen of the Safety limitation feed of the spindle shown below
appears.
- 145 -
9.DIAGNOSIS
B-64483EN-2/03
The following items (a) to (d) are displayed for every spindle axis.
(a) MNT.
0:Not Monitoring / 1:Monitoring
(b) FEED LMT. In the Safety feed limit 1 to 4 (Set by the parameter No.4372, 4438, 4440, and
4442), the safety limit feed that is selected by the Safety speed/Safety Position
Selection signal A,B (SPAx, SPBx) is displayed.
(c) UNIT
Unit of the feed (min-1)
(d) ACT. FEED Current actual feed rate (NC side and Spindle side)
When bit 0 (IDD) of parameter No. 10597 is set to 1, the following screen appears.
The following items (a) to (f) are displayed for every spindle axis.
(a) MNT.
OFF: Not Monitoring / ON: Monitoring
(b) ZERO MNT The state of the safety speed zero monitoring request signal (SPZRx) is
displayed.
OFF:Not Monitoring / ON:Monitoring
(c) FEED
Safety limitation feed 1 to 4 that is selected is displayed.
- 146 -
9.DIAGNOSIS
B-64483EN-2/03
In the Safety feed limit 1 to 4 (Set by the parameters Nos.4372, 4438, 4440 and
4442), the safety limit feed that is selected by the Safety speed/Safety Position
Selection signal A,B (SPAx, SPBx) is displayed.
(e) UNIT
Unit of the feed (min-1)
(f) ACT. FEED Current actual feed rate (NC side and Spindle side)
(g) FEED LV (ALM)
Safety limitation feed level 1 to 4 that was selected when a Dual Check Safety
alarm occurred is displayed. 0 is displayed when no alarm occurs.
9.6
The data that are related to the safe machine positioning monitoring of the Dual Check Safety function are
displayed.
MCHN.
Press the POS. soft key, The screen shown below appears.
The following items (a) to (c) are displayed for every servo axis.
(a) MNT.
0:Not Monitoring / 1:Monitoring/-: The reference position is not established
(b) RANGE
In the safety machine position 1 to 4 (Set by the parameter No.13830 to 13838), the
maximum limit and minimum limit of the safety machine position that are
selected by the Safety speed/Safety Position Selection signal A,B (SVAx, SVBx)
are displayed
(c) MCHN. POS. Current machine position (NC side and Spindle side)
9.7
The data that are related to the safety position error monitoring of the Dual Check Safety function are
displayed.
Press the [POS. ERR.] soft key, The screen shown below appears.
- 147 -
9.DIAGNOSIS
B-64483EN-2/03
The following items (a) to (c) are displayed for every servo axis.
(a) MNT.
0:Not Monitoring / 1:Monitoring/-: The reference position is not established
(b) LIMIT
In the safety positioning error, the limit values corresponding to the current state
(Stopping/Moving/Servo off) are displayed
(c) POS. ERR. Current positioning error (NC side and Servo side)
9.8
DIAGNOSIS SCREEN
In addition to the diagnosis screen used for the maintenance of the Dual Check Safety function, the
ordinary diagnosis screen shows items related to the Dual Check Safety function.
Diagnosis 379
9.DIAGNOSIS
B-64483EN-2/03
11 : Test 1: Moving
12 : Test 1: Positional deviation check
13 : Test 1: Reverse moving
14 : Test 1: Brake deactivated. Waiting for the timer to expire.
20 : Test 2: Brake activated. Waiting for the timer to expire.
21 : Test 2: Moving
22 : Test 2: Positional deviation check
23 : Test 2: Reverse moving
24 : Test 2: Brake deactivated. Waiting for the timer to expire.
30 : Test 3: Brake activated. Waiting for the timer to expire.
31 : Test 3: Moving
32 : Test 3: Positional deviation check
33 : Test 3: Reverse moving
34 : Test 3: Brake deactivated.
2 : Torque limit released
128 : Normal termination
See Fig. 9.8 (a) Relationship between the brake test timing chart and sequence numbers.
Next test
Current test
Torque limit
Enable
Disable
*BRKx(PMC,
DCSPMC)
0
Command
Command
(POS)
t1
No command
t1
Command
(travel
amount/feedrate)
Cancel
command
Command -
Monitored
Error monitoring
Not monitored
Test 1
t2
10
11
12
13
14
Test 2
20
21
22
23
24
Test 3
30
31
32
33
34
128
Fig. 9.8 (a) Relationship between the brake test timing chart and sequence numbers
Diagnosis 3701
9.DIAGNOSIS
B-64483EN-2/03
3:
4:
5:
6:
7:
8:
9:
10 :
20 :
21 :
22 :
23 :
24 :
25 :
The system was not in the JOG mode at the start of a brake test.
The tool was moving along an axis at the start of a brake test.
The manual numeric command was being executed at the start of a brake test.
The system was in the servo off or emergency stop state at the start of a brake test.
The system was in the reset state at the start of a brake test.
Torque limit control was applied at the start or a brake test.
The system was in the torque or feed control mode at the start of a brake test.
The system was in the automatic operation mode at the start of a brake test.
The local motor was stopped due to an alarm detected by a positional deviation
check in a brake test (the brake of the local motor is faulty).
The V-READY or D-READY signal of the amplifier was turned off during a brake
test of the local motor.
The local motor was stopped due to the reset mode change during a brake test
(restart operation is required).
The local motor was stopped in a brake test due to an alarm other than the above.
The system entered the torque or feed control mode during a brake test of the local
motor.
A brake test of the local motor was interrupted due to emergency stop.
#7
Diagnosis
#0
#6
#5
#4
#3
#2
3703
#1
#0
ATE
Diagnosis
3704
- 150 -
B-64483EN-2/03
10
10.1
SAMPLE CONFIGURATION
10.1.1
PMC
CNC
RQT
OPT_P
OPERATORS PANEL
OPT
ORQ_P
ORQ
ESP
*ESP1
*ESP_X
*ESPG
+24V
DOOR
STATUS
(*SGOPN)
*VLDVx
*VLDPs
*OPIHB
RSVx
RSPs
DOORL
OCK
*DCALM
*MCF
*MCFVx
*MCFPs
MCC
OFF
MCC
STATUS
*SMC
I/O UNIT
(DCS PMC
side)
DCS PMC
*ESP2
DOOR
STATUS
MCC
STATUS
*SGOPN
*VLDVx
*VLDPs
*SMC
+24V
*DCALM
*MCF
*MCFVx
*MCFPs
MCC
OFF
0V
U
Common
power
supply
Spindle
amplifier
Servo
amplifier
24V
200A
200B
U
V
W
LINE CONTACTOR
(MAIN MCC)
SPINDLE
Motor
- 151 -
Servo
Motor
Servo
Motor
10.1.2
B-64483EN-2/03
PMC
CNC
RQT
+24V
OPERATORS PANEL
ESP
OPT_P
OPT
ORQ
ORQ_P
*ESP1
*ESP_X
*ESPG
+24V
DOOR
STATUS
(*SGOPN)
*VLDVx
*VLDPs
*OPIHB
RSVx
RSPs
DOORL
OCK
*DCALM
*MCF
*MCFVx
*MCFPs
*DCALM
*MCF
*MCFVx2
*MCFPs2
MCC
OFF1A
MCC
OFF2A
MCC
STATUS
*SMC
I/O UNIT
(DCS PMC
side)
DCS PMC
*ESP2
DOOR
STATUS
MCC
STATUS
MCC
OFF1B
*SGOPN
*VLDVx
*VLDPs
*SMC
+24V
*DCALM
*MCF
*MCFVx1
*MCFPs1
*DCALM
*MCF
*MCFVx2
*MCFPs2
0V
Common power
supply
24V
Spindle
amplifier
Servo
amplifier
Common power
supply
24V
Spindle
amplifier
Servo
amplifier
200A
200B
U
V
W
LINE CONTACTOR
(MAIN MCC)
200A
200B
U
LINE CONTACTOR
(MAIN MCC)
V
W
- 152 -
B-64483EN-2/03
10.2
SAMPLE CONNECTIONS
10.2.1
+24V
I/O-Link (DCS
PMC side)
*ESP
<X008.4>
0V
PSM
CX4
ESP
NOTE
Use a two-contact emergency stop button with a forced guided contact mechanism. Connect the
emergency stop button to the PSM(common power supply), as illustrated in the figure. When the signal is
input, the spindle slows down and stops. Input a power-down factor to [G008#4] other than the signal
from the emergency stop button. Create a Ladder program so that [X008#4] becomes a factor of
[G008#4].
Machine side
PMC
Emergency
stop factor
Emergency
stop button
X008.4
X00n.n
Ladder
program
*ESPG
<G008.4>
IMPORTANT
Emergency stop button must fulfill the Standard IEC60947-5-1.This is
mandatory.
- 153 -
10.2.2
B-64483EN-2/03
Guard
open
request button
Ladder program
ORQ
NOTE
Create a Ladder program of conditions for making a guard open request and then input the program to the
PMC side.
When the guard open request signal (ORQ) is input, CNC will output the *OPNIHB signal. After the
ladder program confirms the safety status, the signal for the guard unlock enable signal should be
outputted by the ladder program. Also, the ladder program should inform the status of guard open by the
*VLDVx and *VLDPs signals.
If the input of ORQ is canceled while the guard is open, the ladder program should enter a safely stopped
status (state in which the guard is open although the guard open request signal is not input). Close the
guard (*VLDVx and *VLDPs are set to 1), then cancel this signal.
10.2.3
+24V
X00n.n
Ladder program
OPT
NOTE
When all the conditions for the MCC off test become ready, this signal (OPT) should be set to 1.
- 154 -
B-64483EN-2/03
10.2.4
PERATING PRINCIPLE
+24V
Guard closed
SW1
SW2
Safety relay
Guard-monitoring
limit switch
RY1
SW3
RY1
RY3
RY2
RY2
RY3
0V
RY1
RY2
RY3
0V
0V
PMC
I/O UNIT
X00n.n
(Guard state
*SGOPN)
SW1/SW2:
Guard state monitoring
switch with forced guided
Ladder
program
*OPIHB
Y00n.n
contact
RSVx
RSPs
(Guard Lock)
SW3:
*VLDVx
*VLDPs
I/O UNIT
Safety relay
X00m.n
(Guard state
*SGOPN)
Y00n.n
(Guard Lock)
- 155 -
DCS PMC
Ladder
program
*VLDVx
*VLDPs
RSVx
RSPs
B-64483EN-2/03
This section describes the operation of various guard monitoring limit switches with lock mechanism and
safety relays.
State transition of components
SW1
SW2
SW3
RY1
RY2
RY3
*SGOPN
(*VLDVx,
*VLDPs)
Guard closed
Protection door locked
CLOSE
CLOSE
CLOSE
ON
ON
OFF
Guard closed
Protection door unlocked
CLOSE
CLOSE
OPEN
OFF
ON
OFF
Guard opened
Protection door unlocked
OPEN
OPEN
OPEN
OFF
OFF
ON
Guard opened
Protection door locked
OPEN
OPEN
CLOSE
OFF
OFF
ON
Guard closed
Protection door locked
CLOSE
CLOSE
CLOSE
ON
ON
OFF
NOTE
The VLDVx and VLDPs signals monitor the state of the protective door and their
states affect the Dual Check Safety function.
The illustrated sample system determines that the protection door is open (sets
*VLDVx and *VLDPs to 0) when the guard is unlocked.
When the guard open request signal (ORQ) is accepted, CNC will negate the
guard open inhibit signal (*OPIHB).
Machine tool builder can create the signal to release the guard-lock by his ladder
program, when the following conditions are met.
*OPIHB=1, RSVx and RSPs to be refered=1 and the safety conditions of the
machine
The safety monitor signals (RSVx and RSPs) are redundant output signals. Each
set of RSVx and RSPs monitors the speed or other data items with a separate
circuit. Therefore, a temporary mismatch may occur between both sets when, for
example, one set of RSVx and RSPs has been shifted to the safe state, while
the other set is not yet shifted to the safe state (for example, situations where the
spindle is in a deceleration state).
In such a case, if a circuit that releases a guard lock based on the state of one
set of RSVx and RSPs is created, an alarm such as speed limit monitoring may
occur depending on the state of the other set of RSVx and RSPs. To prevent
this, create a circuit that releases a guard lock when both sets of RSVx and
RSPs have shifted to the safe state as shown by (NOTE) in the figure or a circuit
that releases a guard lock after a while from when RSVx and RSPs shift to the
safe state.
When using a guard lock switch of two-contact type, the safety relay can be
omitted as shown in the following figure.
- 156 -
B-64483EN-2/03
Example of connection when both the guard state monitoring switch and the guard lock switch are of
two-contact type.
+24V
SW2
Guard monitoring
limit switch
SW3
SW4
0V
0V
(Note)
PMC
I/O UNIT
X00n.n
Guard open
state (*SGOPN)
Ladder
program
*OPIHB
Y00n.n
RSVx
RSPs
Guard lock
I/O UNIT
X00m.n
Guard open
state (*SGOPN)
Y00n.n
Guard lock
- 157 -
*VLDVx
*VLDPs
DCS PMC
Ladder
program
*VLDVx
*VLDPs
RSVx
RSPs
10.2.5
B-64483EN-2/03
I/O UNIT
+24V
X00n.n
Y00n.n
PMC
*SMC
*MCF
*MCFVx, *MCFPs
*DCALM
0V
I/O UNIT
X00n.n
Y00n.n
0V
DCS PMC
*SMC
*MCF
*MCFVx, *MCFPs
*DCALM
Common Power
Supply
200A
200B
CX3
MCC
U
V
W
Electromagnetic contactor (MAIN MCC)
NOTE
Only in case that all the signals (*MCF, *MCFVx, *MCFPs, *DCALM) of the PMC
side are 1, the signal which turns on the MCC should be asserted by the ladder
program. Also in the DCS PMC side, similar logic should be made.
Also connect the MCC control signal to common power supply (PSM), as
illustrated in the figure. If an error occurs in the common power supply, the
common power supply turns off the MCC.
Any equipment should not be connected on the 3- phase AC line between the
MAIN MCC and common power supply.
CAUTION
The MCC shall have the mechanism such as a mirror contact that can monitor
the state of the main contact by mechanically linked auxiliary contacts.
- 158 -
B-64483EN-2/03
10.3
EXAMPLE OF APPLICATION
10.3.1
The Dual Check Safety function allows the spindle to rotate at a safe speed by the safe reduced speed
check function even when the protective door is open.
In some cases, the operator rotates the spindle manually by entering the emergency stop state to interrupt
excitation of the spindle with the protective door open. Generally, the safe speed limit with the protective
door open is set to a much lower value. Therefore, if the spindle is rotated manually, the rotation speed
may exceed the safe speed limit. To prevent a safe reduced speed check alarm from occurring even in the
case above, it is necessary to create a ladder program that implements the following circuitry.
(1) Method by the Safety Check Request signal (*VLDPs)
When the MCC is placed in the off state (*SMC = 1) in the emergency stop state, a safety
monitoring alarm can be disabled by setting *VLDPs to "1" even if the protective door is open.
(2) Method by the safe speed limit/safe machine position selection signals (SPAs and SPBs)
Switching between SPAs and SPBs is made depending on whether the MCC is placed in the off state
(*SMC = 1) in the emergency stop state.
As the safe speed setting (parameter) selected when the MCC is placed in the off state in the
emergency stop state (*SMC = 1), select a value that does not cause a safety monitoring alarm to
occur even when the operator rotates the spindle manually.
- 159 -
B-64483EN-2/03
11
11.1
OVERVIEW
The dual check safety function becomes easier to use when combined with various other functions. This
section describes the functions.
Part of the section assumes the use of the dual check safety function. Therefore, if the function is not used,
the specifications described in the chapter may differ.
Since only a summary is provided for each function, refer to the Connection Manual (Function) or other
documents for detailed specifications.
Section 11.2 describes combination with external deceleration, Section 11.3 describes combination with
spindle output control by the PMC, Section 11.4 describes combination with spindle positioning, Section
11.5 describes combination with Cs contour control, Section 11.6 describes combination with spindle
orientation, and Section 11.7 describes controlled axis detach.
11.2
EXTERNAL DECELERATION
11.2.1
Overview
The dual check safety function uses the CNC CPU and servo DSP to separately monitor the speed of the
feed axis (safe reduced speed check function). When the safe speed is exceeded by some axes with the
protective door closed after a guard open request is input (RSVx = 0), the protective door needs to be
locked by the ladder program to prevent it from opening. When the safe speed is exceeded in some axes
with the protective door open (*VLDVx = 0), an alarm SV0476 or SV0494 occurs to stop the servo
motor.
The external deceleration function decelerates the speed of the feed axis to the external deceleration speed
specified in the parameter by inputting the external deceleration signal. A maximum of five external
deceleration speeds can be set.
The dual check safety function and external deceleration function can be used to construct a machine that
operates as shown below.
Automatically reduces the speed of the feed axis to the safe speed or lower after a guard open
request is input to allow the guard to open.
Prevents an alarm by the safe speed limit monitoring function from occurring by limiting the speed
of the feed axis to the safe speed limit or less with the protective door open.
The external deceleration function is optional.
For speed control of the spindle, see Section 11.3, "SPINDLE OUTPUT CONTROL BY THE PMC."
- 160 -
B-64483EN-2/03
11.2.2
Specifications
Signal
External
deceleration signal
1
2
3
4
5
Gn118, Gn120
Gn101, Gn103
Gn107, Gn109
Gn341, Gn342
Gn343, Gn344
Parameter
Valid/Invalid
External deceleration speed
Positive direction Negative direction Cutting feed Rapid traverse
No.1005#4(*1)
No.1005#5(*1)
No.1406#0
No.1406#1
No.12750#0
No.12750#1
No.1426
No.1440
No.1443
No.12751
No.12754
No.1427
No.1441
No.1444
No.12752
No.12755
(*1) Only when external deceleration is enabled in cutting feed, bits 4 and 5 of parameter No. 1005 must
be set to 1. (In rapid traverse, external deceleration is enabled regardless of this setting.)
In manual handle feed, the relationships between external deceleration settings, external signals, and
parameters are shown in the table below.
Settings
External deceleration
signal
Signal
Manual handle feed maximum
speed switching signal
1
2
3
4
5
- (*2)
Gn101, Gn103
Gn107, Gn109
Gn341, Gn342
Gn343, Gn344
Gn023.3
Gn023.3(*3)
Gn023.3(*3)
Gn023.3(*3)
Gn023.3(*3)
Parameter
External
Valid/Invalid
deceleration speed
No.1406#0
No.1406#1
No.12750#0
No.12750#1
No.1434
No.1442
No.1445
No.12753
No.12756
(*2) The external deceleration signal <Gn118, Gn120> of external deceleration setting 1 has no effect on
the maximum speed of manual handle feed.
(*3) To enable external deceleration settings 2, 3, 4, and 5 during manual handle feed, the operation of
<Gn023.3> and both <Gn101> and <Gn103> (or <Gn107>, <Gn109>, <Gn341>, <Gn342>,
<Gn343>, <Gn344>) is necessary.
- 161 -
11.2.3
B-64483EN-2/03
Signals
+:
-:
1:
2:
3:
4:
5:
1:
2:
3:
:
[Operation] When this signal is 0, the feedrate of the corresponding axis in the corresponding
direction is decreased to the corresponding speed.
In manual handle feed, however, when the external deceleration signal in either the
positive direction or the negative direction is 0, external decelerations in both directions
are enabled (it is impossible to select one direction). The external deceleration signal
<Gn118, Gn120> of external deceleration setting 1 has no effect on the maximum speed
of manual handle feed.
- 162 -
B-64483EN-2/03
#6
#5
#4
Gn023
#3
#2
#1
#0
HNDLF
#7
#6
#5
#4
#3
#2
#1
#0
Gn101
*+ED28
*+ED27
*+ED26
*+ED25
*+ED24
*+ED23
*+ED22
*+ED21
Gn103
*-ED28
*-ED27
*-ED26
*-ED25
*-ED24
*-ED23
*-ED22
*-ED21
#7
#6
#5
#4
#3
#2
#1
#0
Gn107
*+ED38
*+ED37
*+ED36
*+ED35
*+ED34
*+ED33
*+ED32
*+ED31
Gn109
*-ED38
*-ED37
*-ED36
*-ED35
*-ED34
*-ED33
*-ED32
*-ED31
#7
#6
#5
#4
#3
#2
#1
#0
Gn118
*+ED8
*+ED7
*+ED6
*+ED5
*+ED4
*+ED3
*+ED2
*+ED1
Gn120
*-ED8
*-ED7
*-ED6
*-ED5
*-ED4
*-ED3
*-ED2
*-ED1
#7
#6
#5
#4
#3
#2
#1
#0
Gn341
*+ED48
*+ED47
*+ED46
*+ED45
*+ED44
*+ED43
*+ED42
*+ED41
Gn342
*-ED48
*-ED47
*-ED46
*-ED45
*-ED44
*-ED43
*-ED42
*-ED41
#7
#6
#5
#4
#3
#2
#1
#0
Gn343
*+ED58
*+ED57
*+ED56
*+ED55
*+ED54
*+ED53
*+ED52
*+ED51
Gn344
*-ED58
*-ED57
*-ED56
*-ED55
*-ED54
*-ED53
*-ED52
*-ED51
#5
EDMx
#4
EDPx
#3
#2
#1
#0
11.2.4
Parameters
#7
#6
1005
CAUTION
In rapid traverse and manual handle feed, external deceleration is
enabled regardless of the settings of bits 4 (EDPx) and 5 (EDMx) of
parameter No. 1005.
#7
1405
#6
#5
EDR
#4
#3
#2
#1
#0
#6
#5
B-64483EN-2/03
#4
#3
#2
#1
EX3
#0
EX2
#3
#2
#1
EX5
#0
EX4
1406
#6
#5
#4
12750
1440
1443
12751
12754
Unit of data
1 mm/min
1deg/min
1 inch/min
Set the external deceleration rate in cutting feed or linear type positioning (G00).
1427
1441
1444
12752
12755
B-64483EN-2/03
[Valid data range] For the IS-B setting unit, the valid data range is as shown below. For other setting units,
see the standard parameter setting table (C).
Increment system
Millimeter machine
Rotary axis
Inch machine
Unit of data
1 mm/min
1deg/min
1 inch/min
0.000 to +999000.000
0.0000 to +9600.0000
1442
1445
12753
12756
Unit of data
1 mm/min
1deg/min
1 inch/min
0.000 to +999000.000
0.0000 to +9600.0000
11.3
11.3.1
Overview
The dual check safety function uses the CNC CPU and spindle DSP to separately monitor the spindle
speed (safe reduced speed check function). When the safe speed is exceeded by some axes with the guard
closed after a guard open request is input (RSPs = 0), the protective door needs to be locked by the
ladder program to prevent it from opening. When the safe speed is exceeded by some axes with the guard
open (*VLDPs = 0), spindle alarm 757 or 9069 occurs to stop the spindle (in the free running or
controlled stop state).
Spindle output control by PMC is a function of controlling the speed and polarity of spindle motor
rotation of each spindle by using the PMC.
The dual check safety function and spindle output control by PMC can be used to construct a machine
that operates as shown below.
Automatically reduces the speed of the spindle motor to the safe speed or lower after a guard open
request is input to allow the guard to open.
Prevents an alarm by the safe speed limit monitoring function from occurring by limiting the speed
of the spindle motor to the safe speed limit or less with the guard open.
For speed control of the feed axis, see Section 11.2, "EXTERNAL DECELERATION."
- 165 -
11.3.2
B-64483EN-2/03
Specifications
Switching control
Spindle output control function by the PMC can be used to specify the following:
Switching the controller from the CNC or PMC, by issuing SINDx signal
Setting the spindle motor speed data, calculated by the PMC, in spindle control signals R01Ix to
R12Ix
When controlled by the PMC, the spindle motor speed is not affected by any signal (for example, the
spindle speed override signal) or parameter settings (for example, the maximum speed clamp parameter)
related to the spindle speed command of the CNC spindle control function. However, the individual
spindle stop signals (*SSTPx <Gn027.3,4,5,Gn026.6>) during use of multi-spindle control are enabled.
The spindle motor speed data is obtained from the following expression. Its value can range from 0 to
4095:
Spindle motor speed data = (Spindle motor speed/Maximum spindle motor speed)4095
Normally, the speed of the spindle is actually controlled. If a gear train is used to connect the spindle to
the spindle motor, first obtain the maximum spindle speed at the maximum spindle motor speed.
Spindle motor speed data = (Spindle speed/Maximum spindle speed)4095
By using this expression, the spindle motor speed data can easily be obtained.
Switching the controller from the CNC or PMC, by issuing an SSINx signal
11.3.3
Signals
- 166 -
B-64483EN-2/03
#6
#5
#4
#3
#2
#1
#0
Gn032
R08I
R07I
R06I
R05I
R04I
R03I
R02I
R01I
Gn033
SIND
SSIN
SGN
R12I
R11I
R10I
R09I
#7
#6
#5
#4
#3
#2
#1
#0
Gn034
R08I2
R07I2
R06I2
R05I2
R04I2
R03I2
R02I2
R01I2
Gn035
SIND2
SSIN2
SGN2
R12I2
R11I2
R10I2
R09I2
#7
#6
#5
#4
#3
#2
#1
#0
Gn036
R08I3
R07I3
R06I3
R05I3
R04I3
R03I3
R02I3
R01I3
Gn037
SIND3
SSIN3
SGN3
R12I3
R11I3
R10I3
R09I3
#7
#6
#5
#4
#3
#2
#1
#0
Gn272
R08I4
R07I4
R06I4
R05I4
R04I4
R03I4
R02I4
R01I4
Gn273
SIND4
SSIN4
SGN4
R12I4
R11I4
R10I4
R09I4
- 167 -
11.3.4
B-64483EN-2/03
Parameters
#7
#6
#5
#4
3709
#3
#2
MSI
#1
#0
11.4
SPINDLE POSITIONING
11.4.1
Overview
The dual check safety function uses the CNC CPU and spindle DSP to separately monitor the spindle
speed (safe reduced speed check function). When monitoring the stop state of the spindle with the safe
reduced speed check function, set the safe speed parameter to a non-zero value by considering a margin
according to the machine. This is because the actual speed cannot be assumed to be 0. In this case, the
spindle may rotate at a speed less than the set safe speed, so it is necessary to position the spindle by
forming a position control loop at the same time.
The spindle positioning function positions the spindle with the spindle motor and position coder or the
like.
The spindle positioning function is optional, which cannot be used together with the Cs contour control
function. When options of both functions are specified, the spindle positioning function is given a higher
priority.
11.4.2
Specifications
Spindle positioning
Spindle positioning is performed as follows.
Cancel the spindle rotation mode, which is used for turning with the spindle rotating, and enter the
spindle positioning mode.
Cancel the spindle positioning mode and enter the spindle rotation mode.
B-64483EN-2/03
Positioning command
There are two types of spindle positioning: semi-fixed angle positioning and optional angle positioning.
Indexing angle
(Example) y=30deg
Mx
M(x+1)
M(x+2)
M(x+3)
M(x+4)
M(x+5)
:
M(x+n-1)
y
2y
3y
4y
5y
6y
:
ny
30 deg
60 deg
90 deg
120 deg
150 deg
180 deg
- 169 -
11.4.3
B-64483EN-2/03
Signals
- 170 -
B-64483EN-2/03
#3
#2
#1
Gn400
*SUCPFD
*SUCPFC
*SUCPFB
Gn401
*SCPFD
*SCPFC
*SCPFB
Gn402
SPSTPD
SPSTPC
SPSTPB
#3
#2
Gn028
#6
#5
#4
SPSTPA
*SCPFA
*SUCPFA
#7
#6
#5
#4
Fn038
Fn094
ZP7
ZP6
ZP5
#1
#0
SUCLPA
SCLPA
ZP1
ZP4
ZP3
ZP2
Fn400
SUCLPD
SUCLPC
SUCLPB
Fn401
SCLPD
SCLPC
SCLPB
#3
ISEx
#2
ISDx
#1
ISCx
11.4.4
ZP8
#0
Parameters
#7
#6
#5
#4
1013
#0
ISAx
B-64483EN-2/03
This parameter sets the relationships between the individual axes and the servo axis
numbers.
For an axis to be subject to spindle positioning, set the number of the spindle to be subject
to spindle positioning preceded by a minus sign.
1260
[Input type]
[Data type]
[Unit of data]
[Min. unit of data]
[Valid data range]
Parameter input
Real axis
Degree
Depend on the increment system of the applied axis
0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table
(B))
For the rotation axis, set the amount of movement for one turn.
For the spindle positioning axis, set 360.0.
1820
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte axis
[Valid data range] 1 to 96
Set a value of 2 targeted for spindle positioning.
1821
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
3720
Parameter input
2-word axis
Detection unit
0 to 999999999
Set a value of 10000 targeted for spindle positioning.
Number of position coder pulses
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word spindle
Detection unit
1 to 32767
Set the number of position coder pulses.
For spindle positioning, set 4096.
- 172 -
B-64483EN-2/03
3721
#6
#5
#4
RETSV
#3
#2
#1
4045
Integral gain of the velocity loop in the servo mode (HIGH gear)
4053
Integral gain of the velocity loop in the servo mode (LOW gear)
4057
4058
4059
- 173 -
#0
B-64483EN-2/03
4065
4066
4067
4068
#7
#6
#5
IMBs
ESIs
TRVs
#4
#3
#2
#1
#0
ISZs
IDMs
IORs
#1
IDMs The direction of spindle positioning (half-fixed angle positioning based on M codes) is:
0: Plus direction.
1: Minus direction.
#2
#5
ISZs When an M code for switching to the spindle positioning mode is specified for spindle
positioning:
0: The spindle is switched to the spindle positioning mode, and spindle orientation
operation is performed.
1: Only the switching of the spindle to the spindle positioning mode is performed.
(Spindle orientation operation is not performed.)
TRVs The rotation direction for spindle positioning is:
0: Same as the specified sign.
1: Opposite to the specified sign.
NOTE
When a serial spindle is used, this parameter is invalid for the
specification of a rotation direction for the orientation command.
- 174 -
B-64483EN-2/03
#6
#7
4960
ESIs The unit of rapid traverse rate on the spindle positioning axis is:
0: Not increased by a factor of 10.
1: Increased by a factor of 10.
IMBs When the spindle positioning function is used, half-fixed angle positioning based on M
codes uses:
0: Specification A
1: Specification B
In the case of half-fixed angle positioning based on M codes, three types of spindle
positioning operations can occur:
(1) The spindle rotation mode is cleared, then the mode is switched to the spindle
positioning mode. (After switching to the spindle positioning mode, spindle
orientation operation is also performed.)
(2) Spindle positioning is performed in the spindle positioning mode.
(3) The spindle positioning mode is cleared, then the mode is switched to the spindle
rotation mode.
- 175 -
B-64483EN-2/03
When this parameter is set to x, six M codes from Mx to M(x+5) are used. If the number
of M codes is specified by parameter No. 4964, as many M codes starting from Mx as the
number specified in that parameter are used. When the basic rotation angle (parameter No.
4963) is y, the number of M codes (parameter No. 4964) is n, the relationship between
the M code and the positioning angle is shown in the table below.
M code
Positioning angle
(Example) y=30deg
Mx
M(x+1)
M(x+2)
M(x+3)
M(x+4)
M(x+5)
:
M(x+n-1)
y
2y
3y
4y
5y
6y
:
ny
30 deg
60 deg
90 deg
120 deg
150 deg
180 deg
CAUTION
Set this parameter even when the semi-fixed angle spindle
positioning command is not executed. Otherwise, the M codes from
M00 to M05 do not function normally.
4963
[Input type]
[Data type]
[Unit of data]
[Min. unit of data]
[Valid data range]
Parameter input
Real spindle
Degree
Depend on the increment system of the applied axis
0 to 60
This parameter sets a basic angular displacement used for half-fixed angle positioning
using M codes.
4964
CAUTION
1 Make sure that the M code used for the semi-fixed angle spindle
positioning command does not duplicate any other M codes.
2 When the setting of this parameter is 0, a setting of 6 is assumed.
- 176 -
B-64483EN-2/03
11.5
Cs CONTOUR CONTROL
11.5.1
Overview
The dual check safety function uses the CNC CPU and spindle DSP to separately monitor the spindle
motor speed (safe reduced speed check function). When the stop status of the spindle is monitored by the
safe reduced speed check function, set the safe speed parameter to a value including a margin appropriate
for the machine instead of 0 because the actual speed cannot be assumed to be 0. Since the spindle may
rotate at a speed less than the set safe speed in this case, it is necessary to position the spindle with a
position control loop formed at the same time.
The Cs contour control function makes spindle positioning control (spindle contour control).
When Cs contour control is performed, the configuration of the spindle detector is restricted. For details,
refer to the FANUC AC SPINDLE MOTOR i series Parameter Manual (B-65280EN) or other
documents.
The Cs contour control function is optional, which cannot be used together with the spindle positioning
function. When options of both functions are specified, the spindle positioning function is given a higher
priority.
11.5.2
Specifications
- 177 -
B-64483EN-2/03
Before switching, make sure that the move command for the spindle during automatic or manual
operation is fully completed. If the switching is made while the spindle is rotating, the interlock state is
entered or an alarm indicating a too large positional deviation occurs.
11.5.3
Signals
CAUTION
This signal is enabled only when bit 7 (CSS) of parameter No. 3704
is 0.
When bit 7 (CSS) of parameter No. 3704 is 1 (when Cs-axis
contour control by the individual spindles is used), use the Cs
contour change signals CONS1 to CONS4 <Gn274.0 to Gn274.3>
of the individual spindles.
CAUTION
This signal is enabled only when bit 7 (CSS) of parameter No. 3704
is 0.
When bit 7 (CSS) of parameter No. 3704 is 1 (when Cs-axis
contour control by the individual spindles is used), use the Cs
contour change completion signals FCCS1 to FCCS4 < Fn274.0 to
Fn274.3> of the individual spindles.
B-64483EN-2/03
When these signals are set to 0, the spindles are switched from the Cs contour control
mode to the spindle rotation mode.
CAUTION
These signals are enabled only when bit 7 (CSS) of parameter No.
3704 is 1 (when Cs-axis contour control by the individual spindles
is used).
When bit 7 (CSS) of parameter No. 3704 is 0, use the Cs contour
change signal CON<Gn027.7>.
CAUTION
These signals are enabled only when bit 7 (CSS) of parameter No.
3704 is 1 (when Cs-axis contour control by the individual spindles
is used).
When bit 7 (CSS) of parameter No. 3704 is 0, use the Cs contour
change completion signal FSCSL<Fn044.1>.
#6
#5
#4
#3
#2
#1
#0
CONS4
CONS3
CONS2
CONS1
#3
#2
#1
#0
CON
Gn274
#7
#6
#5
#4
Fn044
FSCSL
Fn274
11.5.4
FCSS4
FCSS3
FCSS2
FCSS1
#3
DIAx
#2
#1
#0
ROTx
Parameters
#7
#6
#5
#4
1006
NOTE
When at least one of these parameters is set, the power must be
turned off before operation is continued.
#0
B-64483EN-2/03
1022
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Byte axis
[Valid data range] 0 to 80
Set relationships between the individual axes and the servo axis numbers.
Set one of -1 to -n (n: logical spindle number) for the Cs contour control axis.
(Setting value)
-1
: Cs contour control axis by the first logical spindle
-2
: Cs contour control axis by the second logical spindle
-3
: Cs contour control axis by the third logical spindle
-4
: Cs contour control axis by the fourth logical spindle
CAUTION
1 When Cs contour control is performed by the second to fourth
spindles, bit 7 (CSS) of parameter No. 3704 must be set to 1.
2 One spindle cannot be set as multiple Cs contour control axes.
3 In multipath control, the spindle of another path cannot be
assigned.
1260
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Min. unit of data]
[Valid data range]
Parameter input
Real axis
Degree
Depend on the increment system of the applied axis
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 to +999999.999)
Set the amount of a shift per one rotation of a rotation axis.
Set 360.0 for the Cs contour control axis.
- 180 -
B-64483EN-2/03
1820
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type]
[Data type]
[Unit of data]
[Valid data range]
3704
Parameter input
Byte axis
0.5 times
1 to 96
Set 2 for the Cs contour control axis.
#7
CSS
#6
#5
#4
#3
#2
#1
#0
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
#7
#6
#5
#4
4000
#3
RETRN
#2
#1
4047
4055
- 181 -
#0
B-64483EN-2/03
4056
4057
4058
4059
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word spindle
Motor speed per spindle rotation 1/100
0 to 32767
These parameters set the gear ration between the spindle and spindle motor.
4069
4070
4071
4072
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
Word spindle
0.01 sec-1
0 to 32767
Set the servo loop gain in Cs contour control.
4086
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Parameter input
2-word spindle
1 pulse (=0.001deg)
-3600000 to +360000
The reference position of the spindle shifts counterclockwise by the specified number of
pluses.
11.6
SPINDLE ORIENTATION
11.6.1
Overview
The dual check safety function uses the CNC CPU and spindle DSP to separately monitor the spindle
motor speed (safe reduced speed check function). When the stop status of the spindle is monitored by the
safe reduced speed check function, set the safe speed parameter to a value including a margin appropriate
for the machine instead of 0 because the actual speed cannot be assumed to be 0. Since the spindle may
rotate at a speed less than the set safe speed in this case, it is necessary to position the spindle with a
position control loop formed at the same time.
The spindle orientation function stops the spindle at a fixed position using the position coder mounted on
the spindle. For details, refer to the FANUC AC SPINDLE MOTOR i series Parameter Manual
(B-65280EN) or other documents.
- 182 -
B-64483EN-2/03
11.6.2
Specifications
Orientation
The orientation command (ORCMx) can be used to stop the spindle at a fixed position.
When the orientation command is entered while the spindle is rotating, the spindle decelerates
immediately and stops at the fixed position.
11.6.3
Signals
- 183 -
B-64483EN-2/03
- 184 -
B-64483EN-2/03
#7
#6
#5
#4
MRDYA
ORCMA
SFRA
SRVA
#3
#2
Gn071
MPOFA
MRDYB
ORCMB
SFRB
SRVB
Gn075
*ESPB
Gn077
Gn204
MPOFB
MRDYC
ORCMC
SFRC
SRVC
Gn205
*ESPC
Gn207
Gn266
MPOFC
MRDYD
ORCMD
SFRD
SRVD
Gn267
*ESPD
Gn269
MPOFD
#7
#6
#5
#4
#3
#2
#1
Fn045
ORARA
SSTA
Fn049
ORARB
SSTB
Fn168
ORARC
SSTC
Fn266
ORARD
SSTD
11.6.4
#0
*ESPA
Gn073
Gn074
#1
#0
Parameters
#7
#6
#5
#4
4003
#3
DIRCT2
#2
DIRCT1
#1
#0
DIRCT1
0
0
1
1
0
1
0
1
4031
B-64483EN-2/03
4043
4051
4057
4058
4059
4061
4062
4063
B-64483EN-2/03
4075
- 187 -
11.6.5
B-64483EN-2/03
Sequence
The following is a sample sequence in which orientation is specified during rotation of the spindle and
work is conducted with the spindle stopped.
M otor speed
ORCMA
SFRA
(S RVA )
ORARA
S afe speed
Level sw itching
D oor
O pen
C lose
To monitor the stop status of the spindle, use a sequence as shown below.
By monitoring the orientation completion signal (ORARA), interrupt the power of the spindle motor with
the power interruption signal (MPOFA) and emergency stop signal (*ESPA) if there is a deviation from
the stop position.
ORCMA
ORARA
M P O FA
*E S PA
CAUTION
This sequence uses the spindle orientation function to monitor the stop status of
the spindle. If there is a deviation from the stop position since an excessive load
is applied to the spindle, a large reaction force is generated. When the deviation
is greater than or equal to the orientation completion level, excitation is turned off
and the output torque is immediately reduced to zero.
- 188 -
B-64483EN-2/03
11.7
11.7.1
Overview
To detach a controlled axis during safety monitoring of the Dual Check Safety function, use a signal
sequence as shown below on the PMC and DCS PMC.
With this sequence, after the Controlled Axis Detach signal DTCHx <Gn124> is set to 1, the speed and
machine position are also monitored until the detector is actually detached.
To configure the sequence, the machine tool builder should provide dual signals and perform an I/O
cross-check.
The controlled axis detach function is optional.
To replace a spindle head, use a similar signal sequence. See Subsection 11.7.4, Replacing a Spindle
Head, and following subsections.
11.7.2
Signal Sequence
PMC and DCS PMC sequences for detaching a controlled axis are shown below.
PMC
Controlled Axis Detach Start
signal X(1)
t4
DCSPMC
Controlled Axis Detach Start
signal X(2)
Explanation
(1) Input the Controlled Axis Detach Start signal (dual signal).
(2) Set the Servo off signal SVFx to 1 so that current does not flow in the servo motor.
- 189 -
B-64483EN-2/03
(3)
(4)
(5)
(6)
After time t1, output Power off Ready to the machine side.
After the completion of power-off for the axis, input Power off (dual signal).
Set the Controlled Axis Detach signal DTCHx to 1.
Immediately before detaching the detector, set the Safety Check Pause signal IVLVx (dual signal) to
1. This causes the monitoring of the speed and machine position to pause.
(7) After time t2, detach the detector.
Releasing the controlled axis detach mode
(8) Turn the Controlled Axis Detach Start signal (dual signal) off.
(9) Attach the detector.
(10) After time t3, set the Controlled Axis Detach signal DTCHx and Safety Check Pause signal IVLVx
(dual signal) to 0. This causes the monitoring of the speed to restart. The machine position is not
monitored.
(11) After time t4, turn Power off Ready off.
(12) After releasing the power-off mode for the axis, turn Power off (dual signal) off.
(13) Set the Servo off signal SVFx to 0 to make current to flow in the servo motor.
In the above sequence, the machine tool builder should provide the following signals:
1. Controlled Axis Detach Start signal (PMC and DCSPMC)
This signal notifies the PMC or DCS PMC of the start or end of detaching a controlled axis.
2. Power off (PMC and DCSPMC)
This signal monitors the power to the target axis of the controlled axis detach function to see
whether it is shut off.
3. Power-off Ready (PMC)
This signal notifies the PMC of the completion of preparations for shutting off the power to the
target axis of the controlled axis detach function.
Input signals 1 and 2 independently to the PMC and DCS PMC. Set Programmable Safety I/O signals so
that these signals are monitored in redundant mode. As a result of dual monitoring, if an I/O cross check
error is detected, the MCC is immediately turned off.
Controlled Axis Detach Start
signal X (1)
(general purpose I/O)
PMC
Power off (1)
(general purpose I/O)
IVLVx
DTCHx
Controlled axis
detach feature
DCSPMC
IVLVx
NOTE
1 Times t1 to t5 in the sequence are required to wait for response from the
machine. Set appropriate waiting times using a ladder program.
2 For details of the Controlled Axis Detach signal DTCHx <Gn124> and Servo off
signal SVFx <Gn126>, refer to Subsections 1.2.5 and 1.2.9 in the Connection
Manual (Function).
- 190 -
B-64483EN-2/03
11.7.3
Specification
Status
DTCHx
IVLVx
Speed monitoring
RSVx
1
2
3
4
0
1
1
0
0
0
1
0
Performed
Performed
Not performed
Performed
Performed
Performed
Not performed
Not performed
WARNING
1 When the signal IVLVx is set to 1, the servo and CNC do not monitor the speed
or machine position.
The Monitoring Result signal RSVx is always 1 (safety state).
2 After the controlled axis detach mode is canceled (the signal DTCHx is set to 0),
the machine position is not monitored until the completion of reference position
return. Only the speed is monitored.
3 When the signal IVLVx is set to 1, the monitoring of the speed and machine
position is disabled regardless of whether the Safety Check Request signal
*VLDVx is set to 0 or 1. Operation in this section contains remaining risks.
NOTE
1 To use the signal IVLVx, set bit 3 (IVEx) of parameter No. 13806 to 1.
2 The signal IVLVx is a dual signal and I/O cross check is performed for the signal.
11.7.4
When replacing a spindle head, also use a signal sequence as shown below on the PMC and DCS PMC.
In the same way as for detaching a controlled axis, use the Safety Check Pause signal for the spindle to
make the monitoring of the speed to pause during the replacement of a spindle head.
- 191 -
11.7.5
B-64483EN-2/03
Signal Sequence
PMC and DCS PMC sequences for replacing a spindle head are shown below.
PMC
Spindle Head Detach Start signal
X(1)
Not connected
Connected
DCSPMC
Spindle Head Detach Start signal (MCN -> CNC)
X(2)
Motor Excitation off State EXOF2
Explanation
(1) Set the Spindle Head Detach Start signal (dual signal) to 1.
(2) Set the Spindle Emergency Stop signal *ESPs, Forward/Reverse Spindle Rotation Command
SFRs/SRVs, and Orientation Command ORCMs to 0 to stop the spindle motor.
(3) When the following two conditions are satisfied, set the Safety Check Pause signal IVLPs (dual
signal) to 1: The spindle motor stops (the Zero Speed Detection signal SSTs is set to 1) and the
excitation of the spindle motor is turned off (the Motor Excitation off State signal EXOFs is set to
1). This causes the monitoring of the speed of the spindle motor to pause.
(4) Set the Disconnection Detection Disable signal DSCNs to 1 to disable the detection of
disconnection of a sensor or thermistor.
(5) Detach the detector and remove the spindle head.
* Releasing the spindle head detach mode
(6) Mount the spindle head and connect the detector.
(7) Set the Spindle Head Detach Start signal (dual signal) to 0.
(8) Set the Disconnection Detection Disable signal DSCNs to 0 to enable the detection of
disconnection of a sensor or thermistor.
- 192 -
B-64483EN-2/03
(9) Set the Safety Check Pause signal IVLPs (dual signal) to 0. This causes the monitoring of the
speed to restart.
In the above sequence, the machine tool builder should provide the following signal:
1. Spindle Head Detach Start signal (PMC and DCSPMC)
This signal notifies the PMC or DCS PMC of the start or end of detaching a spindle head.
Input signal 1 independently to the PMC and DCS PMC. Set Programmable Safety I/O signals so that this
signal is monitored in redundant mode. As a result of dual monitoring, if an I/O cross check error is
detected, the MCC is immediately turned off.
11.7.6
Specification
Speed monitoring
RSPs
0
1
Performed
Not performed
WARNING
1 When the signal IVLPs is set to 1, the spindle and CNC do not monitor the
speed.
The Monitoring Result signal RSPs is always 1 (safety state).
2 When the signal IVLPs is set to 1, the monitoring of the speed is disabled
regardless of whether the Safety Check Request signal *VLDPs is set to 0 or 1.
Operation in this section contains remaining risks.
NOTE
1 To use the signal IVLPs, set bit 0 (IVEs) of parameter No. 4545 to 1.
2 The signal IVLPs is a dual signal and I/O cross check is performed for the signal.
11.7.7
Signal
B-64483EN-2/03
WARNING
1 When the signal IVLVx is set to 1, the servo and CNC do not
monitor the speed or machine position. The Monitoring Result
signal RSVx is always 1 (safety state).
2 When the signal IVLPs is set to 1, the spindle and CNC do not
monitor the speed.
The Monitoring Result signal RSPs is always 1 (safety state).
IVLV8
#7
#6
IVLV7
#6
#5
IVLV6
#5
#4
#3
#2
#1
#0
IVLV5
IVLV4
IVLV3
IVLV2
IVLV1
#4
Gn759
#3
#2
#1
#0
IVLP4
IVLP3
IVLP2
IVLP1
DCSPMC
#7
G(010+m)
IVLV8
#7
#6
IVLV7
#6
#5
IVLV6
#5
#4
#3
#2
#1
#0
IVLV5
IVLV4
IVLV3
IVLV2
IVLV1
#4
#3
#2
#1
#0
IVLP4
IVLP3
IVLP2
IVLP1
#3
#2
#1
#0
IVEs
G(011+m)
11.7.8
Parameter
#7
#6
#5
#4
4545
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Bit spindle
IVEs The Safety Check Pause signal IVLPs <PMC: Gn759.0 to Gn759.3> <DCSPMC:
G(011+m).0 to G(011+m).3> is:
0: Disabled.
1: Enabled.
#7
#6
#5
#4
13806
#3
IVEx
#2
#1
#0
NOTE
When this parameter is set, the power must be turned off before
operation is continued.
[Input type] Parameter input
[Data type] Bit axis
IVEs The Safety Check Pause signal IVLVx <PMC: Gn758> <DCSPMC: G(010+m)> is:
0: Disabled.
1: Enabled.
- 194 -
B-64483EN-2/03
11.7.9
Alarm message
Message
Description
In the detached axis, the CNC detected that the speed exceeded
the safety speed (parameter No. 13821 to 13824 in case of position
control, No. 13826 to 13829 in case of velocity control) during safety
monitoring (the safety check request signal(*VLDVx) is 0).
The operation is done within the safety speed.
In the detached axis, the Servo detected that the speed exceeded
the safety speed (parameter No. 13821 to 13824 in case of position
control, No. 13826 to 13829 in case of velocity control) during safety
monitoring (the safety check request signal(*VLDVx) is 0).
The operation is done within the safety speed.
n the detached axis, the CNC detected that the machine position is
not in the safety area (parameter No.13831 to 13838) during safety
monitoring (the safety check request signal(*VLDVx) is 0).
The operation is done in the safety area.
The safe machine position monitoring is done for the axis whose
machine reference position is established.
In the detached axis, the Servo detected that the machine position is
not in the safety area (parameter No.13831 to 13838) during safety
monitoring (the safety check request signal(*VLDVx) is 0).
The operation is done in the safety area.
The safe machine position monitoring is done for the axis whose
machine reference position is established.
- 195 -
12.COMPONENTS LIST
B-64483EN-2/03
12
COMPONENTS LIST
12.1
HARDWARE COMPONENTS
12.1.1
Description
Main board
CPU card
Specification Number
A20B-8200-0720
A20B-8200-0721
A20B-8200-0722
A20B-8200-0723
A20B-8200-0724
A20B-8200-0726
A20B-8200-0727
A20B-8200-0700
A20B-8200-0701
A20B-8200-0702
A20B-8200-0703
A20B-8200-0704
A20B-8200-0705
A20B-8200-0706
A20B-8200-0707
A20B-8200-0708
A20B-8200-0709
A20B-8200-0710
A20B-8200-0711
A20B-8200-0712
A20B-8200-0713
A20B-8200-0714
A20B-8200-0715
A20B-8200-0716
A20B-8200-0717
A20B-8200-0718
A20B-8200-0719
A16B-3200-0710
A16B-3200-0711
A16B-3200-0713
A20B-3300-0650
A20B-3300-0651
A20B-3300-0652
A20B-3300-0653
A20B-3300-0654
A20B-3300-0655
A20B-3300-0660
A20B-3300-0661
A20B-3300-0662
A20B-3300-0663
A20B-3300-0664
- 196 -
Remarks
12.COMPONENTS LIST
B-64483EN-2/03
No.
Description
FROM/SRAM module
Back Panel
7
8
9
12.1.2
Specification Number
Remarks
A20B-3900-0250
A20B-3900-0251
A20B-3900-0252
A20B-3900-0260
A20B-3900-0261
A20B-8200-0650
A20B-8200-0670
A20B-8200-0680
A20B-2003-0650
A20B-2003-0580
A20B-8101-0011
A20B-8101-0740
A20B-8101-0050
Description
Specification Number
1
2
3
I/O module
2A DO output module
10
11
12
13
14
15
16
17
18
19
A02B-0323-C205
A02B-0323-C204
A03B-0824-K200
A03B-0815-K200
A03B-0824-K202
A03B-0824-K203
A03B-0815-K202
A03B-0815-K203
A03B-0824-C001
A03B-0815-C001
A03B-0824-C002
A03B-0824-C003
A03B-0815-C002
A03B-0815-C003
A03B-0824-C004
A03B-0815-C004
A03B-0824-C005
A03B-0815-C005
A03B-0824-C040
A03B-0824-C041
A03B-0815-C040
A03B-0815-C041
A03B-0824-C042
A03B-0815-C042
A02B-0323-C231
A16B-2202-0730
A16B-2202-0731
A16B-2204-0260
A16B-2204-0261
A03B-0823-C011
A03B-0823-C012
A03B-0823-C013
A03B-0823-C014
A03B-0821-C002
A20B-2200-0470
A20B-2200-0471
A03B-0819-C001
- 197 -
Remarks
12.COMPONENTS LIST
No.
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
B-64483EN-2/03
Description
5 slots base Horizontal ABU05A
5 slots base Vertical ABU05B
10 slots base Vertical ABU10B
Interface module AIF01A
Interface module AIF01B
Interface module AIF01A2
Interface module AIF01D
DC digital input module AID32A1
DC digital input module AID32B1
DC digital input module AID16D
DC digital input module AID16L
DC digital input module AID32E1
DC digital input module AID32F1
AC digital input module AIA16G
DC digital input module AID32F2
DC digital input module AID32E2
DC digital input module AID32H1
DC digital input module AID16DM
DC digital output module AOD08D
DC digital output module AOD16D
DC digital output module AOD32D1
AC digital output module AOA05E
AC digital output module AOA08E
AC digital output module AOA12F
Relay output module AOR08G
Relay output module AOR16G
Relay output module AOR16H2
DC digital output module AOD32D2
DC digital output module AOD16D2
DC digital output module AOD16DP
DC digital output module AOD08DP
DC digital output module AOD16DM
Relay output module AOR16G2
Specification Number
A03B-0819-C002
A03B-0819-C003
A03B-0819-C004
A03B-0819-C011
A03B-0819-C012
A03B-0819-C014
A03B-0819-C015
A03B-0819-C101
A03B-0819-C102
A03B-0819-C104
A03B-0819-C114
A03B-0819-C105
A03B-0819-C106
A03B-0819-C107
A03B-0819-C109
A03B-0819-C110
A03B-0819-C111
A03B-0819-C116
A03B-0819-C152
A03B-0819-C154
A03B-0819-C156
A03B-0819-C157
A03B-0819-C158
A03B-0819-C159
A03B-0819-C160
A03B-0819-C161
A03B-0819-C165
A03B-0819-C167
A03B-0819-C171
A03B-0819-C182
A03B-0819-C183
A03B-0819-C186
A03B-0819-C184
- 198 -
Remarks
12.COMPONENTS LIST
B-64483EN-2/03
12.2
SOFTWARE COMPONENTS
FS31i-B
FS31i-B5
FS32i-B
FS35i-B
FS30i-LB
FS31i-LB
FS30i-PB
FS31i-PB
FS31i-WB
Power Motion i-A
Remarks
G301 / 01 or later
G311 / 01 or later
G321 / 01 or later
G401 / 01 or later
G411 / 01 or later
G441 / 01 or later
G421 / 01 or later
G431 / 01 or later
G501 / 01 or later
G541 / 01 or later
G601 / 01 or later
G611 / 05 or later
G3C1 / 01 or later
G3D1 / 01 or later
G4C1 / 01 or later
G3E1 / 01 or later
G3F1 / 01 or later
G4E1 / 01 or later
G4A1 / 01 or later
88H0 / 01 or later
Remarks
40A5 / 01 or later
Servo Software
Revision
(Series/Version)
Servo DSP
Servo DSP
Remarks
90G0/01 or later
90G3/01 or later
Spindle Software
Revision
(Series/Version)
Spindle Software
Spindle Software
Spindle Software
Spindle Software
Spindle Software
Spindle Software
9D70/A4 or later
9D7A/01 or later
9D80/01 or later
9D8A/01 or later
9D90/01 or later
9DA0/01 or later
- 199 -
Remarks
12.COMPONENTS LIST
12.3
B-64483EN-2/03
SERVO AMPLIFIER
i PSR series
(Resistance
regeneration type
Model Name
i PS 5.5
i PS 11
i PS 15
i PS 26
i PS 30
i PS 37
i PS 55
i PSR 3
i PSR 5.5
Type Designation
Remarks
A06B-6140-H006
A06B-6140-H011
A06B-6140-H015
A06B-6140-H026
A06B-6140-H030
A06B-6140-H037
A06B-6140-H055
A06B-6115-H003
A06B-6115-H006
Model Name
i PS 7.5
i PS 11
i PS 15
i PS 26
i PS 30
i PS 37
A06B-6200-H008
A06B-6200-H011
A06B-6200-H015
A06B-6200-H026
A06B-6200-H030
A06B-6200-H037
Type Designation
Model Name
i SP 2.2 TYPE A
i SP 5.5 TYPE A
i SP 11 TYPE A
i SP 15 TYPE A
i SP 22 TYPE A
i SP 26 TYPE A
i SP 30 TYPE A
i SP 37 TYPE A
i SP 45 TYPE A
i SP 55 TYPE A
i SP 2.2 TYPE B
i SP 5.5 TYPE B
i SP 11 TYPE B
i SP 15 TYPE B
i SP 22 TYPE B
i SP 26 TYPE B
i SP 30 TYPE B
i SP 37 TYPE B
i SP 45 TYPE B
i SP 55 TYPE B
i SP 2.2 TYPE B
i SP 5.5 TYPE B
i SP 11 TYPE B
i SP 15 TYPE B
i SP 22 TYPE B
A06B-6141-H002#H580
A06B-6141-H006#H580
A06B-6141-H011#H580
A06B-6141-H015#H580
A06B-6141-H022#H580
A06B-6141-H026#H580
A06B-6141-H030#H580
A06B-6141-H037#H580
A06B-6141-H045#H580
A06B-6141-H055#H580
A06B-6142-H002#H580
A06B-6142-H006#H580
A06B-6142-H011#H580
A06B-6142-H015#H580
A06B-6142-H022#H580
A06B-6142-H026#H580
A06B-6142-H030#H580
A06B-6142-H037#H580
A06B-6142-H045#H580
A06B-6142-H055#H580
A06B-6144-H002#H590
A06B-6144-H006#H590
A06B-6144-H011#H590
A06B-6144-H015#H590
A06B-6144-H022#H590
Remarks
- Spindle Amplifier
Series Name
i SP series
Type Designation
- 200 -
Remarks
12.COMPONENTS LIST
B-64483EN-2/03
Series Name
i SP series
Model Name
i SP 26 TYPE B
i SP 30 TYPE B
i SP 37 TYPE B
i SP 45 TYPE B
i SP 55 TYPE B
Type Designation
Remarks
A06B-6144-H026#H590
A06B-6144-H030#H590
A06B-6144-H037#H590
A06B-6144-H045#H590
A06B-6144-H055#H590
Model Name
i SP 2.2
i SP 5.5
i SP 11
i SP 15
i SP 22
i SP 26
i SP 30
i SP 37
Type Designation
Remarks
A06B-6220-H002#H600
A06B-6220-H006#H600
A06B-6220-H011#H600
A06B-6220-H015#H600
A06B-6220-H022#H600
A06B-6220-H026#H600
A06B-6220-H030#H600
A06B-6220-H037#H600
Model Name
i SVP20/20/20-5.5
A06B-6230-H001#H600
Type Designation
Model Name
i SV 4
i SV 20
i SV 20L
i SV 40
i SV 40L
i SV 80
i SV 80L
i SV 160
i SV 160L
i SV 360
i SV 4/4
i SV 4/20
i SV 20/20
i SV 20/20L
i SV 20/40
i SV 20/40L
i SV 40/40
i SV 40/40L
i SV 40/80
i SV 40/80L
i SV 80/80
i SV 80/80L
i SV 80/160
i SV 160/160
i SV 4/4/4
i SV 20/20/20
i SV 20/20/40
i SV 40S/40S/40
A06B-6117-H101
A06B-6117-H103
A06B-6117-H153
A06B-6117-H104
A06B-6117-H154
A06B-6117-H105
A06B-6117-H155
A06B-6117-H106
A06B-6114-H156
A06B-6117-H109
A06B-6117-H201
A06B-6117-H203
A06B-6117-H205
A06B-6117-H255
A06B-6117-H206
A06B-6117-H256
A06B-6117-H207
A06B-6117-H257
A06B-6117-H208
A06B-6117-H258
A06B-6117-H209
A06B-6117-H259
A06B-6117-H210
A06B-6117-H211
A06B-6117-H301
A06B-6117-H303
A06B-6117-H304
A06B-6117-H306
Remarks
- Servo Amplifier
Series Name
i SV series
Type Designation
- 201 -
Remarks
12.COMPONENTS LIST
B-64483EN-2/03
Model Name
i SV 4
i SV 20
i SV 40
i SV 80
i SV 160
i SV 360
i SV 4/4
i SV 4/20
i SV 20/20
i SV 20/40
i SV 40/40
i SV 40/80
i SV 80/80
i SV 80/160
i SV 160/160
i SV 4/4/4
i SV 20/20/20
i SV 20/20/40
i SV 40/40/40
Type Designation
Remarks
A06B-6240-H101
A06B-6240-H103
A06B-6240-H104
A06B-6240-H105
A06B-6240-H106
A06B-6240-H109
A06B-6240-H201
A06B-6240-H203
A06B-6240-H205
A06B-6240-H206
A06B-6240-H207
A06B-6240-H208
A06B-6240-H209
A06B-6240-H210
A06B-6240-H211
A06B-6240-H301
A06B-6240-H305
A06B-6240-H306
A06B-6240-H308
- Sensor (i series)
Type
PULSE CODER
Name
iCZ SENSOR
Remarks
A860-2000-T3x1
x = 0,2
iA16000
A860-2001-T3x1
x = 0,2
iI1000
iA128
iA64
A64B
I64B
Spindle sensor
Type Disignation
iA1000
A860-2005-T3x1
x = 0,2
x = 0,2,6
x = 0,7
iMZ SENSOR
A860-2020-T3x1
A860-2024-T3x1
A860-0374-T303
A860-0379-T303
A860-2110-Txyz
iM SENSOR
A860-2100-Txyz
iBZ SENSOR
A860-2120-Txyz
A860-216x-Ty11
x = 1,3
y = 4,5,6
A860-216x-Ty11
- 202 -
12.COMPONENTS LIST
B-64483EN-2/03
Module Name
HIGH RESOLUTION
512/1ch
SERIAL OUTPUT CIRCUIT 512/2ch
512/1ch
2048/1ch
2048/2ch
2048/1ch
2048/1ch
2048/1ch
2048/1ch
Type Designation
Remarks
A860-0333-T001
A860-0333-T002
A860-0333-T501
A860-0333-T201
A860-0333-T202
A860-0333-T301
A860-0333-T302
A860-0333-T701
A860-0333-T801
Type Designation
Remarks
A06B-6135-H001
Model Name
i PS 11HV
i PS 18HV
i PS 30HV
i PS 45HV
i PS 75HV
i PS 100HV
Type Designation
Remarks
A06B-6150-H011
A06B-6150-H018
A06B-6150-H030
A06B-6150-H045
A06B-6150-H075
A06B-6150-H100
Model Name
i PS 11HV
i PS 18HV
i PS 30HV
i PS 45HV
i PS 60HV
Type Designation
Remarks
A06B-6250-H011
A06B-6250-H018
A06B-6250-H030
A06B-6250-H045
A06B-6250-H060
- Spindle Amplifier
Series Name
i SP series
Model Name
i SP 5.5HV TYPE A
i SP 11HV TYPE A
i SP 15HV TYPE A
i SP 30HV TYPE A
i SP 45HV TYPE A
i SP 75HV TYPE A
i SP 100HV TYPE A
i SP 5.5HV TYPE B
i SP 11HV TYPE B
i SP 15HV TYPE B
i SP 30HV TYPE B
i SP 45HV TYPE B
i SP 75HV TYPE B
i SP 100HV TYPE B
i SP 5.5HV TYPE B
i SP 11HV TYPE B
i SP 15HV TYPE B
Type Designation
A06B-6151-H006#H580
A06B-6151-H011#H580
A06B-6151-H015#H580
A06B-6151-H030#H580
A06B-6151-H045#H580
A06B-6151-H075#H580
A06B-6151-H100#H580
A06B-6152-H006#H580
A06B-6152-H011#H580
A06B-6152-H015#H580
A06B-6152-H030#H580
A06B-6152-H045#H580
A06B-6152-H075#H580
A06B-6152-H100#H580
A06B-6154-H006#H590
A06B-6154-H011#H590
A06B-6154-H015#H590
- 203 -
Remarks
12.COMPONENTS LIST
Series Name
i SP series
Model Name
i SP 30HV TYPE B
i SP 45HV TYPE B
i SP 75HV TYPE B
i SP 100HV TYPE B
B-64483EN-2/03
Type Designation
Remarks
A06B-6154-H030#H590
A06B-6154-H045#H590
A06B-6154-H075#H590
A06B-6154-H100#H590
Model Name
i SP 5.5HV
i SP 11HV
i SP 15HV
i SP 22HV
i SP 30HV
i SP 45HV
Type Designation
Remarks
A06B-6270-H006#H600
A06B-6270-H011#H600
A06B-6270-H015#H600
A06B-6270-H022#H600
A06B-6270-H030#H600
A06B-6270-H045#H600
Model Name
Type Designation
i SVP 10/10/10-5.5HV A06B-6280-H001#H600
Remarks
Model Name
i SV 10HV
i SV 10HVL
i SV 20HV
i SV 20HVL
i SV 40HV
i SV 40HVL
i SV 80HV
i SV 80HVL
i SV 180HV
i SV 360HV
i SV 10/10HV
i SV 10/10HVL
i SV 20/20HV
i SV 20/20HVL
i SV 20/40HV
i SV 20/40HVL
i SV 40/40HV
i SV 40/40HVL
i SV 40/80HV
i SV 80/80HV
Remarks
- Servo Amplifier
Series Name
i SV series
Type Designation
A06B-6127-H102
A06B-6127-H152
A06B-6127-H103
A06B-6127-H153
A06B-6127-H104
A06B-6127-H154
A06B-6127-H105
A06B-6127-H155
A06B-6127-H106
A06B-6127-H109
A06B-6127-H202
A06B-6127-H252
A06B-6127-H205
A06B-6127-H255
A06B-6127-H206
A06B-6127-H256
A06B-6127-H207
A06B-6127-H257
A06B-6127-H208
A06B-6127-H209
- 204 -
12.COMPONENTS LIST
B-64483EN-2/03
Model Name
i SV 10HV
i SV 20HV
i SV 40HV
i SV 80HV
i SV 180HV
i SV 10/10HV
i SV 10/20HV
i SV 20/20HV
i SV 20/40HV
i SV 40/40HV
i SV 40/80HV
i SV 80/80HV
i SV 10/10/10HV
i SV 10/10/20HV
i SV 20/20/20HV
Type Designation
Remarks
A06B-6290-H102
A06B-6290-H103
A06B-6290-H104
A06B-6290-H105
A06B-6290-H106
A06B-6290-H202
A06B-6290-H204
A06B-6290-H205
A06B-6290-H206
A06B-6290-H207
A06B-6290-H208
A06B-6290-H209
A06B-6290-H302
A06B-6290-H303
A06B-6290-H305
Model Name
i SV 4
i SV 20
i SV 40
i SV 80
Type Designation
Remarks
A06B-6130-H001
A06B-6130-H002
A06B-6130-H003
A06B-6130-H004
Model Name
i SV 10HV
i SV 20HV
i SV 40HV
Type Designation
A06B-6131-H001
A06B-6131-H002
A06B-6131-H003
- 205 -
Remarks
APPENDIX
APPENDIX
B-64483EN-2/03
A.1
OVERVIEW
This appendix explains a configuration in which two MCCs (magnetic contactors for 3-phase AC power
supply input control for the PSM, SVM, and SPM) are used for the 30i series Dual Check Safety function.
With this configuration, it is not necessary to perform an MCC off Test periodically.
NOTE
Usually, one MCC is connected for the Dual Check Safety function. To avoid
degrading the safety function due to built-up failures, it is necessary to perform
an MCC off Test once within the specified time (normally 24 hours) to confirm
that the power shutoff paths for the MCC are normal. The Dual Check Safety
function gets certified according to safety standards under the precondition that
this MCC off Test is performed.
Besides the above configuration, the system configuration described in this
appendix in which two MCCs are connected can also satisfy the requirements of
safety category 3 defined in ISO13849-1.
A.2
CONFIGURATIONS
- 209 -
APPENDIX
B-64483EN-2/03
I/O UNIT
(PMC side)
PMC
CNC
RQT
+24V
OPT_P
OPERATORS PANEL
OPT
ORQ_P
ORQ
ESP
*ESP1
*ESP_X
*ESPG
+24V
DOOR
STATUS
(*SGOPN)
*VLDVx
*VLDPs
*OPIHB
RSVx
RSPs
DOOR
LOCK
*DCALM
*MCF
*MCFVx
*MCFPs
MCC
OFF
(Note 1)
MCC
STATUS
*SMC
I/O UNIT
(DCSPMC
side)
DCS PMC
*ESP2
DOOR
STATUS
MCC
STATUS
*SGOPN
*VLDVx
*VLDPs
*SMC
+24V
*DCALM
*MCF
*MCFVx
*MCFPs
MCC
OFF
(Note 1)
0V
U
Common
Power
Supply
PSM
24V
Spindle
Amplifier
SPM
Servo
Amplifier
SVM
200A
200B
U
V
W
LINE CONTACTOR
(MAIN MCC 2)
SPINDLE
Motor
LINE CONTACTOR
(MAIN MCC 1)
- 210 -
Servo
Motor
Servo
Motor
APPENDIX
B-64483EN-2/03
I/O UNIT
(PMC side)
PMC
CNC
RQT
+24V
OPT_P
OPERATORS PANEL
OPT
ORQ_P
ORQ
ESP
*ESP1
*ESP_X
*ESPG
+24V
DOOR
STATUS
(*SGOPN)
*VLDVx
*VLDPs
*OPIHB
RSVx
RSPs
DOOR
LOCK
*DCALM
*MCF
*MCFVx
*MCFPs
MCC
OFF
Note1
Note1
MCC
OFF
*SMC
MCC
STATUS
I/O UNIT
(DCSPMC
side)
DCS PMC
*ESP2
DOOR
STATUS
MCC
STATUS
*SGOPN
*VLDVx
*VLDPs
*SMC
+24V
Note1
*DCALM
*MCF
*MCFVx
*MCFPs
MCC
OFF
MCC
OFF
Note1
0V
U
V
Common
Power
Supply
PSM
24V
Spindle
Amplifier
SPM
Servo
Amplifier
SVM
200A
200B
U
V
W
LINE CONTACTOR
(MAIN MCC 2)
SPINDLE
Motor
LINE CONTACTOR
(MAIN MCC 1)
Servo
Motor
Servo
Motor
NOTE
The MCC shall have the mechanism such as a mirror contact that can monitor the state of the main
contact by mechanically linked auxiliary contacts.
- 211 -
APPENDIX
B-64483EN-2/03
A.3
Ladder program
When the Dual Check Safety function is activated, the signal requesting an MCC off Test (RQT: MCC
off Test Execution Request signal) is output from the CNC to the ladder program (PMC) at power-on and
when a certain time elapses after power-on. In a system in which two MCCs are connected for the above
configuration, OPT (Test Mode signal) does not need to be input for this RQT signal to the CNC. (OPT
remains 0.)
Diagnosis screen
When the Dual Check Safety function is activated, the displayed screen is changed to the Dual Check
Safety diagnosis screen to notify the operator that he or she must always execute an MCC off Test at
power-on and 24 hours after an MCC off Test is performed. In a system in which no MCC off Test is to
be performed and the Dual Check Safety diagnosis screen does not need to be displayed, bit 0 (NDW) of
parameter No. 13804 can be set so that the screen is not displayed.
When the MCC test screen is displayed by key operation, however, the screen shows information related
to the MCC off Test.
Parameter
#7
#6
#5
#4
#3
#2
13804
#1
#0
NDW
NDW When an MCC off Test warning message is issued, the display is:
0: Changed to the Dual Check Safety diagnosis screen.
1: Not changed to the Dual Check Safety diagnosis screen.
NOTE
In a system in which to perform an MCC off Test, always set this
parameter to 0.
- 212 -
B-64483EN-2/03
B
B.1
Applying 3rd party servo/spindle motors and 3rd party feedback devices with FANUC Dual-check Safety
Function these 3rd party devices must comply with specific mandatory standards and directives, i. e.
regulations regarding
- EMC and LVD
- IP classification
- Electrical safety and environmental testing
Further details regarding standards and directives to comply with are described under chapter 2
Mandatory Standards and Directives. Please refer to it.
The components also need to meet the technical requirements as specified in this document.
B.2
(1) The standards and directives to be followed in general are listed below.
2006/95/EC
Low voltage directive (LVD)
2004/108/EC
Electromagnetic compatibility (EMC)
2006/42/EC
Machinery directive
IEC 60068
Environmental testing
IEC 60204-1:2006 Safety of machinery - electrical equipment of machines
IEC 60529:2001 Degrees of protection provided by enclosures (IP code), applicable for encoders
(feedback devices)
IEC 60034-1:2004 General requirements for motors, to be considered for spindle/servo motors
(2) The standards and directives the 3rd party spindle/servo motors must comply
with are listed below.
IEC 60034-1:2004 Rotating electrical machines - part 1: rating and performance
IEC 60034-5:2006 Rotating electrical machines - part 5: degrees of protection provided by the integral
design of rotating electrical machines (IP code) classification, applicable for
motors
IEC 60034-11:2004 Rotating electrical machines - part 11: built-in thermal protection - chapter 1: rules
for protection of rotating electrical machines
EN 61000-6-2:2005 Electromagnetic compatibility (EMC) - generic immunity standard
Part 2: industrial environment
EN 55011-2:2007 Limits and methods of measurement of radio disturbance characteristics of
industrial, scientific and medical (ISM) radio-frequency equipment
(3) The standards and directives the linear motors and 3rd party feedback devices
must comply with are listed below.
IEC 60335-1:2006
Safety of household and similar electrical appliances - part 1:General requirements
IEC 61000-6-2:2005 Electromagnetic compatibility (EMC) - generic immunity standard
Part 2: industrial environment
- 213 -
EN 55011-2:2007
B-64483EN-2/03
(4) The standards and directives the 3rd party feedback devices must comply with
are listed below.
EN 50178:1997
Electronic equipment for use in power installations
IEC 61000-6-2:2006 Electromagnetic compatibility (EMC) - generic immunity standard
Part 2: industrial environment
EN 55011-2:2007
Limits and methods of measurement of radio disturbance characteristics of
industrial, scientific and medical (ISM) radio-frequency equipment
NOTE
1 All products should be considered that the electrical safety of the final products
can be guaranteed.
2 Degrees of protection provided by enclosures should be guaranteed according
mandatory regulations for the machine applications.
B.3
SPINDLES
B.3.1
B.3.2
B.4
SERVO
B.4.1
B-64483EN-2/03
Regenerated energy at dynamic braking must not exceed the DB resistor capacity.
DB resistor capacity depends on servo amplifier model.
B.4.2
B.4.2.1
Signal type:
Special FANUC serial interface (e.g.: A1000S,
Number of pulses per revolution: up to 224 ppr
B.4.2.2
RCN723F,
LC191F)
Signal type:
sine-wave 1V (peak-to-peak), e.g. Heidenhain ERM 180
Number of pulses per revolution:
up to 32768 ppr (32768 * 512 = 224 ppr)
Signal specification: see Attachment 2
Maximum input frequency: 200 kHz
Attachment 1:
The Fanuc SPM does not include the terminating resistor (like e.g. Siemens).
Depending on the sensor supply voltage and the sensor output impedance, the signal amplitude varies.
In order to match the sensor output signals with the amplifier input requirement, the terminating resistor
might be necessary. See table on following page for required signal specs.
If the terminating resistor is required, place it outside the SPM.
Party
MA
Rt
*MA
MB
Sensor
Rt
*MB
MZ
Rt
*MZ
- 215 -
JY2 or JY5
3rd
Rt is defined by
the specification of
the 3rd party sensor
B-64483EN-2/03
A/B-Phase Signal
Z-Phase Signal
(Type A)
Z-Phase Signal
(Type B)
A/B-Phase Signals
Symbol
1
Maximum Frequency
Signal Amplitude
(MA - *MA)
(MB - *MB)
3
4
5
Signal Offset
Signal Amplitude Difference
(MA - *MA) / (MB - *MB)
Phase Offset
(MA - *MA)
(MB - *MB)
Check Terminal
Fmax
Vpp
Spec A
Vpp
Spec B
Voffs
Vppdef
Value
205 kHz in Spec A
256 kHz in Spec B
0.50 Vpp min
1.2 Vpp max (incl. tolerances)
0.60 Vpp min
1.2 Vpp max (incl. tolerances)
100 mV max
1.00 0.10 V max
90 3 deg
Vphase
- 216 -
B-64483EN-2/03
Z-Phase Signal
Type A
1
2
Pulse Width
(MZ - *MZ)
Signal Amplitude of
Reference Signal
(MZ - *MZ) x 2.4
Type B
1
2
3
Pulse Width
(MZ - *MZ)
Signal Amplitude of
Reference Signal
(MZ - *MZ) x 2.4
Signal Offset
(Z - *Z)
Symbol
Check Terminal
twz
Vppz
4 sec min
PS1 (from JY2)
PS2 (from JY5)
Vpnz
Symbol
0.25 V min
0.25 V min
Check Terminal
twz
Vpz
Value
- 217 -
0.25 V min
3.5 V max
2 V min
Voffz
Value
4 sec min
Attachment 2:
- 218 -
B-64483EN-2/03
INDEX
B-64483EN-2/03
INDEX
Example of Connections ................................................ 45
Example of Monitoring Excitation Status Signals of
Spindle Amplifier ...................................................... 43
Example of user ladder programs .................................. 43
EXTERNAL DECELERATION ................................. 160
<A>
A/B-Phase Sine-wave Interface Connected to FANUC
Interpolation Circuit ................................................. 215
About the Execution Item of Acceptance Test ............. 117
About the Parameter, the Alarm, and the Signal that the
Specification Changes .............................................. 123
Acceptance Test and Report for Safety Functions ....... 112
Alarm message ............................................................. 195
ALARM MESSAGE .................................................... 126
AMPLIFIER CIRCUIT MONITORING FUNCTION .. 33
APPLICATION OF OTHER FUNCTIONS ................ 160
APPLICATION RANGE ............................................... 12
<F>
Features of Dual Check Safety ........................................ 4
FEED LIMIT MONITORING SCREEN .................... 144
FLOW MONITORING SCREEN ............................... 143
<G>
GENERAL .................................................................. 213
General Definition of Terms ............................................ 4
GENERAL INFORMATION .......................................... 9
Guard Open Inhibit Signal (*OPIHB), Monitoring
Result Signal (RSVx,RSPx), Safety check Request
Signal (*VLDVx,*VLDPs) ...................................... 155
Guard Open Request Signal (ORQ)............................. 154
<B>
BASIC PRINCIPLE OF DUAL CHECK SAFETY......... 4
BEFORE USING THE SAFETY FUNCTION .............. 13
BRAKE TEST................................................................ 36
BRAKE TEST SCREEN ............................................. 143
<C>
<H>
<I>
I/O SIGNALS ................................................................ 52
Important Items to Check Before Using the Safety
Function ..................................................................... 13
In case of using PROFIBUS-DP on the DCS PMC side 51
In case of using the I/O Link ......................................... 49
In case of using the I/O Link i ....................................... 50
Initial Start-up.............................................................. 113
INSTALLATION .......................................................... 48
<D>
DATA TYPE.................................................................. 78
DEFINITION OF TERMS ............................................... 4
Definition of Terms Related to the Safety Function......... 4
Details on signals .......................... 162, 166, 170, 178, 183
DIAGNOSIS ................................................................ 135
DIAGNOSIS SCREEN ................................................ 148
DIRECTIVE AND STANDARDS .................................. 1
Directives ......................................................................... 1
Directives, Standards and Technical Conditions for 3rd
Party Servo / Spindle Motors & Encoders when
Applying FANUC Dual-check Safety ...................... 213
DISABLING MCC OFF TEST .................................... 212
<L>
Latent error detection and cross-check ............................ 6
<M>
Machine Group And Multi Path Control ....................... 76
MANDATORY STANDARDS AND DIRECTIVES . 213
MCC Off Signal
(*MCF,*MCFVx,*MCFPs,*DCALM), MCC
Contact State Signal (*SMC) ................................... 158
MCC OFF TEST ........................................................... 28
MCC off Test of the Safe Stop Function ....................... 13
MCC OFF TEST STATUS SCREEN ......................... 135
<E>
EC Declaration of Conformity ......................................... 3
EMERGENCY STOP .................................................... 23
Emergency Stop Signal (*ESP).................................... 153
Encoder with FANUC Serial Interface......................... 215
Error analysis ................................................................... 7
EXAMPLE OF APPLICATION .................................. 159
Example of assignment of Programmable Safety I/O
signals ......................................................................... 45
<N>
NOTE ON MULTI PATH CONTROL ......................... 76
i-1
INDEX
B-64483EN-2/03
<O>
Outline.......................................................................... 116
OVERALL CONNECTION DIAGRAM....................... 49
Overview .............................. 160, 165, 168, 177, 182, 189
OVERVIEW ............................................ 1, 52, 78, 160, 209
<P>
Parameter ..................................................................... 194
PARAMETER LOCK FUNCTION ............................... 32
Parameters ................................... 163, 168, 171, 179, 185
PARAMETERS ....................................................... 78, 81
PROFIBUS-DP PARAMETER SETTINGS ................ 110
PROGRAMMABLE SAFETY I/O SIGNAL................. 76
<R>
RAM CHECK FUNCTION ........................................... 34
Related Safety Standards.................................................. 2
Remaining risks................................................................ 8
Replacing a Spindle Head ............................................ 191
REPRESENTATION OF PARAMETERS .................... 79
Risk Analysis and Evaluation .......................................... 2
Rotating the Spindle Manually in the Emergency Stop
State .......................................................................... 159
<S>
SAFE MACHINE POSITION MONITORING ............. 25
SAFE MACHINE POSITIONING MONITORING
SCREEN................................................................... 147
SAFE REDUCED SPEED CHECK ............................... 23
SAFE SPINDLE STOP FUNCTION WITH
PROTECTION DOOR OPEN .................................... 41
SAFE STOP MONITORING ......................................... 35
SAFETY BRAKE SIGNAL OUTPUT FUNCTION ..... 33
SAFETY FUNCTION BY FL-net ................................. 10
SAFETY FUNCTIONS ................................................. 12
Safety monitoring cycle and cross-check cycle ............... 7
SAFETY POSITION ERROR MONITORING
FUNCTION ................................................................ 32
SAFETY POSITION ERROR MONITORING
SCREEN................................................................... 147
SAFETY POSITION SWITCH FUNCTION................. 30
SAFETY RELATED PARAMETERS CHECK
FUNCTION ................................................................ 32
SAFETY SPEED ZERO MONITORING ...................... 27
Safety Spindle Speed Limit Override Function.............. 24
SAFETY-RELATED I/O SIGNAL MONITORING ..... 15
<T>
TEST MODE FUNCTION FOR ACCEPTANCE
TEST ........................................................................ 116
Test Mode Signal (OPT).............................................. 154
Troubleshooting ........................................................... 116
i-2
REVISION RECORD
B-64483EN-2/03
REVISION RECORD
Edition
Date
03
Sep., 2012
02
Apr., 2012
01
Jun., 2010
Contents
Addition of Series 31i-WB
Addition of Safety Precautions
Modification of section and descriptions of SAFE SPINDLE STOP FUNCTION
Addition of descriptions of following items:
- 1.3.2.4 Remaining risks
- 3.13 SAFETY POSITION ERROR MONITORING FUNCTION
- Interrupting and resuming the brake test in 3.20 BRAKE TEST
- 7.1.1 Acceptance Test and Report for Safety Functions
- PW alarm in 8 ALARM MESSAGE
Modification of descriptions of following items:
- Training in 1.4 GENERAL INFORMATION
- 3.8 MCC OFF TEST
- Alarm of PMC in 3.16 CPU SELF TEST FUNCTION
- Alarm of PMC in 3.17 RAM CHECK FUNCTION
- Alarm of PMC in 3.18 CRC CHECK FUNCTION
- No.1945 and No.13805#1 in 6.5 PARAMETERS
- CAUTION about the MCC
Correction of errors
Addition of Series 35i-B, Series 30i/31i-LB, Series 30i/31i-PB and Power Motion i-A
Renewal of Safety Standard
Addition of Functions
Addition of Chapter 12 Components list
Error correction
r-1