FANUC AC SPINDLE MOTOR @* series

FANUC AC SPINDLE MOTOR #* series

PARAMETER MANUAL

B-65280EN/05
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.

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.
B-65280EN/05 DEFINITION OF WARNING, CAUTION, AND NOTE

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and
preventing damage to the machine. Precautions are classified into
Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning,
Caution, and Note thoroughly before attempting to use the machine.

WARNING
Applied when there is a danger of the user being
injured or when there is a damage 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.

- Read this manual carefully, and store it in a safe place.

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B-65280EN/05 PREFACE

PREFACE
This manual describes the parameters and functions of the FANUC
servo amplifier αi/βi series spindle. This manual is divided into four
parts and appendix. Part I describes the αi series spindle, Part II
describes the βi series spindle, Part III describes the αCi series spindle,
and Part IV describes the Bis series spindle.
Unless otherwise noted, the parameter numbers for FANUC Series 16i
are used in the text. When using any other model, reference the
corresponding parameter numbers.
The table below indicates the abbreviated model names used with the
parameter numbers.

Abbreviated model Abbreviated model

Product name
name in text name in table
FANUC Series 30i Series 30i
FANUC Series 31i Series 31i 30i
FANUC Series 32i Series 32i
FANUC Series 16i Series 16i
FANUC Series 18i Series 18i
16i
FANUC Series 21i Series 21i
FANUC Series 0i Series 0i
FANUC Series 15i Series 15i 15i

For detailed information indicating which model each function

described in this manual can be used with, refer to the manual of each
CNC. For the package specifications, in particular, refer to the CNC
manual.

The manuals related to the αi/βi series spindle are listed below.
(1) FANUC AC SPINDLE MOTOR αi series DESCRIPTIONS
(B-65272EN)
(2) FANUC AC SPINDLE MOTOR αCi series DESCRIPTIONS
(B-65372EN)
(3) FANUC AC SPINDLE MOTOR βi series DESCRIPTIONS
(B-65312EN)
(4) FANUC SERVO AMPLIFIER αi series DESCRIPTIONS
(B-65282EN)
(5) FANUC SERVO AMPLIFIER βi series DESCRIPTIONS
(B-65322EN)
(6) FANUC SERVO MOTOR αis/αi series,
FANUC SPINDLE MOTOR αi series,
FANUC SERVO AMPLIFIER αi series
MAINTENANCE MANUAL (B-65285EN)
(7) FANUC SERVO MOTOR βis series,
FANUC SPINDLE MOTOR βi series,
FANUC SERVO AMPLIFIER βi series
MAINTENANCE MANUAL (B-65325EN)

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PREFACE B-65280EN/05

(8) FANUC AC SPINDLE MOTOR αi/βi series

PARAMETER MANUAL (B-65280EN)
(9) FANUC AC SPINDLE MOTOR αiB series DESCRIPTIONS
(B-65292EN)

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B-65280EN/05 TABLE OF CONTENTS

TABLE OF CONTENTS

DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1

PREFACE ....................................................................................................p-1

I. FANUC AC SPINDLE MOTOR αi series

1 START-UP............................................................................................... 3
1.1 START-UP PROCEDURE ............................................................................. 4
1.2 SPINDLE SERIAL INTERFACE (Optional function) ...................................... 5
1.2.1 Parameters Related to Spindle Serial Output ...........................................................5
1.2.2 Automatic Spindle Parameter Initialization .............................................................6
1.2.3 Diagnosis (Diagnosis Screen)...................................................................................7
1.2.4 Alarm ........................................................................................................................8
1.3 PARAMETERS RELATED TO DETECTORS.............................................. 10
1.3.1 List of Parameters for Detectors.............................................................................10
1.3.2 Details of Parameters for Detectors........................................................................12
1.3.3 Typical Detector Configurations ............................................................................21

2 EXPLANATION OF OPERATION MODES........................................... 28

2.1 VELOCITY CONTROL MODE..................................................................... 29
2.1.1 Start-up Procedure..................................................................................................29
2.1.2 Overview ................................................................................................................29
2.1.3 System Configuration.............................................................................................29
2.1.4 List of I/O Signals (CNC↔PMC)..........................................................................30
2.1.5 Related Parameters .................................................................................................34
2.1.6 Details of Related Parameters ................................................................................36
2.1.7 Troubleshooting .....................................................................................................46
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) ....................................................................................... 50
2.2.1 Start-up Procedure..................................................................................................50
2.2.2 Overview ................................................................................................................51
2.2.3 Feature ....................................................................................................................51
2.2.4 System Configuration.............................................................................................52
2.2.5 Stop Position Specification Method .......................................................................54
2.2.6 I/O Signals (CNC ↔ PMC) ...................................................................................55
2.2.7 Examples of Sequences ..........................................................................................59
2.2.8 Related Parameters .................................................................................................62
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2.2.9 Details of Related Parameters ................................................................................63

2.2.10 Calculating the Position Gain for Orientation ........................................................68
2.2.11 Adjusting the Orientation Stop Position Shift Parameter.......................................69
2.2.12 Calculating the Orientation Time ...........................................................................71
2.3 RIGID TAPPING (Optional function)............................................................ 73
2.3.1 Start-up Procedure..................................................................................................73
2.3.2 Overview ................................................................................................................73
2.3.3 System Configuration.............................................................................................74
2.3.4 List of I/O Signals (CNC ↔ PMC)........................................................................77
2.3.5 Sequence.................................................................................................................79
2.3.6 Related Parameters .................................................................................................80
2.3.7 Details of Related Parameters ................................................................................82
2.3.8 Parameter Setting Procedure ..................................................................................89
2.3.9 Adjustment Procedure ............................................................................................98
2.3.10 Diagnosis (Diagnosis Screen)...............................................................................104
2.3.11 Alarm ....................................................................................................................106
2.4 Cs CONTOURING CONTROL (Optional function) .................................... 109
2.4.1 Start-up Procedure................................................................................................109
2.4.2 Overview ..............................................................................................................110
2.4.3 System Configuration...........................................................................................110
2.4.4 List of I/O Signals (CNC ↔ PMC)......................................................................112
2.4.5 Examples of Sequences ........................................................................................114
2.4.6 Related Parameters ...............................................................................................115
2.4.7 Details of Related Parameters ..............................................................................117
2.4.8 Diagnosis (Diagnosis Screen)...............................................................................126
2.4.9 Alarm ....................................................................................................................126
2.5 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 127
2.5.1 Start-up Procedure................................................................................................127
2.5.2 Overview ..............................................................................................................128
2.5.3 System Configuration...........................................................................................129
2.5.4 Explanation of Operation .....................................................................................136
2.5.5 I/O Signals (CNC ↔ PMC) .................................................................................137
2.5.6 Examples of Sequences ........................................................................................141
2.5.7 Related Parameters ...............................................................................................146
2.5.8 Details of Related Parameters ..............................................................................147
2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................155
2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................156

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2.5.11 Diagnosis (Diagnosis Screen)...............................................................................156

2.5.12 Alarm ....................................................................................................................157
2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 158
2.6.1 Overview ..............................................................................................................158
2.6.2 List of I/O Signals (CNC ↔ PMC)......................................................................158
2.6.3 Parameters ............................................................................................................163
2.6.4 Details of Parameters............................................................................................166
2.6.5 Diagnosis (Diagnosis Screen)...............................................................................176

3 I/O SIGNALS (CNC ↔ PMC) .............................................................. 178

3.1 INPUT SIGNALS (PMC→CNC→SPM)...................................................... 179
3.1.1 List of Input Signals .............................................................................................179
3.1.2 Explanation of Input Signals ................................................................................180
3.1.3 Details of Input Signals ........................................................................................182
3.2 OUTPUT SIGNALS (SPM→CNC→PMC).................................................. 192
3.2.1 List of Output Signals...........................................................................................192
3.2.2 Explanation of Output Signals .............................................................................193
3.2.3 Details of Output Signals .....................................................................................195

4 ADJUSTMENT .................................................................................... 202

4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 203
4.1.1 Overview ..............................................................................................................203
4.1.2 Parameters ............................................................................................................203
4.1.3 Adjustment Procedure ..........................................................................................206
4.1.4 Additional Information (Position Gain Adjustment)............................................207
4.2 MACHINE RESONANCE ELIMINATION................................................... 208
4.2.1 TCMD Filter.........................................................................................................208
4.2.2 HRV Filter............................................................................................................209
4.2.3 Disturbance Input Function ..................................................................................212
4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION
FUNCTION ................................................................................................ 217
5 FUNCTION DESCRIPTIONS .............................................................. 222
5.1 SPEED RANGE SWITCHING CONTROL (Optional function)................... 223
5.1.1 Overview ..............................................................................................................223
5.1.2 Series and Editions of Applicable Spindle Software............................................223
5.1.3 Configuration .......................................................................................................223
5.1.4 I/O Signals (CNC ↔ PMC) .................................................................................224
5.1.5 Sequence...............................................................................................................228

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5.1.6 List of Related Parameters....................................................................................230

5.1.7 Details of Related Parameters ..............................................................................231
5.1.8 Parameter-specified Switching between High- and Low-speed Characteristics ..233
5.2 SPINDLE SWITCHING CONTROL ........................................................... 235
5.2.1 Overview ..............................................................................................................235
5.2.2 Series and Editions of Applicable Spindle Software............................................235
5.2.3 Configuration .......................................................................................................235
5.2.4 Details of Specifications.......................................................................................236
5.2.5 Restrictions...........................................................................................................236
5.2.6 I/O Signals (CNC↔PMC) ...................................................................................237
5.2.7 Sequence...............................................................................................................240
5.2.8 List of Related Parameters....................................................................................242
5.2.9 Details of Related Parameters ..............................................................................242
5.2.10 Parameter Setting Procedure ................................................................................245
5.2.11 Supplementary Descriptions about Parameters ....................................................246
5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION
(SPINDLE ROTATION SPEED CONTROL) (Optional function)................ 247
5.3.1 Overview ..............................................................................................................247
5.3.2 Series and Editions of Applicable Spindle Software............................................247
5.3.3 System Configuration...........................................................................................248
5.3.4 I/O Signals(CNC↔PMC) ....................................................................................251
5.3.5 Examples of Sequences ........................................................................................253
5.3.6 List of Related Parameters....................................................................................256
5.3.7 Details of Related Parameters ..............................................................................256
5.4 HIGH-SPEED SPINDLE ORIENTATION (Optional function)..................... 257
5.4.1 Overview ..............................................................................................................257
5.4.2 Series and Editions of Applicable Spindle Software............................................257
5.4.3 System Configuration...........................................................................................257
5.4.4 I/O Signals (CNC↔PMC) ...................................................................................260
5.4.5 Sequence...............................................................................................................262
5.4.6 List of Related Parameters....................................................................................265
5.4.7 Details of Related Parameters ..............................................................................266
5.4.8 Spindle Data Used in Tuning ...............................................................................271
5.4.9 Tuning Procedure .................................................................................................272
5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONIZATION
CONTROL (Optional function) ................................................................... 278
5.5.1 Overview ..............................................................................................................278

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5.5.2 Series and Editions of Applicable Spindle Software............................................278

5.5.3 Specification.........................................................................................................279
5.5.4 I/O Signals (CNC ↔ PMC) .................................................................................281
5.5.5 Sequence...............................................................................................................285
5.5.6 List of Related Parameters....................................................................................287
5.5.7 Details of Related Parameters ..............................................................................288
5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 290
5.6.1 Overview ..............................................................................................................290
5.6.2 Series and Editions of Applicable Spindle Software............................................290
5.6.3 Block Diagram .....................................................................................................291
5.6.4 Parameters ............................................................................................................291
5.6.5 Diagnosis (Diagnosis Screen)...............................................................................293
5.6.6 Status Errors .........................................................................................................293
5.6.7 Cautions................................................................................................................294
5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
(Optional function) ..................................................................................... 296
5.7.1 Overview ..............................................................................................................296
5.7.2 Series and Editions of Applicable Spindle Software............................................296
5.7.3 I/O Signals (CNC↔PMC) ...................................................................................297
5.7.4 List of Related Parameters....................................................................................298
5.7.5 Details of Related Parameters ..............................................................................298
5.7.6 Parameter Tuning Procedure ................................................................................300
5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX)
(Optional function) ..................................................................................... 302
5.8.1 Overview ..............................................................................................................302
5.8.2 Series and Editions of Applicable Spindle Software............................................302
5.8.3 System Configuration...........................................................................................303
5.8.4 Block Diagram .....................................................................................................306
5.8.5 I/O Signals (CNC ↔ PMC) .................................................................................307
5.8.6 Examples of Sequences ........................................................................................307
5.8.7 List of Related Parameters....................................................................................308
5.8.8 Details of Related Parameters ..............................................................................309
5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................312
5.8.10 Status Errors Related to Spindle EGB..................................................................312
5.8.11 Alarms ..................................................................................................................313
5.9 DIFFERENTIAL SPINDLE SPEED CONTROL ......................................... 314
5.9.1 Overview ..............................................................................................................314

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5.9.2 Series and Editions of Applicable Spindle Software............................................314

5.9.3 Configuration .......................................................................................................315
5.9.4 Description ...........................................................................................................316
5.9.5 I/O Signals (CNC↔PMC) ...................................................................................316
5.9.6 Examples of Sequences ........................................................................................317
5.9.7 List of Related Parameters....................................................................................318
5.9.8 Details of Related Parameters ..............................................................................318
5.9.9 Status Errors on Differential Spindle Speed Control ...........................................318
5.10 DUAL POSITION FEEDBACK FUNCTION (Optional function) ................. 319
5.10.1 Overview ..............................................................................................................319
5.10.2 Series and Editions of Applicable Spindle Software............................................319
5.10.3 Block Diagram .....................................................................................................320
5.10.4 List of Related Parameters....................................................................................321
5.10.5 Details of Related Parameters ..............................................................................321
5.10.6 SPM Alarm...........................................................................................................325
5.11 TORQUE TANDEM CONTROL FUNCTION (Optional function) ............... 326
5.11.1 Overview ..............................................................................................................326
5.11.2 Series and Editions of Applicable Spindle Software............................................326
5.11.3 System Configuration...........................................................................................327
5.11.4 I/O Signals (CNC ↔ PMC) .................................................................................329
5.11.5 Examples of Sequences ........................................................................................332
5.11.6 Parameters ............................................................................................................336
5.11.7 Alarm and Status Error.........................................................................................339
5.12 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION
(Optional function) ..................................................................................... 340
5.12.1 Overview ..............................................................................................................340
5.12.2 Series and Editions of Applicable Spindle Software............................................340
5.12.3 System Configuration...........................................................................................340
5.12.4 I/O Signals (CNC ↔ PMC) .................................................................................341
5.12.5 Sequence...............................................................................................................341
5.12.6 Parameters ............................................................................................................342

II. FANUC AC SPINDLE MOTOR βi series

1 START-UP........................................................................................... 349
1.1 START-UP PROCEDURE ......................................................................... 350
1.2 SPINDLE SERIAL INTERFACE (Optional function) .................................. 351
1.2.1 Parameters Related to Spindle Serial Output .......................................................351

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1.2.2 Automatic Spindle Parameter Initialization .........................................................351

1.2.3 Diagnosis (Diagnosis Screen)...............................................................................352
1.2.4 Alarm ....................................................................................................................352
1.3 PARAMETERS RELATED TO DETECTORS............................................ 353
1.3.1 List of Parameters for Detectors...........................................................................353
1.3.2 Details of Parameters for Detectors......................................................................353
1.3.3 Typical Detector Configurations ..........................................................................354

2 EXPLANATION OF OPERATION MODES......................................... 358

2.1 VELOCITY CONTROL MODE................................................................... 359
2.1.1 Start-up Procedure................................................................................................359
2.1.2 Overview ..............................................................................................................359
2.1.3 System Configuration...........................................................................................359
2.1.4 List of I/O Signals (CNC↔PMC)........................................................................359
2.1.5 Related Parameters ...............................................................................................359
2.1.6 Details of Related Parameters ..............................................................................359
2.1.7 Troubleshooting ...................................................................................................359
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) ..................................................................................... 360
2.2.1 Start-up Procedure................................................................................................360
2.2.2 Overview ..............................................................................................................360
2.2.3 Feature ..................................................................................................................360
2.2.4 System Configuration...........................................................................................360
2.2.5 Stop Position Specification Method .....................................................................362
2.2.6 I/O Signals (CNC ↔ PMC) .................................................................................362
2.2.7 Examples of Sequences ........................................................................................362
2.2.8 Related Parameters ...............................................................................................362
2.2.9 Details of Related Parameters ..............................................................................362
2.2.10 Adjusting the Orientation Stop Position Shift Parameter.....................................362
2.3 RIGID TAPPING (Optional function).......................................................... 363
2.3.1 Start-up Procedure................................................................................................363
2.3.2 Overview ..............................................................................................................363
2.3.3 System Configuration...........................................................................................363
2.3.4 List of I/O Signals (CNC ↔ PMC)......................................................................366
2.3.5 Sequence...............................................................................................................366
2.3.6 Related Parameters ...............................................................................................366
2.3.7 Details of Related Parameters ..............................................................................366
2.3.8 Parameter Setting Procedure ................................................................................366
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2.3.9 Adjustment Procedure ..........................................................................................366

2.3.10 Diagnosis (Diagnosis Screen)...............................................................................366
2.3.11 Alarm ....................................................................................................................366
2.4 Cs CONTOURING CONTROL (Optional function) .................................... 367
2.4.1 Start-up Procedure................................................................................................367
2.4.2 Overview ..............................................................................................................367
2.4.3 System Configuration...........................................................................................367
2.4.4 List of I/O Signals (CNC ↔ PMC)......................................................................368
2.4.5 Examples of Sequences ........................................................................................368
2.4.6 Related Parameters ...............................................................................................368
2.4.7 Details of Related Parameters ..............................................................................369
2.4.8 Diagnosis (Diagnosis Screen)...............................................................................370
2.4.9 Alarm ....................................................................................................................370
2.5 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 371
2.5.1 Start-up Procedure................................................................................................371
2.5.2 Overview ..............................................................................................................371
2.5.3 System Configuration...........................................................................................372
2.5.4 Explanation of Operation .....................................................................................375
2.5.5 I/O Signals (CNC ↔ PMC) .................................................................................375
2.5.6 Examples of Sequences ........................................................................................375
2.5.7 Related Parameters ...............................................................................................375
2.5.8 Details of Related Parameters ..............................................................................375
2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................375
2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................375
2.5.11 Diagnosis (Diagnosis Screen)...............................................................................375
2.5.12 Alarm ....................................................................................................................375
2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 376
2.6.1 Overview ..............................................................................................................376
2.6.2 List of I/O Signals (CNC ↔ PMC)......................................................................376
2.6.3 Parameters ............................................................................................................376
2.6.4 Details of parameters............................................................................................376
2.6.5 Diagnosis (Diagnosis Screen)...............................................................................376

3 I/O SIGNALS (CNC ↔ PMC) .............................................................. 377

3.1 INPUT SIGNALS (PMC→CNC→SVPM) ................................................... 378
3.1.1 List of Input Signals .............................................................................................378
3.1.2 Explanation of Input Signals ................................................................................378
3.1.3 Details of input signals .........................................................................................378
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3.2 OUTPUT SIGNALS (SVPM→CNC→PMC) ............................................... 379

3.2.1 List of Output Signals...........................................................................................379
3.2.2 Explanation of Output Signals .............................................................................379
3.2.3 Details of Output Signals .....................................................................................379

4 ADJUSTMENT .................................................................................... 380

4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 381
4.1.1 Overview ..............................................................................................................381
4.1.2 Parameters ............................................................................................................381
4.1.3 Adjustment Procedure ..........................................................................................381
4.1.4 Additional Information (Position Gain Adjustment)............................................381

5 FUNCTION DESCRIPTIONS .............................................................. 382

5.1 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION
(SPINDLE ROTATION SPEED CONTROL) (Optional function)................ 383
5.1.1 Overview ..............................................................................................................383
5.1.2 System Configuration...........................................................................................383
5.1.3 I/O Signals (CNC↔PMC) ...................................................................................385
5.1.4 Examples of Sequences ........................................................................................385
5.1.5 List of Related Parameters....................................................................................386
5.1.6 Details of Related Parameters ..............................................................................386
5.2 HIGH-SPEED SPINDLE ORIENTATION (Optional function)..................... 387
5.2.1 Overview ..............................................................................................................387
5.2.2 System Configuration...........................................................................................387
5.2.3 I/O Signals (CNC↔PMC) ...................................................................................388
5.2.4 Sequence...............................................................................................................389
5.2.5 List of Related Parameters....................................................................................390
5.2.6 Details of Related Parameters ..............................................................................391
5.2.7 Spindle Data Used in Tuning ...............................................................................391
5.2.8 Tuning Procedure .................................................................................................391
5.3 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 392
5.3.1 Overview ..............................................................................................................392
5.3.2 Series and Editions of Applicable Spindle Software............................................392
5.3.3 Block Diagram .....................................................................................................392
5.3.4 Parameters ............................................................................................................393
5.3.5 Diagnosis (Diagnosis Screen)...............................................................................393
5.3.6 Status Errors .........................................................................................................393
5.3.7 Cautions................................................................................................................393

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5.4 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION

(Optional function) ..................................................................................... 394
5.4.1 Overview ..............................................................................................................394
5.4.2 Series and Editions of Applicable Spindle Software............................................394
5.4.3 I/O Signals (CNC↔PMC) ...................................................................................394
5.4.4 List of Related Parameters....................................................................................394
5.4.5 Details of Related Parameters ..............................................................................394
5.4.6 Parameter Tuning Procedure ................................................................................394

III. FANUC AC SPINDLE MOTOR αCi series

1 START-UP........................................................................................... 397
1.1 START-UP PROCEDURE ......................................................................... 398
1.2 SPINDLE SERIAL INTERFACE (Optional function) .................................. 399
1.2.1 Parameters Related to Spindle Serial Output .......................................................399
1.2.2 Automatic Spindle Parameter Initialization .........................................................399
1.2.3 Diagnosis (Diagnosis Screen)...............................................................................400
1.2.4 Alarm ....................................................................................................................400
1.3 PARAMETERS RELATED TO DETECTORS............................................ 401
1.3.1 List of Parameters for Detectors...........................................................................401
1.3.2 Details of Parameters for Detectors......................................................................402
1.3.3 Typical Detector Configurations ..........................................................................406

2 EXPLANATION OF OPERATION MODES......................................... 408

2.1 VELOCITY CONTROL MODE................................................................... 409
2.1.1 Start-up Procedure................................................................................................409
2.1.2 Overview ..............................................................................................................409
2.1.3 System Configuration...........................................................................................409
2.1.4 List of I/O Signals (CNC↔PMC)........................................................................410
2.1.5 Related Parameters ...............................................................................................414
2.1.6 Details of Related Parameters ..............................................................................415
2.1.7 Troubleshooting ...................................................................................................420
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) ..................................................................................... 424
2.2.1 Start-up Procedure................................................................................................424
2.2.2 Overview ..............................................................................................................425
2.2.3 Feature ..................................................................................................................425
2.2.4 System Configuration...........................................................................................425
2.2.5 Stop Position Specification Method .....................................................................425
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2.2.6 I/O Signals (CNC↔PMC) ...................................................................................426

2.2.7 Examples of Sequences ........................................................................................426
2.2.8 Related Parameters ...............................................................................................427
2.2.9 Details of Related Parameters ..............................................................................428
2.2.10 Adjusting the Orientation Stop Position Shift Parameter.....................................432
2.3 RIGID TAPPING (Optional function).......................................................... 433
2.3.1 Start-up Procedure................................................................................................433
2.3.2 Overview ..............................................................................................................433
2.3.3 System Configuration...........................................................................................434
2.3.4 List of I/O Signals (CNC ↔ PMC)......................................................................435
2.3.5 Sequence...............................................................................................................437
2.3.6 Related Parameters ...............................................................................................438
2.3.7 Details of Related Parameters ..............................................................................439
2.3.8 Parameter Setting Procedure ................................................................................444
2.3.9 Adjustment Procedure ..........................................................................................450
2.3.10 Diagnosis (Diagnosis Screen)...............................................................................450
2.3.11 Alarm ....................................................................................................................450
2.4 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 451
2.4.1 Start-up Procedure................................................................................................451
2.4.2 Overview ..............................................................................................................452
2.4.3 System Configuration...........................................................................................452
2.4.4 Explanation of Operation .....................................................................................452
2.4.5 I/O Signals (CNC ↔ PMC) .................................................................................453
2.4.6 Examples of Sequences ........................................................................................453
2.4.7 Related Parameters ...............................................................................................454
2.4.8 Details of Related Parameters ..............................................................................455
2.4.9 Number of Error Pulses in Spindle Synchronous Control....................................461
2.4.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................461
2.4.11 Diagnosis (Diagnosis Screen)...............................................................................461
2.4.12 Alarm ....................................................................................................................461
2.5 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 462
2.5.1 Overview ..............................................................................................................462
2.5.2 List of I/O Signals (CNC ↔ PMC)......................................................................462
2.5.3 Parameters ............................................................................................................466
2.5.4 Details of parameters............................................................................................468
2.5.5 Diagnosis (Diagnosis Screen)...............................................................................475

3 I/O SIGNALS (CNC ↔ PMC) .............................................................. 476

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3.1 INPUT SIGNALS (PMC→CNC→SPM)...................................................... 477

3.1.1 List of Input Signals .............................................................................................477
3.1.2 Explanation of Input Signals ................................................................................478
3.1.3 Details of Input Signals ........................................................................................479
3.2 OUTPUT SIGNALS (SPM→CNC→PMC).................................................. 480
3.2.1 List of Output Signals...........................................................................................480
3.2.2 Explanation of Output Signals .............................................................................480
3.2.3 Details of Output Signals .....................................................................................480

4 ADJUSTMENT .................................................................................... 481

4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 482
4.1.1 Overview ..............................................................................................................482
4.1.2 Parameters ............................................................................................................482
4.1.3 Adjustment Procedure ..........................................................................................485
4.1.4 Additional Information (Position Gain Adjustment)............................................486

IV. FANUC BUILT-IN SPINDLE MOTOR Bis series

1 START-UP........................................................................................... 489
1.1 START-UP PROCEDURE ......................................................................... 490
1.2 SPINDLE SERIAL INTERFACE (Optional function) .................................. 491
1.2.1 Parameters Related to Spindle Serial Output .......................................................491
1.2.2 Automatic Spindle Parameter Initialization .........................................................491
1.2.3 Diagnosis (Diagnosis Screen)...............................................................................491
1.2.4 Alarm ....................................................................................................................491
1.3 PARAMETERS RELATED TO DETECTORS............................................ 492
1.3.1 List of Parameters for Detectors...........................................................................492
1.3.2 Details of Parameters for Detectors......................................................................492
1.3.3 Typical Detector Configurations ..........................................................................493
1.4 SUB MODULE SM..................................................................................... 494
1.4.1 Overview ..............................................................................................................494
1.4.2 Series and Editions of Applicable Spindle Software............................................494
1.4.3 Configuration .......................................................................................................494
1.4.4 Related Parameters ...............................................................................................495
1.4.5 Stop Processing When a Sub Module SM Error Occurs ......................................496
1.4.6 Alarm and Status Error.........................................................................................497
1.4.7 Caution .................................................................................................................498
1.5 MAGNETIC POLE DETECTION................................................................ 500
1.5.1 Overview ..............................................................................................................500
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1.5.2 Magnetic Pole Detection Operation .....................................................................501

1.5.3 AMR Offset Function...........................................................................................503
1.5.4 I/O Signals (CNC ↔ PMC) .................................................................................505
1.5.5 Related Parameters ...............................................................................................507
1.5.6 Sequence...............................................................................................................512
1.5.7 Causes of SPM Alarm 65 .....................................................................................514
1.5.8 Cautions................................................................................................................514

2 EXPLANATION OF OPERATION MODES......................................... 515

2.1 VELOCITY CONTROL MODE................................................................... 516
2.1.1 Start-up Procedure................................................................................................516
2.1.2 Overview ..............................................................................................................516
2.1.3 System Configuration...........................................................................................516
2.1.4 List of I/O Signals (CNC↔PMC)........................................................................516
2.1.5 Related Parameters ...............................................................................................517
2.1.6 Details of Related Parameters ..............................................................................519
2.1.7 Troubleshooting ...................................................................................................526
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) ..................................................................................... 527
2.2.1 Start-up Procedure................................................................................................527
2.2.2 Overview ..............................................................................................................527
2.2.3 Feature ..................................................................................................................527
2.2.4 System Configuration...........................................................................................527
2.2.5 Stop Position Specification Method .....................................................................527
2.2.6 I/O Signals (CNC ↔ PMC) .................................................................................527
2.2.7 Examples of Sequences ........................................................................................528
2.2.8 Related Parameters ...............................................................................................528
2.2.9 Details of Related Parameters ..............................................................................529
2.2.10 Adjusting the Orientation Stop Position Shift Parameter.....................................532
2.3 RIGID TAPPING (Optional function).......................................................... 533
2.3.1 Start-up Procedure................................................................................................533
2.3.2 Overview ..............................................................................................................533
2.3.3 System Configuration...........................................................................................533
2.3.4 List of I/O Signals (CNC ↔ PMC)......................................................................533
2.3.5 Sequence...............................................................................................................533
2.3.6 Related Parameters ...............................................................................................534
2.3.7 Details of Related Parameters ..............................................................................536
2.3.8 Parameter Setting Procedure ................................................................................540
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2.3.9 Adjustment Procedure ..........................................................................................540

2.3.10 Diagnosis (Diagnosis Screen)...............................................................................545
2.3.11 Alarm ....................................................................................................................545
2.4 Cs CONTOURING CONTROL (Optional function) .................................... 546
2.4.1 Start-up Procedure................................................................................................546
2.4.2 Overview ..............................................................................................................546
2.4.3 System Configuration...........................................................................................546
2.4.4 List of I/O Signals (CNC ↔ PMC)......................................................................546
2.4.5 Examples of Sequences ........................................................................................546
2.4.6 Related Parameters ...............................................................................................547
2.4.7 Details of Related Parameters ..............................................................................549
2.4.8 Diagnosis (Diagnosis Screen)...............................................................................556
2.4.9 Alarm ....................................................................................................................556
2.5 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 557
2.5.1 Start-up Procedure................................................................................................557
2.5.2 Overview ..............................................................................................................557
2.5.3 System Configuration...........................................................................................557
2.5.4 Explanation of Operation .....................................................................................558
2.5.5 I/O Signals (CNC ↔ PMC) .................................................................................558
2.5.6 Examples of Sequences ........................................................................................558
2.5.7 Related Parameters ...............................................................................................559
2.5.8 Details of Related Parameters ..............................................................................560
2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................566
2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................566
2.5.11 Diagnosis (Diagnosis Screen)...............................................................................566
2.5.12 Alarm ....................................................................................................................566
2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 567
2.6.1 Overview ..............................................................................................................567
2.6.2 List of I/O Signals (CNC ↔ PMC)......................................................................567
2.6.3 Parameters ............................................................................................................571
2.6.4 Details of Parameters............................................................................................574
2.6.5 Diagnosis (Diagnosis Screen)...............................................................................582

3 I/O SIGNALS (CNC ↔ PMC) .............................................................. 583

3.1 INPUT SIGNALS (PMC→CNC→SPM)...................................................... 584
3.1.1 List of Input Signals .............................................................................................584
3.1.2 Explanation of Input Signals ................................................................................585
3.1.3 Details of Input Signals ........................................................................................586
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3.2 OUTPUT SIGNALS (SPM→CNC→PMC).................................................. 590

3.2.1 List of Output Signals...........................................................................................590
3.2.2 Explanation of Output Signals .............................................................................591
3.2.3 Details of Output Signals .....................................................................................592

4 ADJUSTMENT .................................................................................... 594

4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 595
4.1.1 Overview ..............................................................................................................595
4.1.2 Parameters ............................................................................................................595
4.1.3 Adjustment Procedure ..........................................................................................595
4.1.4 Additional Information (Position Gain Adjustment)............................................595
4.2 MACHINE RESONANCE ELIMINATION................................................... 595
4.2.1 TCMD Filter.........................................................................................................595
4.2.2 HRV Filter............................................................................................................595
4.2.3 Disturbance Input Function ..................................................................................595
4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION
FUNCTION ................................................................................................ 595
5 FUNCTION DESCRIPTIONS .............................................................. 596
5.1 SPEED RANGE SWITCHING CONTROL (Optional function)................... 597
5.2 SPINDLE SWITCHING CONTROL ........................................................... 597
5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION
(SPINDLE ROTATION SPEED CONTROL) (Optional function)................ 598
5.3.1 Overview ..............................................................................................................598
5.3.2 Series and Editions of Applicable Spindle Software............................................598
5.3.3 System Configuration...........................................................................................598
5.3.4 I/O Signals(CNC↔PMC) ....................................................................................599
5.3.5 Examples of Sequences ........................................................................................599
5.3.6 List of Related Parameters....................................................................................600
5.3.7 Details of Related Parameters ..............................................................................600
5.4 HIGH-SPEED SPINDLE ORIENTATION (Optional function)..................... 601
5.4.1 Overview ..............................................................................................................601
5.4.2 Series and Editions of Applicable Spindle Software............................................601
5.4.3 System Configuration...........................................................................................601
5.4.4 I/O Signals (CNC↔PMC) ...................................................................................602
5.4.5 Sequence...............................................................................................................603
5.4.6 List of Related Parameters....................................................................................604
5.4.7 Details of Related Parameters ..............................................................................605

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5.4.8 Spindle Data Used in Tuning ...............................................................................610

5.4.9 Tuning Procedure .................................................................................................610
5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONOUS
CONTROL (Optional function) ................................................................... 616
5.5.1 Overview ..............................................................................................................616
5.5.2 Series and Editions of Applicable Spindle Software............................................616
5.5.3 Specification.........................................................................................................616
5.5.4 I/O Signals (CNC ↔ PMC) .................................................................................617
5.5.5 Sequence...............................................................................................................618
5.5.6 List of Related Parameters....................................................................................619
5.5.7 Details of Related Parameters ..............................................................................619
5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 620
5.6.1 Overview ..............................................................................................................620
5.6.2 Series and Editions of Applicable Spindle Software............................................620
5.6.3 Block Diagram .....................................................................................................620
5.6.4 Parameters ............................................................................................................620
5.6.5 Diagnosis (Diagnosis Screen)...............................................................................620
5.6.6 Status Errors .........................................................................................................620
5.6.7 Cautions................................................................................................................620
5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
(Optional function) ..................................................................................... 621
5.7.1 Overview ..............................................................................................................621
5.7.2 Series and Editions of Applicable Spindle Software............................................621
5.7.3 I/O Signals (CNC↔PMC) ...................................................................................622
5.7.4 List of Related Parameters....................................................................................623
5.7.5 Details of Related Parameters ..............................................................................623
5.7.6 Parameter Tuning Procedure ................................................................................623
5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX)
(Optional function) ..................................................................................... 624
5.8.1 Overview ..............................................................................................................624
5.8.2 Series and Editions of Applicable Spindle Software............................................624
5.8.3 System Configuration...........................................................................................625
5.8.4 Block Diagram .....................................................................................................625
5.8.5 I/O Signals (CNC ↔ PMC) .................................................................................626
5.8.6 Examples of Sequences ........................................................................................626
5.8.7 List of Related Parameters....................................................................................627
5.8.8 Details of Related Parameters ..............................................................................627

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5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................628

5.8.10 Status Errors Related to Spindle EGB..................................................................628
5.8.11 Alarms ..................................................................................................................628
5.9 DIFFERENTIAL SPINDLE SPEED CONTROL ......................................... 629
5.10 DUAL POSITION FEEDBACK FUNCTION (Optional function).....................629
5.11 TORQUE TANDEM CONTROL FUNCTION (Optional function)...................629
5.12 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION
(Optional function) ...............................................................................................629

APPENDIX
A SPINDLE PARAMETER TABLE......................................................... 633
A.1 αi SERIES SPINDLE PARAMETER TABLE ............................................. 634
A.2 αCi SERIES SPINDLE PARAMETER TABLE ........................................... 650
A.3 Bis SERIES SPINDLE PARAMETER TABLE............................................ 654

B LIST OF SPINDLE PARAMETER NUMBERS.................................... 661

C PARAMETER TABLE FOR EACH MOTOR MODEL ......................... 667
C.1 SPINDLE MOTOR αi series ...................................................................... 668
C.2 SPINDLE MOTOR αiP series..................................................................... 672
C.3 SPINDLE MOTOR αiT series..................................................................... 674
C.4 SPINDLE MOTOR α(HV)i series............................................................... 676
C.5 SPINDLE MOTOR α(HV)iP series ............................................................. 678
C.6 SPINDLE MOTOR α(HV)iT series ............................................................. 679
C.7 SPINDLE MOTOR βi series ...................................................................... 681
C.8 SPINDLE MOTOR αCi series.................................................................... 682

D LISTS OF ALARMS/STATE ERRORS ............................................... 683

D.1 LIST OF SPINDLE ALARMS ..................................................................... 684
D.2 LIST OF SPINDLE STATE ERRORS ........................................................ 686
E TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL ......... 689
E.1 αi SERIES SPINDLE ................................................................................. 690
E.1.1 Input Signals (PMC→CNC).................................................................................690
E.1.2 Output Signals (CNC→PMC)..............................................................................692
E.2 αCi SERIES SPINDLE .............................................................................. 695
E.2.1 Input Signals (PMC→CNC).................................................................................695
E.2.2 Output Signals (CNC→PMC)..............................................................................697
E.3 Bis SERIES SPINDLE ............................................................................... 699
E.3.1 Input Signals (PMC→CNC).................................................................................699
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E.3.2 Output Signals (CNC→PMC)..............................................................................701

F OBSERVING DATA USING THE SERVO GUIDE .............................. 704

F.1 SERIES AND EDITIONS OF APPLICABLE SPINDLE SOFTWARE......... 705
F.2 SPINDLE DATA THAT CAN BE OBSERVED USING THE SERVO
GUIDE ....................................................................................................... 706
F.2.1 Data List ...............................................................................................................706
F.2.2 About the Spindle Speed Control and Spindle Status Signals .............................707
F.3 EXAMPLE OF OBSERVING DATA ........................................................... 708
G PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi
SERIES AND αCi SERIES.................................................................. 710
G.1 PARAMETERS WITH DIFFERENT MEANINGS....................................... 711
H PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi
SERIES AND Bis SERIES .................................................................. 713
H.1 PARAMETERS WITH DIFFERENT MEANINGS....................................... 714

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I. FANUC AC SPINDLE MOTOR αi series
B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

1 START-UP

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

1.1 START-UP PROCEDURE

A. Check the spindle-related specifications.

- CNC model
- Spindle motor
- Power supply module
- Spindle amplifier module
- Detector system

B. Check all connections. (See DESCRIPTIONS (B-65272EN).)

C. Prepare and check the PMC ladder program.

D. Check the CNC parameter setting for using the αi series

(Serial) spindle. (See Subsection 1.2.1.)

E. Perform automatic αi series (Serial) spindle parameter H. When using a machine in a system
initialization. (See Subsection 1.2.2.) that has already been started, load all
- Set a motor model code and the parameter enabling use CNC parameters for the machine.
of the automatic parameter initialization function, then turn
the CNC off and then on again.

F. Change parameter data (when no model code is used).

- For a motor for which there is no model code, perform
automatic initialization by specifying 300 (or 400 when the
speed range switching function is used), then change the
parameter data according to the parameter list for the
motor.

G. Set the parameters related to the detectors. (See Section 1.3.)

I. Check the waveforms of the feedback signals from detectors.

(Refer to the MAINTENANCE MANUAL (B-65285EN).)

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

1.2 SPINDLE SERIAL INTERFACE Optional function

1.2.1 Parameters Related to Spindle Serial Output

This subsection provides a list of the parameters related to spindle
serial output only. For details of each parameter, refer to the
Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.2 “SPINDLE SERIAL OUTPUT.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”

Parameter No.
15i 16i 30i Description
Whether to use the serial interface
 3701#1 
(Set 0.)
Selection of a spindle (analog/serial)
  3716#0
(Set 1.)
Selection of an interface (serial/analog)
5606#0  
(Set 1.)
 3701#4  Number of connectable serial spindles
(Whether to use the second serial spindle)
  3702#1 Multi-spindle control function
(Whether to use the multi-spindle control function)
5841   Motor number of each spindle
  3717 Amplifier number of each spindle
5845  3718 Spindle indication subscript (main spindle)
5846  3719 Spindle indication subscript (sub-spindle)
5850   Spindle number selected at power-on/reset time

NOTE
To use the spindle serial interface, the CNC software
option is required.

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

1.2.2 Automatic Spindle Parameter Initialization

(1) Parameter list

Parameter No.
15i 16i 30i Description
5607#0 4019#7 4019#7 Function for automatically initializing spindle parameters
3133 4133 4133 Spindle motor model code

(2) Procedure for automatic spindle parameter initialization

Perform automatic spindle parameter initialization by following the
procedure below.

<1> Set the model code for the desired motor for automatic parameter
initialization.
Parameter No.
15i 16i 30i Description
3133 4133 4133 Model code

NOTE
1 The control method usable with the αi series
spindle is spindle HRV control only. The
conventional control method is not supported.
2 When using a spindle motor that has no model
code, set model code "300" ("400" for a spindle
motor with speed range switching control) for
automatic parameter setting, then manually input
data according to the parameter table for each
motor model.

<2> Set the relevant parameter to enable automatic spindle parameter

initialization.
Parameter No.
15i 16i 30i Description
 4019#7 4019#7 1
5607#0   0

NOTE
This bit is reset to its original value after
automatic parameter initialization.

<3> Turn the CNC off, then on again. Then, the spindle parameters
specified with a model code are automatically initialized.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

1.2.3 Diagnosis (Diagnosis Screen)

This subsection provides a list of the diagnosis (diagnosis screen)
indications related to spindle serial output only. For details, refer to
the Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.2 “SPINDLE SERIAL OUTPUT.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”

(1) For Series 16i

Address Description
400 Information including spindle control
408 Information about spindle serial output interface communication errors
409 Information about spindle serial output interface activation

(2) For Series 30i

Address Description
400 Information including spindle control
408 Information about spindle serial output interface communication errors

(3) For Series 15i

Address Description
1500 Information about spindle serial output interface communication errors

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

1.2.4 Alarm
This subsection provides a list of the alarms related to spindle serial
output only. For details of each alarm, refer to the Connection Manual
(Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.2 “SPINDLE SERIAL OUTPUT.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”

(1) For Series 16i

Alarm No. Description
749 A serial communication error occurred while the system was being activated after power-on.
750 The (serial) spindle amplifier was not activated normally at power-on time.

(2) For Series 15i and Series 30i

Alarm No.
Description
15i 30i
Before a spindle to be controlled is set correctly, a command for using the spindle was
PS0223 
executed.
SP0201  The same motor number other than 0 is set more than once in parameter No. 5841.
SP0202  A spindle number greater than the number of spindles is set in parameter No. 5850.
The cable connected to the serial spindle amplifier is disconnected, or no serial spindle
SP0220 SP1220 amplifier is connected.
SP0221  The correspondence between spindle numbers and motor numbers is incorrect.
A CRC error (communication error) occurred in communication between the CNC and serial
SP0225 SP1225
spindle amplifier.
SP0226 SP1226 A framing error occurred in communication between the CNC and serial spindle amplifier.
SP0227 SP1227 A receive error occurred in communication between the CNC and serial spindle amplifier.
A communication error occurred in communication between the CNC and serial spindle
SP0228 SP1228
amplifier.
A communication error occurred in communication between serial spindle amplifiers (between
SP0229  motor numbers 1 and 2 or between motor numbers 3 and 4).
A communication error occurred in communication between serial spindle amplifiers (between
 SP1229 an odd-numbered amplifier and even-numbered amplifier).

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Alarm No.
Description
15i 30i
SP0230  The value set in parameter No. 5841 is not within the allowable range.
SP0970  Spindle control initialization was not terminated.
SP0976  No amplifier number could be set for a serial spindle amplifier.
SP0978  A time-out was detected in communication with a serial spindle amplifier.
SP0979  The communication sequence was incorrect in communication with a serial spindle amplifier.
SP1980 to
SP0980 The SIC-LSI on the serial spindle amplifier side is faulty.
SP1984
SP0981  An error occurred when data was written to the SIC-LSI on the serial spindle amplifier side.
SP0982  An error occurred when data was read from the SIC-LSI on the serial spindle amplifier side.
SP0983  An alarm on the spindle amplifier side could not be cleared.
SP0984  An error occurred during spindle amplifier reinitialization.
SP0985  Automatic parameter setting failed.
SP1985 to
SP0987 The SIC-LSI on the CNC side is faulty.
SP1987
SP0996  The assignment of spindles and spindle motors is incorrect.
SP1245 to
 A communication data error was detected on the CNC side.
SP1247
SP1976 to
 An error occurred with the spindle control software.
SP1979
SP1988 to
 An error occurred with the spindle control software.
SP1989
Spindle motor assignment is incorrect. Check the parameters indicated hereafter.
 SP1996
(No.3716,No.3717)

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1.3 PARAMETERS RELATED TO DETECTORS

NOTE
1 Note that the specifications of parameters related
to detectors for the αi series spindle amplifiers
differ from those of parameters for the α series
spindle amplifiers.
2 The terms "motor sensor" and "spindle sensor"
used in the text mean the speed/position detectors
connected to the connectors described below.
(i) Motor sensor :
Detector connected to connector JYA2
(Mi sensor, MZi sensor, BZi sensor of a built-in
motor, CZi sensor of a built-in motor)
(ii) Spindle sensor :
Detector connected to connector JYA3 or JYA4
(α position coder, α position coder S, separate
BZi sensor, separate CZi sensor, and so forth)

1.3.1 List of Parameters for Detectors

Parameter No.
Description
15i 16i 30i
 3706#1,0  Gear ratio of spindle to position coder (×1, ×2, ×4, ×8)
5842  3720 Number of pulses of the position coder
3000#0 4000#0 4000#0 Direction of spindle and spindle motor rotation
3001#4 4001#4 4001#4 Spindle sensor mounting direction
3002#3,2,1,0 4002#3,2,1,0 4002#3,2,1,0 Spindle sensor type setting
3003#7,6,5,4 4003#7,6,5,4 4003#7,6,5,4 Setting of the number of spindle sensor gear teeth
3004#3,2 4004#3,2 4004#3,2 External one-rotation signal (proximity switch) setting
3006#1 4006#1 4006#1 Gear ratio increment system
3007#5 4007#5 4007#5 Whether to detect disconnection of feedback signals
Whether to detect alarms related to position feedback signals (on
3007#6 4007#6 4007#6
non-Cs contouring control mode)
3010#2,1,0 4010#2,1,0 4010#2,1,0 Motor sensor type setting
3011#2,1,0 4011#2,1,0 4011#2,1,0 Setting of the number of motor sensor gear teeth
Whether to detect alarms related to position feedback (in Cs
3016#5 4016#5 4016#5
contouring control mode)
3016#6 4016#6 4016#6 Whether to detect alarms related to threading feedback
Setting of the function of detecting the one-rotation signal again
3016#7 4016#7 4016#7
each time position control mode is set.
3394#2 4394#2 4394#2 Setting of the detection lower limit of the one-rotation signal
Whether to detect the alarm related to spindle sensor polarity
3394#5 4394#5 4394#5
erroneous setting
Spindle-to-motor gear ratio data (This data is selected by spindle
3056 to 3059 4056 to 4059 4056 to 4059
control input signals CTH1A and CTH2A.)
3098 4098 4098 Maximum speed for position feedback signal detection

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

Parameter No.
Denominator of arbitrary gear ratio between motor sensor and
3171 4171 4171
spindle
3173 4173 4173
(This data is selected by spindle control input signal CTH1A.)
Numerator of arbitrary gear ratio between motor sensor and
3172 4172 4172
spindle
3174 4174 4174
(This data is selected by spindle control input signal CTH1A.)
3334 4334 4334 Arbitrary number of motor sensor teeth
3355 4355 4355 Motor sensor signal amplitude ratio compensation
3356 4356 4356 Motor sensor signal phase difference compensation
3357 4357 4357 Spindle sensor signal amplitude ratio compensation
3358 4358 4358 Spindle sensor signal phase difference compensation
3361 4361 4361 Arbitrary number of spindle sensor teeth
Denominator of arbitrary gear ratio between spindle sensor and
3500 4500 4500
spindle
3502 4502 4502
(This data is selected by spindle control input signal CTH1A.)
Numerator of arbitrary gear ratio between spindle sensor and
3501 4501 4501
spindle
3503 4503 4503
(This data is selected by spindle control input signal CTH1A.)

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

1.3.2 Details of Parameters for Detectors

This subsection details the serial spindle parameters (in the four
thousands for 16i, and in the four thousands for 30i, and in the three
thousands for 15i) among the detector-related parameters. For details
of other parameters, refer to the Connection Manual (Function) of
each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 4000 ROTA1

ROTA1 Indicates the relationship between the rotation directions of spindle

and spindle motor.
0 : Rotates the spindle and spindle motor in the same direction.
1 : Rotates the spindle and spindle motor in the reverse direction.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 4001 SSDIRC

SSDIRC Indicates the mounting direction of spindle sensor.

0 : Rotates the spindle and spindle sensor in the same direction.
1 : Rotates the spindle and spindle sensor in the reverse direction.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 SSTYP3 SSTYP2 SSTYP1 SSTYP0

SSTYP3 to SSTYP0 Spindle sensor type

This parameter sets the type of a separate detector to be attached to the
spindle (detector to be connected to connector JYA3 or JYA4).

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

SSTYP3 SSTYP2 SSTYP1 SSTYP0 Spindle sensor type

0 0 0 0 None (No position control function is used.)
0 0 0 1 Uses the motor sensor for position feedback
0 0 1 0 α position coder
0 0 1 1 Separate BZi sensor, CZi sensor
0 1 0 0 α position coder S

NOTE
When using a rectangular wave phase A/B,
1024-p/rev position coder, set the same settings as
for the α position coder (0,0,1,0).

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3003 4003 4003 PCPL2 PCPL1 PCPL0 PCTYPE

PCPL2, PCPL1, PCPL0, PCTYPE Gear teeth number setting of the spindle sensor
This parameter sets the number of teeth of a separate detector to be
attached to the spindle (detector to be connected to connector JYA3 or
JYA4).

Gear teeth number of

PCPL2 PCPL1 PCPL0 PCTYPE
the spindle sensor
0 0 0 0 256λ/rev
0 0 0 1 128λ/rev
0 1 0 0 512λ/rev
0 1 0 1 64λ/rev
1 0 0 0 768λ/rev
1 0 0 1 1024λ/rev
1 1 0 0 384λ/rev

NOTE
1 Set "0, 0, 0, 0" when using an α position coder (bits
3, 2, 1, 0 of No. 4002 = 0, 0, 1, 0) or an α position
coder S (bits 3, 2, 1, 0 of No. 4002 = 0, 1, 0, 0).
2 When the motor sensor is used for position
feedback (bits 3, 2, 1, 0 of No. 4002 = 0, 0, 0, 1),
this parameter need not be set.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3004 4004 4004 RFTYPE EXTRF

EXTRF, RFTYPE External one-rotation signal setting

This parameter sets the type of an external one-rotation signal
(proximity) switch to be attached to the spindle (to be connected to
connector JYA3).
External one-rotation signal
RFTYPE EXTRF
(proximity switch)
0 0 None
0 1 Detects the leading edge.
1 1 Detects the trailing edge.

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor rotation increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor rotation increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.

Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

NOTE
Usually, use the 1/100 unit (setting "0").

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3007 4007 4007 PCALCH PCLS

PCLS Determines feedback signal disconnection detection.

0 : Performs disconnection detection.
1 : Does not perform disconnection detection.
When this bit is set to "0", SPM alarms 27 (Position coder signal
disconnection), 73 (Motor sensor disconnection), and 84 (Spindle
sensor disconnection) are checked.
NOTE
1 Usually, set “0”.
2 When adjusting the waveform of a motor/spindle
sensor feedback signal, set "1" temporarily to
disable disconnection detection. After completion
of adjustment, be sure to return the setting to
"0" to enable disconnection detection.

PCALCH Determines whether to use alarms related to position feedback signals

(on non-Cs contouring control mode).
0 : Detects alarms.
1 : Does not detect alarms.
When this bit is set to "0", SPM alarms 41, 42, 47, 81, 82, 83, 85, 86,
and 87 are checked.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3010 4010 4010 MSTYP2 MSTYP1 MSTYP0

MSTYP2, MSTYP1, MSTYP0 Motor sensor type

This parameter sets the type of a detector built into the motor (detector
to be connected to JYA2).

MSTYP2 MSTYP1 MSTYP0 Motor sensor type

0 0 0 Mi sensor
0 0 1 MZi, BZi, CZi sensor

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3011 4011 4011 VDT3 VDT2 VDT1

VDT1 to VDT3 Gear teeth number setting of the motor sensor

This parameter sets the number of teeth of a detector built into the
motor (detector to be connected to JYA2).

VDT3 VDT2 VDT1 Gear teeth number of the motor sensor

0 0 0 64λ/rev
0 0 1 128λ/rev
0 1 0 256λ/rev
0 1 1 512λ/rev
1 0 0 192λ/rev
1 0 1 384λ/rev

NOTE
When using a sensor with CZi sensor 768 λ/rev or
1024 λ/rev, set 0,0,0 in this parameter, and set 768
or 1024 in the parameter specifying an arbitrary
number of motor sensor teeth (parameter No.
4334).

Motor models and corresponding Mi and MZi sensors

Number of gear teeth of the detection
Motor model
ring on the Mi or MZi sensor
α0.5i 64λ/rev
α1i to α3i 128λ/rev
α6i to α50i
256λ/rev
α12iP to α60iP

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3016 4016 4016 RFCHK3 RFCHK2 RFCHK1

RFCHK1 Determines whether to detect alarms related to position feedback (in

Cs contouring control mode).
0 : Does not detect alarms.
1 : Detects alarms.
When this bit is set to "1", SPM alarms 81, 82, 85, and 86 are
checked.

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

RFCHK2 Determines whether to detect the alarm related to threading position

detection signal feedback (SPM alarm 46).
0 : Does not detect alarms.
1 : Detects alarms.

RFCHK3 Setting of the function of detecting the one-rotation signal again each
time position control mode is set.
0 : The one-rotation signal is not detected each time the operating
mode changes.
Once the one-rotation signal has been detected, it is not detected
again until the power goes off.
1 : The one-rotation signal is detected each time the operating mode
changes.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3394 4394 4394 A21DEN ZPHDTC

ZPHDTC Sets the detection lower limit of the one-rotation signal.

0 : The one-rotation signal is detected when the spindle speed is 10
min-1 or more.
1 : The one-rotation signal is detected regardless of the spindle
speed.

NOTE
1 This parameter is valid with 9D50 Series E (05)
edition or later and 9D70 series A (01) edition or
later.
2 This parameter is enabled when the spindle sensor
is an α position coder or α position coder S.
When the spindle sensor is the MZi/BZi/CZi sensor,
if the spindle speed is 10 min-1 or more, the
one-rotation signal is detected regardless of the
setting of this parameter.

A21DEN Whether to detect the spindle sensor polarity erroneous setting alarm
(SPM alarm 21).
0 : The spindle sensor polarity erroneous setting alarm is detected.
1 : The spindle sensor polarity erroneous setting alarm is not
detected.
When the spindle sensor polarity erroneous setting alarm is incorrectly
detected due to the following reasons, set this bit to disable the alarm
detection.
- When the spindle is mechanically separated from the motor.
- When the belt between the spindle and the motor slips.

NOTE
This parameter is valid with 9D50 Series E (05)
edition or later and 9D70 series A (01) edition or
later.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.
A parameter is selected with the CTH1A and CTH2A input signals.
Set the gear or clutch status to correspond to the clutch/gear signal
(CTH1A, CTH2A).

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

15i 16i 30i

3098 4098 4098 Maximum speed for position feedback signal detection

Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006
= 1)
Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a maximum spindle speed that enables the
detection of a motor/spindle sensor feedback signal.
When "0" is set in this parameter, up to the maximum motor speed can
be detected.

NOTE
Usually, set “0”.

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)
3171 4171 4171
CTH1A=0
Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)
3172 4172 4172
CTH1A=0
Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)
3173 4173 4173
CTH1A=1
Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)
3174 4174 4174
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
These parameters set conversion coefficients (numerator,
denominator) for using the detection arbitrary gear ratio function
(DMR function) by multiplying a motor sensor (Mi or MZi sensor)
feedback signal by a gear ratio to produce a spindle position feedback
signal.
When the spindle rotates Q times while the motor shaft rotates P times
(there is no common divisor other than 1 for P and Q), settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When one of these parameters is set to "0", it is assumed to be "1".

NOTE
When using the external one-rotation signal
(proximity switch), use the detection arbitrary gear
ratio function (DMR function) by setting an arbitrary
gear ratio between the motor sensor and spindle in
this parameter.

15i 16i 30i

3334 4334 4334 Arbitrary number of motor sensor teeth

Unit of data : 1λ/rev (Number of motor sensor teeth)

Valid data range : 0, 32 to 4096
Standard setting : 0
When the number of motor sensor teeth is other than 64, 128, 192, 256,
384, and 512, set this parameter.
When "0" is set in this parameter, the setting of bits 2, 1, 0 (VDT3,
VDT2, VDT1) of parameter No. 4011 is valid.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

15i 16i 30i

3355 4355 4355 Motor sensor signal amplitude ratio compensation
3357 4357 4357 Spindle sensor signal amplitude ratio compensation

Unit of data : 1%
Valid data range : -8 to 8
Standard setting : 0
These parameters set an amplitude ratio compensation value for the
sensor feedback signal (phase A/B of the sinusoidal wave).
For details, refer to the Section I-4.3 “AMPLITUDE RATIO/PHASE
DIFFERENCE COMPENSATION FUNCTION.”

15i 16i 30i

3356 4356 4356 Motor sensor signal phase difference compensation
3358 4358 4358 Spindle sensor signal phase difference compensation

Unit of data : 1%
Valid data range : -4 to 4
Standard setting : 0
These parameters set a phase difference compensation value for the
sensor signal (phase A/B of the sinusoidal wave).
For details, refer to the Section I-4.3 “AMPLITUDE RATIO/PHASE
DIFFERENCE COMPENSATION FUNCTION.”

15i 16i 30i

3361 4361 4361 Arbitrary number of spindle sensor teeth

Unit of data : 1λ/rev (Number of spindle sensor teeth)

Valid data range : 0, 64 to 4096
Standard setting : 0
When the number of spindle sensor teeth is other than 64, 128, 256,
384, 512, and 1024 set this parameter.
When "0" is set in this parameter, the setting of bits 7, 6, 5, 4 (PCPL2,
PCPL1, PCPL0, PCTYPE) of parameter No. 4003 is valid.

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i
Denominator of arbitrary gear ratio between spindle sensor and spindle
3500 4500
(HIGH) CTH1A=0
Numerator of arbitrary gear ratio between spindle sensor and spindle (HIGH)
3501 4501
CTH1A=0
Denominator of arbitrary gear ratio between spindle sensor and spindle
3502 4502
(LOW) CTH1A=1
Numerator of arbitrary gear ratio between spindle sensor and spindle (LOW)
3503 4503
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
These parameters set conversion coefficients (numerator,
denominator) for using the detection arbitrary gear ratio function
(DMR function) by multiplying a spindle sensor (α position coder, α
position coder S, separate BZi sensor, or separate CZi sensor)
feedback signal by a gear ratio to produce a spindle position feedback
signal.
When the spindle rotates Q times while the motor shaft rotates P times
(there is no common divisor other than 1 for P and Q), settings are:
No. 4500 (No. 4502 when CTH1A = 1) = P
No. 4501 (No. 4503 when CTH1A = 1) = Q
When one of these parameters is set to "0", it is assumed to be "1".

NOTE
1 This parameter is valid with 9D50 Series F (06)
edition or later and 9D70 series A (01) edition or
later.
2 When this parameter is used in a configuration
having no external one-rotation signal (proximity
switch), set the following parameters.
No.4007#6=1 : Alarms related to positional
feedback signals (in non-Cs mode)
are not detected.
No.4016#5=0 : Alarms related to positional
feedback signals (in Cs mode) are
not detected.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

1.3.3 Typical Detector Configurations

This subsection describes typical detector configurations and the
parameter setting procedures for the detector configurations.
With the αi series spindle, the detector circuitry hardware is set
according to the parameter setting. For this reason, an alarm such as a
disconnection alarm may be output while parameters related to
detectors are being set.
To initialize the hardware, after setting the parameters related to
detectors, turn the power to the amplifier off once.

(1) When position control is not exercised

[Sample system configuration]
Spindle motor with built-in Mi sensor

JYA2 Spindle

SPM
TYPE A

Parameter No. Settings Description

4002 #3,2,1,0 0,0,0,0 Does not exercise position control.
Depends on the
4010 #2,1,0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor gear
4011 #2,1,0
detector. teeth.

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) When the α position coder is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SPM
TYPE A

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

Parameter No. Settings Description

Depends on the Rotation directions of the spindle and
4000 #0
configuration. motor
Depends on the
4001 #4 Spindle sensor mounting direction
configuration.
Uses the α position coder as the
4002 #3,2,1,0 0,0,1,0
spindle sensor.
Sets the number of spindle sensor
4003 #7,6,5,4 0,0,0,0
gear teeth.
Depends on the
4010 #2,1,0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor gear
4011 #2,1,0
detector. teeth.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

(3) When the α position coder S is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder S
SPM
TYPE B

JYA4
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

Parameter No. Settings Description

Depends on the Rotation directions of the spindle and
4000 #0
configuration. motor
Depends on the
4001 #4 Spindle sensor mounting direction
configuration.
Uses the α position coder S as the
4002 #3,2,1,0 0,1,0,0
spindle sensor.
Sets the number of spindle sensor
4003 #7,6,5,4 0,0,0,0
gear teeth.
Depends on the
4010 #2,1,0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor gear
4011 #2,1,0
detector. teeth.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(4) When the MZi, BZi, or CZi sensor is used

[Sample system configuration 1]
Spindle motor with built-in MZi sensor

Spindle

[Sample system configuration 2]

BZi sensor or CZi sensor

Spindle +
built-in motor

[Sample system configuration 3]

Spindle motor with built-in MZi sensor

Spindle

Directly connected or connected with a gear or timing belt

at a ratio of 1:1

Parameter
Settings Description
No.
4000 #0 0 Rotation directions of the spindle and motor
Uses the motor sensor for position
4002 #3,2,1,0 0,0,0,1
feedback.
Uses the MZi , BZi, or CZi sensor as the
4010 #2,1,0 0,0,1
motor sensor.
Depends on
4011 #2,1,0 Sets the number of motor sensor gear teeth.
the detector.
Gear ratio between the spindle and motor
4056 to 4059 100 or 1000
1:1

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

(5) When the separate type BZi sensor or separate type CZi sensor is used
[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

BZi sensor or CZi sensor

Parameter No. Settings Description

Depends on the Rotation directions of the spindle and
4000 #0
configuration. motor
Depends on the
4001 #4 Spindle sensor mounting direction
configuration.
Uses the BZi sensor or CZi sensor as
4002 #3,2,1,0 0,0,1,1
the spindle sensor.
Depends on the Sets the number of spindle sensor
4003 #7,6,5,4
detector. gear teeth.
Depends on the
4010 #2,1,0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor gear
4011 #2,1,0
detector. teeth.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(6) When the external one-rotation signal (proximity switch) is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

External one-rotation
signal (proximity switch)

Gear or timing belt

Parameter No. Settings Description

Depends on the Rotation directions of the spindle and
4000 #0
configuration. motor
Uses the motor sensor for position
4002 #3,2,1,0 0,0,0,1
feedback.
4004 #2 1 Uses the external one-rotation signal.
Depends on the Sets the external one-rotation signal
4004 #3
detector. type.
Depends on the
4010 #2,1,0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor gear
4011 #2,1,0
detector. teeth.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor
Depends on the Arbitrary gear ratio between the motor
4171 to 4174
configuration. sensor and spindle

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

(7) When the axis on which the spindle sensor is mounted is not the spindle
[Sample system configuration]
Spindle motor with built-in Mi
sensor

Gear or
timing belt

JYA2 Medial
axis
α position coder
SPM
TYPE A

JYA3 Directly connected or connected Spindle

with a gear or timing belt at a
ratio of 1:1

Parameter No. Settings Description

Depends on the Rotation directions of the spindle and
4000 #0
configuration. motor
Depends on the
4001 #4 Spindle sensor mounting direction
configuration.
Depends on the
4002 #3,2,1,0 Type of spindle sensor
configuration.
Depends on the Sets the number of spindle sensor gear
4003 #7,6,5,4
detector. teeth.
Uses the Mi sensor as the motor
4010 #2,1,0 0, 0, 0
sensor.
Depends on the Sets the number of motor sensor gear
4011 #2,1,0
detector. teeth.
Alarms related to positional feedback
4007 #6 1 signals (in non-Cs mode) are not
detected.
Alarms related to positional feedback
4016 #5 0
signals (in Cs mode) are not detected.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor
Depends on the Arbitrary gear ratio between the spindle
4500 to 4503
configuration. sensor and spindle

NOTE
Those functions such as the orientation function that
require a one-rotation signal cannot be used.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2 EXPLANATION OF OPERATION MODES

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.1 VELOCITY CONTROL MODE

2.1.1 Start-up Procedure

A. Check that the serial spindle starts up normally and is ready for
operation.

B. Prepare and check the PMC ladder.

C. Set the detector-related parameters according to the system

configuration.

D. Set the parameters related to spindle speed specification.

E. Check that the spindle rotates at the desired speed.

F. Make a velocity loop gain adjustment as required.

• No.4040, 4041 : Velocity loop proportional gain
• No.4048, 4049 : Velocity loop integral gain

2.1.2 Overview
The velocity control mode is a function for exercising velocity control
to rotate the spindle motor according to a velocity command from the
CNC.

NOTE
On a CNC screen (such as the spindle monitor
screen and the adjustment screen), the velocity
control mode is indicated as "NORMAL
OPERATION MODE".

2.1.3 System Configuration

The velocity control mode is applicable to all detector configurations.
For system configurations, see Subsection 1.3.3, "TYPICAL
DETECTOR CONFIGURATIONS".

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.4 List of I/O Signals (CNC↔PMC)

This subsection provides a list of the I/O signals related to the velocity
control mode only. For details of each signal, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part I.

(1) Input signals(PMC→CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A

2nd- G272 GS4B GS2B GS1B

(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 SOCNA *ESPA

2nd- G234 G075 G075 SOCNB *ESPB

1st- G229 G072 G072 OVRA

2nd- G237 G076 G076 OVRB

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) Output signals (CNC→PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

(b) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(b) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F045 SRSRDY

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B

1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

(c) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 TLMA LDT2A LDT1A SARA SDTA SSTA
2nd- F245 F049 F049 TLMB LDT2B LDT1B SARB SDTB SSTB

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.5 Related Parameters

Parameter No.
Description
15i 16i 30i
 3705#0 3705#0 Sets SF signal output and the S code for an S command.
 3705#2 3705#2 Gear switch method (M series only)
 3705#4 3705#4 Sets SF signal output and the S code for an S command (T series only).
Sets SF signal output when constant surface speed control is exercised
 3705#5 3705#5
and an S code is specified (M series only).
 3705#6 3705#6 Sets SF signal output (M series only).
 3706#4 3706#4 Spindle gear selection method (M series only)
 3706#7,6 3706#7,6 Spindle speed command polarity (valid when input signal SSIN = 0)
Number of sampling operations at spindle speed calculation time (T series
 3709#0 3709#0
only for 16i)
 3735 3735 Minimum clamp speed of the spindle motor (M series only)
 3736 3736 Maximum clamp speed of the spindle motor (M series only)
 3740 3740 Time until the spindle speed arrival signal is checked
 3741 3741 Maximum spindle speed for gear 1
 3742 3742 Maximum spindle speed for gear 2
 3743 3743 Maximum spindle speed for gear 3
 3744 3744 Maximum spindle speed for gear 4 (T series only)
Spindle motor speed at the switch point between gear 1 and gear 2 (M
 3751 3751
series only)
Spindle motor speed at the switch point between gear 2 and gear 3 (M
 3752 3752
series only)
 3772 3772 Maximum allowable spindle speed
2031 3031 3031 Allowable number of S code characters
2003#1   Sets an S code polarity.
2204#0   Sets the display of an actual spindle speed.
2402#6   Sets the S code specified in a block containing G92.
Whether to provide an indication for an alarm detected with the spindle
5602#3  
amplifier. (Set "0" usually.)
Number of sampling operations when an average spindle speed is to be
5611  
found.
5612   Unit of spindle speed output with the DO signal
Enables/disables the spindle alarms (SPxxxx) of all spindles. (Set "0"
5807#0  
usually.)
5842  3720 Number of position coder pulses
Number of gear teeth on the position coder side on velocity control (for feed
5847  3721 per revolution, threading, etc.)
Number of gear teeth on the spindle side on velocity control (for feed per
5848  3722 revolution, threading, etc.)
5850   Spindle number to be selected at power-on/reset time
5820#4   Sets the method of spindle speed calculation.
3006#5 4006#5 4006#5 Sets an analog override range.
Whether to output the load detection signals (LDT1, LDT2) during
3009#4 4009#4 4009#4
acceleration/deceleration

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

Parameter No.
Description
15i 16i 30i
3009#6 4009#6 4009#6 Analog override type
3012#7 4012#7 4012#7 Sets the spindle HRV function. (Set "1".)
5607#0 4019#7 4019#7 Automatic spindle parameter setting function
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection level
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Sets a torque limitation value.
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3028 4028 4028 Sets an output limitation pattern.
3029 4029 4029 Output limitation value
3030 4030 4030 Soft start/stop setting time
3040 4040 4040 Velocity loop proportional gain on the velocity control mode
3041 4041 4041 (A parameter is selected by the PMC input signal CTH1A.)
3048 4048 4048 Velocity loop integral gain on the velocity control mode
3049 4049 4049 (A parameter is selected by the PMC input signal CTH1A.)
Spindle and motor gear ratio data
3056 to 3059 4056 to 4059 4056 to 4059
(A parameter is selected by the PMC input signals CTH1A and CTH2A.)
3081 4081 4081 Delay time until the motor power is turned off
3082 4082 4082 Sets an acceleration/deceleration time.
3083 4083 4083 Motor voltage on the velocity control mode
3136 4136 4136 Motor voltage on the velocity control mode (for low-speed characteristics)
Denominator of an arbitrary gear ratio between the motor sensor and
3171 4171 4171
spindle
3173 4173 4173
(A parameter is selected by the input signal CTH1A.)
3172 4172 4172 Numerator of an arbitrary gear ratio between the motor sensor and spindle
3174 4174 4174 (A parameter is selected by the input signal CTH1A.)
3508 4508 4508 Rate of change in acceleration at soft start/stop

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part I.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part I.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.6 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i , and in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to the velocity
control mode. For details of other parameters, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 ALGOVR

ALGOVR Sets a spindle analog override range.

0 : 0 to 100% (standard setting value)
1 : 0 to 120%

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 OVRTYP LDTOUT

LDTOUT Whether to output the load detection signals (LDT1 and LDT2) during
acceleration/deceleration
0 : Not output during acceleration/deceleration. (standard setting
value)
1 : Output (at all times) during acceleration/deceleration if the
parameter-set level is exceeded.

OVRTYP Analog override type

0 : Override of linear function type (standard setting value)
1 : Override of quadratic function type

15i 16i #7 #6 #5 #4 #3 #2 #1 #0
3012 4012 SPHRV

SPHRV Sets the spindle HRV control function.

0 : Disables spindle HRV control.
1 : Enables spindle HRV control. (standard setting value)
Set to “1”.
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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

NOTE
The control method usable with the αi series spindle
is spindle HRV control only. The conventional control
method is not supported.

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4019 4019 PRLOAD

PRLOAD Automatic parameter setting function

0 : Does not perform automatic parameter setting. (standard setting
value)
1 : Performs automatic parameter setting.
After setting a desired motor model code in parameter No. 4133 and
setting this bit to 1, turn off the power to the CNC, then turn on the
power to the CNC again. The parameters (No. 4000 to No. 4175) for
the αi series spindle corresponding to the model code are
automatically initialized. Upon completion of automatic setting, this
bit is automatically set to 0.

NOTE
With FS15i, the parameter address of this function is
different, namely, bit 0 of No. 5607 is used.
Moreover, note that the meanings of settings are
reversed as follows.
0 : Performs automatic parameter setting.
1 : Does not perform automatic parameter setting.
In this case, set a model code in parameter No.
3133.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 PKHALW

PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.

15i 16i 30i

3020 4020 4020 Maximum motor speed

Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006
= 1)
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

WARNING
The spindle motor may rotate at the maximum
spindle motor speed specified by this parameter.
Therefore, this parameter must not be set to a
value greater than the maximum rotation speed
indicated by the specification of the spindle motor.

15i 16i 30i

3022 4022 4022 Speed arrival detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 150
This parameter sets a speed arrival signal (SARA) detection range.
When the motor speed reaches within ±(setting data/10)% of a
specified speed, the speed arrival signal (SARA) is set to 1.

15i 16i 30i

3023 4023 4023 Speed detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 30
This parameter sets a speed detection signal (SDTA) detection range.
When the motor speed is (setting data/10)% of a maximum speed or
less, the speed detection signal (SDTA) is set to 1.

15i 16i 30i

3024 4024 4024 Speed zero detection level

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a speed zero detection signal (SSTA) detection
range.
When the motor speed is (setting data/100)% of a maximum speed or
less, the speed zero detection signal (SSTA) is set to 1.

15i 16i 30i

3025 4025 4025 Sets a torque limitation value.

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the
torque limitation command HIGH (TLMHA) or the torque limitation
command LOW (TLMLA) is specified.
The data indicates limitation values when the maximum torque is
100%.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

Torque limitation Torque limitation

command command Description
LOW(TLMLA) HIGH(TLMHA)
0 0 No torque limitation is imposed.
The torque is limited to the value
0 1
set in this parameter.
1 0 The torque is limited to a half of
1 1 the value set in this parameter.

15i 16i 30i

3026 4026 4026 Load detection level 1

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection
range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 1 (LDT1A) is set to 1.

15i 16i 30i

3027 4027 4027 Load detection level 2

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets a load detection signal 2 (LDT2A) detection
range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 2 (LDT2A) is set to 1.

15i 16i 30i

3028 4028 4028 Sets an output limitation pattern.

Unit of data :
Valid data range : 0 to 6
Standard setting value : 0
Select an appropriate pattern from the following:
A : Output is limited only at acceleration time and deceleration time
for gradual acceleration/deceleration, and the rated output is used
for steady-state rotation. (Setting data: 1, 4, or 7)
(Function similar to soft start/stop)
B : Maximum output is used at acceleration time and deceleration
time, and output is limited in steady-state rotation. (Setting data:
2, 5, or 8)
C : Using the same motor and amplifier, a machine with a different
output specification is produced. (Setting data: 3, 6, or 9)

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

Setting data
Description
Pattern 1 Pattern 2 Pattern 3
No output limitation is imposed. 0 0 0
A. Output is limited only at acceleration time
1 4 7
and deceleration time.
B. Output is not limited at acceleration time
and deceleration time, but output is 2 5 8
limited in steady-state rotation.
C. Output is limited in all operations. 3 6 9

[Output limitation pattern 1]--- Setting data = 1, 2, 3 ---

Output

Pm Catalog value

Pout Limit value

0 Speed
0 Nb Nm

Setting in parameter No. 4029

Pout = × Pm
100

[Output limitation pattern 2]--- Setting data = 4, 5, 6 ---

Output

Pm Catalog value

Pout Limit value

0 Speed
0 Nb Nm

Setting in parameter No. 4029

Pout = × Pm
100

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

[Output limitation pattern 3]--- Setting data = 7, 8, 9 ---

Output

Pm Catalog value

Limit value

0 Speed
0 Nb Nout Nm

100
Nout = × Nb
Setting in parameter No. 4029

15i 16i 30i

3029 4029 4029 Output limitation value

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter sets a desired limitation value, with the maximum
output (overload tolerance) being 100%.
This setting becomes valid when output is limited by setting parameter
No. 4028.

15i 16i 30i

3030 4030 4030 Soft start/stop setting time

Unit of data : 1min-1/sec (Unit of 10min-1/sec when bit 2 (SPDUNT) of parameter

No. 4006 = 1)
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets an acceleration value (speed change rate) when the
soft start/stop function is enabled (when the soft start/stop signal
SOCNA = 1).

NOTE
When 0 is set, the soft start/stop function is disabled.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3040 4040 4040 Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0
3041 4041 4041 Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop proportional gain on velocity
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3048 4048 4048 Velocity loop integral gain on velocity control mode (HIGH) CTH1A=0
3049 4049 4049 Velocity loop integral gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop integral gain on velocity
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.
A parameter is selected with the CTH1A and CTH2A input signals.
Set the gear or clutch status to correspond to the clutch/gear signal
(CTH1A, CTH2A).

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

15i 16i 30i

3081 4081 4081 Delay time until the motor power is turned off

Unit of data : 10ms

Valid data range : 0 to 1000
Standard setting value : 20 (200ms)
This parameter sets a period of time from the stop of the motor
(detection of the speed zero detection signal SSTA set to 1) until the
power to the motor is turned off if the SFR/SRV signal is off.

NOTE
When a small value is set in this parameter, the
motor can coast after the power to the motor is
turned off.

15i 16i 30i

3082 4082 4082 Setting of acceleration/deceleration time

Unit of data : 1sec

Valid data range : 0 to 255
Standard setting value : 10
This parameter sets a period of time in which alarm detection is
disabled by assuming that the spindle motor is being accelerated or
decelerated even if the velocity error exceeds the velocity error excess
alarm (SPM alarm 02) level after start of acceleration/deceleration on
the velocity control mode.
In the velocity control mode, a step-by-step speed command is
specified. So, the spindle motor cannot follow up the command
immediately after start of acceleration/deceleration, and the velocity
error exceeds the velocity error excess alarm level. This parameter is
used to prevent the velocity error excess alarm (SPM alarm 02) from
being detected incorrectly immediately after start of
acceleration/deceleration.

NOTE
With a machine tool such as a lathe that has a large
load inertia, the acceleration/deceleration time
becomes longer. In such a case, set the value
corresponding to the acceleration/deceleration time
of the machine in this parameter.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3083 4083 4083 Motor voltage setting on velocity control mode

3136 4136 4136 Motor voltage setting on velocity control mode (for low-speed characteristics)

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : Depends on the motor model.
This parameter sets the motor voltage under the no-load condition in
velocity control mode.
The motor voltage to be set depends the motor model, the most usual
setting is 30.
If an abrupt application of a heavy load in the no-load condition
lowers the motor speed, adjust this parameter to around 50 to 70 to
improve the torque response characteristic.
Note that, however, setting a large value causes heating and large
activation sound during no-load motor operation.

15i 16i 30i

Denominator of an arbitrary gear ratio between the motor sensor and spindle
3171 4171 4171
(HIGH) CTH1A=0
Numerator of an arbitrary gear ratio between the motor sensor and spindle
3172 4172 4172
(HIGH) CTH1A=0
Denominator of an arbitrary gear ratio between the motor sensor and spindle
3173 4173 4173
(LOW) CTH1A=1
Numerator of an arbitrary gear ratio between the motor sensor and spindle
3174 4174 4174
(LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set conversion coefficients (numerator,
denominator) for using the detection arbitrary gear ratio function
(DMR function) by multiplying a motor sensor (Mi sensor) feedback
signal by a gear ratio to produce a spindle position feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times
(there is no common divisor other than 1 for P and Q), the settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4173 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.

NOTE
1 When performing feed per revolution with the
detection arbitrary gear ratio function (DMR
function), set an arbitrary gear ratio between the
motor sensor and spindle in this parameter.
2 Threading using the detection arbitrary gear ratio
function (DMR function) is not supported.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

15i 16i 30i

3508 4508 4508 Rate of change in acceleration at soft start/stop

Unit of data : 10min-1/sec2

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets the jerk (the rate of change in acceleration) when
the soft start/stop function is enabled (soft start/stop signal SOCNA =
1).
Acceleration
-1
in velocity command
(min /sec)

Increase in
acceleration

Initial
acceleration

Time(sec)
T
Starts changing velocity command
issued from CNC at this point.

Increase in acceleration = 10 × setting in parameter No. 4508 × T

Initial acceleration = Setting in parameter No. 4030

NOTE
1 This parameter is valid with 9D50 Series G (07)
edition or later and 9D70 series A (01) edition or
later.
2 If 0 is set, a liner type velocity command is observed
when the soft start/stop function is enabled.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.7 Troubleshooting
If the spindle motor does not operate normally, take an action by
referencing the items listed below according to the state of trouble.
For an action to be taken when an alarm is issued, refer to the
maintenance manual.

State of trouble
(i) When the motor does not rotate
(ii) When the motor does not rotate at a specified speed
When the motor vibrates and makes an abnormal sound when
(iii)
rotating
(iv) When an overshoot or hunting occurs
(v) When the cutting capability is degraded
(vi) When the acceleration/deceleration time is long

(i) When the motor does not rotate

(1) Check the connections. (Refer to Descriptions.)
(a) Motor power line phase order
(b) Feedback signal cable connection
(c) DC link connection between the power supply module and
spindle amplifier module

(2) Check the parameter settings.

(a) Parameter data for each motor model
(b) Detector-related parameter data (Refer to Subsec. 1.3.2 in
Part I.)
(c) Setting of a maximum motor speed

15i 16i 30i Description

3020 4020 4020 Maximum motor speed

(d) Parameters related to spindle speed specification

For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(3) Check the input signals.

(a) Input signals for spindle control (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G227 G070 G070 MRDYA SFRA SRVA
2nd- G235 G074 G074 MRDYB SFRB SRVB

1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB

(4) Check the feedback signal.

(a) Feedback signal level (Refer to Maintenance Manual.)
(b) Shielding and grounding (Refer to Descriptions.)

(ii) When the motor does not rotate at a specified speed

(1) Check the connections. (Refer to Descriptions.)
(a) Motor power line connection
(b) Feedback signal cable connection point

(2) Check the parameter settings.

(a) Parameter data for each motor model
(b) Detector-related parameter data (Refer to Subsec. 1.3.2 in
Part I.)
(c) Setting of a maximum motor speed

15i 16i 30i Description

3020 4020 4020 Maximum motor speed

(d) Parameters related to spindle speed specification

For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

(3) Check the feedback signal.

(a) Feedback signal level (Refer to Maintenance Manual.)
(b) Shielding and grounding (Refer to Descriptions.)

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(iii) When the motor vibrates and makes an abnormal sound when rotating

(1) Check the feedback signal.

(a) Feedback signal level (Refer to Maintenance Manual.)
(b) Shielding and grounding (Refer to Descriptions.)

(2) Check the parameter settings.

The velocity loop gain may be too large. Adjust the following
parameters:

15i 16i 30i Description Setting data

Velocity loop proportional gain
3040 4040 4040
(HIGH)
Velocity loop proportional gain
3041 4041 4041
(LOW) Decrease the setting
Velocity loop integral gain values.
3048 4048 4048
(HIGH)
Velocity loop integral gain
3049 4049 4049
(LOW)

(3) Make a comparison with the case of motor coasting.

If vibration and sound produced when the motor coasts are
extremely smaller than those produced when the motor is driven,
the control circuit is faulty. If sound produced remains
unchanged, the motor or the machine may be faulty. If the
feedback signal cable from the motor is disconnected during
motor rotation, an alarm is issued, and the motor coasts. Before
performing the coasting of the motor, consult with the machine
tool builder for confirmation. Depending on the sequence, the
brake may be applied.

(iv) When an overshoot or hunting occurs

(1) Check the parameter settings.
(a) The velocity loop gain may be too large. Adjust the
following parameters:

15i 16i 30i Description Setting data

Velocity loop proportional gain
3040 4040 4040
(HIGH)
Velocity loop proportional gain
3041 4041 4041
(LOW) Decrease the setting
Velocity loop integral gain values.
3048 4048 4048
(HIGH)
Velocity loop integral gain
3049 4049 4049
(LOW)

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(v) When the cutting capability is degraded

(1) Check the parameter settings.
(a) Parameter data for each motor model
(b) Output limitation pattern and output limitation value

15i 16i 30i Description

3028 4028 4028 Output limitation pattern setting
3029 4029 4029 Output limitation value

(2) Check the input signals.

(a) Torque limitation commands (TLMH, TLML)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G227 G070 G070 TLMHA TLMLA
2nd- G235 G074 G074 TLMHB TLMLB

(3) Check the machine.

(a) Belt tension, and so forth

(vi) When the acceleration/deceleration time is long

(1) Check the parameter settings.
(a) Parameter data for each motor model
(b) Output limitation pattern and output limitation value

15i 16i 30i Description

3028 4028 4028 Output limitation pattern setting
3029 4029 4029 Output limitation value

(c) Regenerative power limitation (Check if the same value as

in the parameter table for each motor model is set.)
15i 16i 30i Description
3080 4080 4080 Regenerative power limitation
Regenerative power limitation (for
3166 4166 4166
low-speed characteristics)

(2) Check the input signals.

(a) Torque limitation commands (TLMH, TLML)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G227 G070 G070 TLMHA TLMLA
2nd- G235 G074 G074 TLMHB TLMLB

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.2 POSITION CODER METHOD SPINDLE ORIENTATION

Optional function

2.2.1 Start-up Procedure

A. Check that operation in the velocity control mode is enabled.

B. Prepare and check the ladder program for spindle orientation.

C. Set the parameters related to spindle orientation or detector.

D. Check the position detect signal (position coder signal).

E. Check whether orientation is performed.

NG
OK
F. Set and check the direction used for orientation.
- Set the direction of rotation used for orientation.

G. Adjust the orientation stop position.

- Detection level for the orientation completion signal
- Orientation stop position shift
- Orientation stop position

H. Adjust the orientation speed.

- Position gain for orientation
- Motor speed limit ratio for orientation
- Orientation speed

I. Adjust the orientation stop (to eliminate overshoot and ensure stop-time rigidity).
- Position gain for orientation
- Velocity loop proportional gain for orientation
- Velocity loop integral gain for orientation
- Motor voltage for orientation
- Rate of change in position gain upon orientation completion

J. Check ATC operation.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.2.2 Overview
Unlike a function for stopping the spindle at a predetermined position
mechanically, for example, by using a stopper, the spindle orientation
function stops the spindle at a predetermined position by directly
reading the position feedback signal from a position detector attached
to the spindle of the machine.

NOTE
To use this function, the CNC software option is
required.

2.2.3 Feature
(1) Elimination of a mechanical section used for stopping at a
predetermined position
Only a position detector needs to be connected to the spindle. A
mechanical section (such as a stopper and pin) used to
mechanically stop the spindle at a predetermined position for
spindle orientation is unnecessary.
(2) Reduction in orientation time
A spindle motor attached to the spindle is used. So, orientation is
enabled directly at high speed, independently of gear shifting,
thus resulting in a remarkable reduction in orientation time.
(3) Simplified power magnetic sequence
The required sequence consists of only a command for stopping
at a predetermined position, completion signal, and clutch/gear
signal. No other signals are required. Sequences for an
orientation speed command and torque limitation command are
unnecessary.
(4) Reliability
This function is based on a purely electric method. So, an
external shock does not damage the mechanical section, thus
improving reliability.
(5) High precision and high rigidity
The precision and rigidity of the spindle stopping at a
predetermined position are sufficiently high for tool change
operation (ATC).
(6) Workpiece positioning
On a lathe, a workpiece can be positioned to align the workpiece
attachment/detachment direction.
(7) Reduction in the number of processes in boring
When a boring process ends, the workpiece can be positioned in
the same direction as the direction of spindle rotation. So, the
workpiece is not damaged by the tool tip.
Moreover, the tool tip can be attached or detached in a constant
direction relative to the workpiece, so that a program can be
created easily.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.2.4 System Configuration

The system configurations that enable the use of the position coder
method orientation function are shown below.

(1) When the α position coder is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SPM
TYPE A

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the α position coder S is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder S
SPM
TYPE B

JYA4
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(3) When the built-in motor is used

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(4) When the spindle motor with built-in MZi sensor is used
Spindle motor with built-in MZi sensor

JYA2 Spindle

SPM
TYPE A
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(5) When the separate type BZi sensor or separate type CZi sensor is used
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

BZi sensor or CZi sensor

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(6) When the external one-rotation signal (proximity switch) is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

External one-rotation
signal switch (proximity
switch)

Gear or timing belt

NOTE
1 For stable detection of the one-rotation signal, fix the
rotation direction (bits 3 and 2 of No. 4003) for
orientation at one direction.
2 Set the type (bits 3 and 2 of No. 4004) of the
external one-rotation signal (proximity switch).
3 For stable detection of the one-rotation signal, set an
orientation speed (No. 4038) from 50 to 100 min-1
according to the specification of the external
one-rotation signal (proximity switch).
4 The detection of the one-rotation signal starts after
the orientation speed is reached.
5 Set the parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle.

2.2.5 Stop Position Specification Method

Stop position
Description
specification method
Set the number of pulses (±4095 pulses) from the
Parameter-based
one-rotation signal to a stop position (360° = 4096
specification
pulses).
Specify the number of pulses (0 to 4095 pulses)
from the one-rotation signal to a stop position with
External setting for stop a PMC signal (360° = 4096 pulses). The sum of
position specification the number of pulses set in the parameter and the
number of pulses specified with a PMC signal
represents a final stop position.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.2.6 I/O Signals (CNC ↔ PMC)

(1) Address list of Input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 ORCMA CTH1A CTH2A
2nd- G235 G074 G074 ORCMB CTH1B CTH2B

1st- G229 G072 G072 NRROA ROTAA INDXA

2nd- G237 G076 G076 NRROB ROTAB INDXB

1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G231 G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G239 G081 G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC → CNC)

(a) Orientation command (ORCMA)
(i) This signal is used to stop the spindle at a predetermined position
in order to change the tool or attach or detach a workpiece.
(ii) If this signal is set to 1, the spindle, when rotating, is
immediately decelerated to stop at a predetermined position.
(iii) If an orientation command is issued for safety, set the
forward/reverse spindle rotation command (SFRA/SRVA) and
the speed command to 0. With these settings, the spindle does
not start rotation even if ORCMA is set to 0 during tool change
operation.
(iv) Set this signal to 0 with the tool change completion signal or the
workpiece attachment/detachment completion signal.
(v) At power-on time, be sure to set the orientation command signal
to 0.
(vi) If an alarm is issued or an emergency stop operation is performed
during orientation, ensure that the orientation command signal is
reset (to 0). At power-on time, return the ATC arm to a safe
position so that the arm and associated equipment are not
damaged when the spindle and tool rotate.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(b) Clutch/gear signals (CTH1A, CTH2A)

(i) These signals are used to select spindle control parameters
(position gain, gear ratio, and velocity loop gain) when there are
two or more gear change stages between the spindle and spindle
motor.
(ii) Make settings as indicated in the table below according to the
state of the clutch or gear. The names such as HIGH GEAR are
given for convenience, and the correspondence to the actual
gears is free.

CTH1A CTH2A
0 0 HIGH GEAR
0 1 MEDIUM HIGH GEAR
1 0 MEDIUM LOW GEAR
1 1 LOW GEAR

(c) Spindle orientation stop position change command (INDXA)

(i) This signal is used to change to another orientation position after
a spindle orientation operation is performed by stop position
external setting type orientation.
This signal is valid when the spindle orientation command
(ORCMA) = 1.
(ii) When this signal makes a transition from 1 to 0, the spindle is
oriented to the position (arbitrary position in one rotation:
absolute position command) specified by new stop position data
(SHA11 to 00) within one rotation.
(iii) The direction of orientation rotation is specified by the shortcut
command (NRROA) and the rotation direction command
(ROTAA).
(iv) This function is valid when the CNC parameter for the stop
position external setting type orientation function is set.

(d) Spindle orientation stop position change shortcut command (NRROA)

(i) This signal is used for shortcut (within ±180 degrees) positioning
at the next stop position when a rotation direction is specified to
change the orientation position after a spindle orientation
operation.
(ii) When this signal is set to 1, shortcut positioning is performed,
regardless of the spindle orientation stop position change rotation
direction command (ROTAA).

(e) Spindle orientation stop position change rotation direction command (ROTAA)
(i) This signal is used to specify a rotation direction when the
orientation position is successively changed to another
orientation position after a spindle orientation operation.
When this signal is set to 0, the spindle rotates CCW and stops.
When this signal is set to 1, the spindle rotates CW and stops.
(ii) This signal is valid when the spindle orientation stop position
change shortcut command (NRROA) is set to 0.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(f) Spindle orientation external stop position command (SHA11 to SHA00)

(i) With the stop position external setting type spindle orientation
function, a stop position is set. A stop position is determined by
the expression indicated below. This command specifies an
absolute position during one rotation.
11
360
Stop position (degrees) =
4096
× ∑ (2 × Pi)
i =0
i

Pi = 0 when SHAi = 0. Pi = 1 when SHAi = 1.

(ii) When the stop position external setting type spindle orientation
function is used, the position coder method spindle orientation
stop position setting parameter (No. 4031) is invalid.

(3) Address list of output signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA
2nd- F245 F049 F049 ORARB

(4) Details of output signals (CNC → PMC)

(a) Orientation completion signal (ORARA)
(i) This signal is set to 1 when the spindle stops in the neighborhood
of a predetermined position (±1°, for example) after an
orientation command is input.
ORARA is set to 1 when the following three conditions are
satisfied:
- ORCMA=“1”
- SSTA(speed zero detection signal)=“1”
- The spindle is in the neighborhood of a predetermined
position.
The condition for the neighborhood of a predetermined position
is set using parameter No. 4075 (orientation completion signal
detection level). Only when all of the three conditions are
satisfied, the orientation completion signal is output. Such a state
that the orientation completion signal is not output when a certain
time has elapsed after the input of an orientation command is
abnormal. In this case, issue an orientation alarm by detecting
this state with a power magnetic sequence.
(ii) When this signal is set to 1, start a tool change operation and
workpiece attachment/detachment operation.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(iii) The orientation completion signal is output when the spindle is in

the neighborhood of a predetermined position. This means that
this signal does not represent a complete stop signal. With some
machines, the operation time for the arm to grasp the tool of the
spindle may be short. In this case, insert a time (0.1 to 0.5
second) before operating the arm for ATC so that the arm grasps
the tool when the spindle has stopped completely.

Speed zero detection point

Spindle speed Neighborhood of stop position

Chattering
Orientation completion
signal ORARA

ATC arm operation

start signal
0.1 to 0.5 sec

(iv) This signal is set to 0, for example, when the spindle is moved
out of the neighborhood of a predetermined stop position as in a
case where an external force is applied. In this case, use a
sequence that stops tool change operation. However, do not
cancel the orientation command, but execute a tool change
operation after the orientation completion signal is set to 1 again.
(v) If the ATC of the machine has a structure that can cause a serious
accident such as destruction due to a circuit failure, create a
signal for indicating an automatic tool change enable area by
using a proximity switch to make a double safety check with a
power magnetic sequence before changing the tool.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.2.7 Examples of Sequences

(1) Orientation command at stop time

Orientation command

Stop
Stop
CW direction
Motor speed
CCW direction Note

Orientation completion
signal
ATC
operation

ATC operation
Start Completion

NOTE
The rotation direction of the spindle motor can be
selected by parameter settings. By default, the
spindle rotates in the direction specified before the
orientation command signal is issued and then it
stops at a predetermined position.

(2) Orientation command during high-speed rotation

Rotation command

Orientation command
High-speed Deceleration
CW direction
Stop
Motor speed

CCW direction

Orientation completion signal

ATC
operation

ATC operation
Start Completion

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Stop position external setting type spindle orientation

Spindle orientation command

ORCMA

Spindle orientation stop position

command SHA00-11

Spindle orientation stop position

change command INDXA

Spindle orientation stop position

change rotation direction command
ROTAA

Spindle orientation stop position

change shortcut command NRROA

Motor speed CW direction Stop <1> Stop <2> Stop <3>

CCW direction

Spindle orientation completion signal

ORARA

NOTE
Set t = 50 msec or more.

Stop <1>
• Predetermined stop position based on the normal orientation
command
• The rotation direction of the spindle motor is determined by
parameter setting.
• After the power is turned on, the spindle rotates at the orientation
speed and seizes the one-rotation signal before stopping at a
predetermined position for the first time. After the first stop, the
spindle stops at a predetermined position within one rotation.
• When the stop position external setting type spindle orientation
function is used, the spindle stops at a predetermined position
after shifting by the stop position data read on the rising edge of
the spindle orientation command signal if the data of the spindle
orientation stop position command SHA00-SHA11 is set after
the first stop.

Stop <2>, <3>

• Predetermined stop positions based on the stop position external
setting type spindle orientation function

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

• The rotation direction of the spindle motor depends on the

spindle orientation stop position change rotation direction
command (ROTAA) and the spindle orientation stop position
change shortcut command (NRROA).

NOTE
The spindle orientation stop position change
command INDXA is valid only when the spindle
orientation command ORCMA is set to 1.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.2.8 Related Parameters

Parameter No.
Description
15i 16i 30i
Specifies whether to use the spindle orientation function. (Set this bit to 1.)
3015#0 4015#0 4015#0
(The CNC software option is required.)
Specifies whether to use the spindle orientation function with the stop
5609#2 3702#3,#2 3729#0
position external setting type. (For 16i, #2: First spindle, #3: Second spindle)
3003#0 4003#0 4003#0 Choice of orientation method (To be set to 0 for the position coder method)
3003#3,#2 4003#3,#2 4003#3,#2 Direction of rotation in spindle orientation
3017#7 4017#7 4017#7 Shortcut function when orientation is specified in stop state
Stop position for position coder method orientation
3031 4031 4031 (This parameter is disabled when spindle orientation with an externally set
stop position or an externally set incremental command is used.)
3042 4042 4042 Velocity loop proportional gain for orientation
3043 4043 4043 (A parameter is selected by the CTH1A input signal.)
3050 4050 4050 Velocity loop integral gain for orientation
3051 4051 4051 (A parameter is selected by the CTH1A input signal.)
Spindle-to-motor gear ratio
3056 to 3059 4056 to 4059 4056 to 4059
(A parameter is selected by the CTH1A and CTH2A input signals.)
Position gain for orientation
3060 to 3063 4060 to 4063 4060 to 4063
(A parameter is selected by the CTH1A and CTH2A input signals.)
3064 4064 4064 Rate of change in the position gain upon completion of spindle orientation
3075 4075 4075 Detection level for the spindle orientation completion signal
3076 4076 4076 Speed limit ratio for spindle orientation
3077 4077 4077 Spindle orientation stop position shift
3084 4084 4084 Motor voltage for spindle orientation
3038 4038 4038 Spindle orientation speed
3171 4171 4171 Denominator of an arbitrary gear ratio between the motor sensor and spindle
3173 4173 4173 (A parameter is selected by the input signal CTH1A.)
3172 4172 4172 Numerator of an arbitrary gear ratio between the motor sensor and spindle
3174 4174 4174 (A parameter is selected by the input signal CTH1A.)

NOTE
1 For the parameters related to detectors, see the Section 1.3
“PARAMETERS RELATED TO DETECTORS” in the Part I.
2 For velocity loop proportional/integral gain adjustment, see
Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT", in Part I.
3 When using the external one-rotation signal (proximity switch), fix
the orientation-time rotation direction (bits 3 and 2 of No. 4003) at
one direction.
4 When using the external one-rotation signal (proximity switch), set
the type of the external one-rotation signal (bits 3 and 2 of No.
4004).
5 When using the external one-rotation signal (proximity switch), set
an orientation speed from 50 to 100 min-1 (No. 4038) according to
the specification of the used external one-rotation signal.
6 When using the external one-rotation signal (proximity switch), set
the numerator/denominator of an arbitrary gear ratio between the
motor sensor and spindle (No. 4171 to No. 4174).

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2.2.9 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3003 4003 4003 DIRCT2 DIRCT1 PCMGSL

DIRCT2, DIRCT1 Setting of rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction at spindle orientation
By rotation direction immediately before
0 0
(It is CCW at the power on.)
By rotation direction immediately before
0 1
(It is CW at the power on.)
CCW (counterclockwise) direction looking from shaft
1 0
of motor
1 1 CW (clockwise) direction looking from shaft of motor

NOTE
When using the external one-rotation signal
(proximity switch), fix the orientation-time rotation
direction at CCW or CW for stable detection of the
one-rotation signal.
(Bits 3, 2 of No. 4003) = 1, 0 or 1, 1)

PCMGSL Selects the type of orientation.

Set this bit to 0 (orientation by a position coder).

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3004 4004 4004 RFTYPE EXTRF

EXTRF, RFTYPE Sets the external one-rotation signal (proximity switch).

RFTYPE EXTRF External one-rotation signal (proximity switch)

0 0 None
0 1 Detects the rising edge.
1 1 Detect the falling edge.

NOTE
When using the external one-rotation signal
(proximity switch), set the type of the external
one-rotation signal (proximity switch) by using this
parameter.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN

NRROEN Specifies whether to use the shortcut function when orientation is

specified in the stop state.
0 : Does not use the function.
1 : Uses the function.
When this bit is set to 1, short cut operation is performed when the
following conditions are satisfied:
• Bit 7 of parameter No. 4016 (RFCHK3) is set to 0.
• Zero speed detection output signal SST is set to 1.
• Shortcut command input signal NRROA is set to 1.

15i 16i 30i

3031 4031 4031 Position coder method orientation stop position

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4096
Standard setting : 0
This data is used to set the stop position of position coder method
spindle orientation. It can be set at every 360 degrees/4096.
When stop position external command type orientation and
incremental command external type orientation are set, this parameter
becomes invalid.
Stop position command (SHA11-SHA00) of input signal instructed
becomes valid.

15i 16i 30i

3038 4038 4038 Spindle orientation speed

Unit of data : 1min-1 (10min-1 when bit 2 of parameter No.4006(SPDUNT) is set to

1)
Valid data range : 0 to 32767
Standard setting : 0
This parameter sets the orientation speed at the end of the spindle.
When 0 is specified for this parameter, the orientation speed is
determined depending on the position gain and the motor speed limit
ratio for orientation.

NOTE
When using the external one-rotation signal
(proximity switch), set an orientation speed from 50
to 100 min-1 according to the specification of the
used external one-rotation signal (proximity switch)
for stable detection of the one-rotation signal.

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15i 16i 30i

3042 4042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This parameter sets the velocity loop proportional gain for spindle
orientation.
When the CTH1A input signal is set to 0, proportional gain for the
HIGH gear is selected. When the CTH1A input signal is set to 1,
proportional gain for the LOW gear is selected.

15i 16i 30i

3050 4050 4050 Velocity loop integral gain on orientation (HIGH) CTH1A=0
3051 4051 4051 Velocity loop integral gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This parameter sets the velocity loop integral gain for spindle
orientation.
When the CTH1A input signal is set to 0, integral gain for the HIGH
gear is selected. When the CTH1A input signal is set to 1, integral
gain for the LOW gear is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor relative to the
spindle.
When the motor rotates 2.5 times, for every rotation of the spindle, for
example, set 250 in the parameter.
A parameter is selected by the CTH1A and CTH2A input signals.
The gear or clutch status must correspond to the status of the CTH1A
and CTH2A input signals.
NOTE
When an improper value is set in these
parameters, an unexpected operation can occur.
For example, the spindle can continue rotating
without stopping at the time of orientation. So, be
sure to set a proper gear ratio.

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15i 16i 30i

3060 4060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
3061 4061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
3062 4062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
3063 4063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 1000
These parameters set the position gain for orientation.
A parameter is selected by the CTH1A and CTH2A input signals.

15i 16i 30i

3064 4064 4064 Modification rate of position gain on orientation completion

Unit of data : 1%
Valid data range : 0 to 799
Standard setting : 100
This data is used to set the modification rate of position gain on
spindle orientation completion.

15i 16i 30i

3075 4075 4075 Orientation completion signal detection level (limits of in-position)

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : 0 to 100
Standard setting : 10
This data is used to set the detecting level of orientation completion
signal (ORARA).
When the spindle position is located within the setting data on
orientation completion, the bit of orientation completion signal
(ORARA) in the spindle control signals is set to "1".
When the orientation command (ORCMA) is turned off (= 0), the
orientation completion signal (ORARA) is set to "0".

15i 16i 30i

3076 4076 4076 Motor speed limit ratio on orientation

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 33
This data is used to set motor speed limit ratio on orientation.
The value calculated from the position gain (No. 4060 to No. 4063)
and this parameter as indicated below is used as an orientation speed
and reference position return speed on servo mode (rigid
tapping/spindle positioning).
Orientation speed of motor (motor speed )

= 60 ×
(Position gain ) × (Gear ratio ) × (Speed limit ratio) [min −1 ]
100 100

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15i 16i 30i

3077 4077 4077 Orientation stop position shift value

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : -4095 to 4095
Standard setting : 0
In the position coder method orientation, set this data to shift stop
position.
Spindle is shift numbers of setting pulse in CCW direction, and stops
by data (+).

15i 16i 30i

3084 4084 4084 Motor voltage setting on orientation

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 30
This parameter sets the motor voltage for orientation. Usually, set 30.
The value may vary, however, depending on the motor model.

15i 16i 30i

Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)
3171 4171 4171
CTH1A=0
Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)
3172 4172 4172
CTH1A=0
Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)
3173 4173 4173
CTH1A=1
Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)
3174 4174 4174
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
These parameters set conversion coefficients (numerator,
denominator) for using the detection arbitrary gear ratio function
(DMR function) by multiplying a motor sensor (Mi or MZi sensor)
feedback signal by a gear ratio to produce a spindle position feedback
signal.
When the spindle rotates Q times while the motor shaft rotates P times
(there is no common divisor other than 1 for P and Q), settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.
NOTE
When using the external one-rotation signal
(proximity switch), set an arbitrary gear ratio
between the motor sensor and spindle by using this
parameter.

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2.2.10 Calculating the Position Gain for Orientation

(1) When the spindle orientation speed (parameter No. 4038) is set
to 0, the orientation speed is determined using the following
expression:
Nori = 60 × PG × Rori × GEAR
where,
Nori : Orientation speed (motor speed) [min-1]
Rori : Motor speed limit ratio for orientation
(parameter No. 4076)
PG : Position gain on orientation [sec-1]
(parameter Nos. 4060 to 4063)
GEAR : Spindle-to-motor gear ratio
(parameter Nos. 4056 to 4059)

(2) The position gain for spindle orientation is obtained using the
following expression:
 Tm 
PG ≤  
 2π × (Jm + Jl ) × Rori × GEAR 
where,
PG : Position gain for orientation [sec-1]
(parameter Nos. 4060 to 4063)
Tm : 30-min rated torque [Nm] for the motor when rotating
at Nori [min-1]
Jm : Rotor inertia [kgm2]
Jl : Load inertia converted to motor shaft inertia [kgm2]
Rori : Motor speed limit ratio for orientation
(parameter No. 4076)
GEAR : Spindle-to-motor gear ratio
(parameter Nos. 4056 to 4059)

(3) Calculation example when motor model α6i is being used alone
7500[ W ]
Tm = = 47.8[ Nm]
1500[min −1 ] × 0.1047
Jm = 0.0179[kgm 2]
Rori = 33[%]
 47.8 
∴ PG ≤   = 35.9[sec−1 ]
 2π × 0.0179 × 0.33 

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2.2.11 Adjusting the Orientation Stop Position Shift Parameter

Adjust the orientation stop position shift parameter by following the
procedure below.

(1) Adjustment using diagnosis screen No. 445 (spindle position data
display) (16i, 30i)
(a) Specify parameters as follows:
No.3117#1=1 (to enable the display function of diagnosis
screen No. 445)
No.4016#7=0
No.4031=0 (When external signals are used for setting, set
the SHA11 to SHA00 DI signals to 0.)
No.4077=0
(b) Enter an orientation command (ORCMA) to stop
orientation.
(c) After orientation is stopped, check that diagnosis screen No.
445 displays 0.
Cancel the orientation command and set the emergency stop
state to deactivate the motor.
(d) Rotate the spindle manually to the position where you want
the spindle to stop then read the displayed value of
diagnosis screen No. 445.
(e) Set the displayed value of (d) as the parameter data for an
orientation stop position shift amount (parameter No. 4077).

Example:
Value displayed in No. 445 Value displayed in No. 445 when
when orientation is stopped = 0 Ö the spindle is rotated manually in
the emergency stop state = 1024

Value to be specified in the parameter No. 4077 = 1024

NOTE
1 The display function of diagnosis screen No. 445 is a
maintenance function. After completion of
adjustment, return the setting of bit 1 of parameter
No. 3117 to 0.
2 The FS15i does not have the spindle position data
display function.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) Adjustment using the spindle check board

(a) Specify parameters as follows:
No.4016#7=0
No.4031=0 (When external signals are used for setting, set
the SHA11 to SHA00 DI signals to 0.)
No.4077=0
(b) To display the position coder counter under position control,
set the following on the spindle check board:
d-01=295
d-02=0
d-03=0
d-04=0
(c) Enter an orientation command (ORCMA) to stop
orientation.
(d) Once orientation stops, check that 00000 is displayed.
Cancel the orientation command and set the emergency stop
state to deactivate the motor.
(e) Manually position the spindle to the position where you
want the spindle to stop. Then, read the displayed value.
(f) Set the displayed value of (5) as the parameter data for an
orientation stop position shift amount.

Example:
Value displayed when Value displayed when the
orientation is stopped = 00000 spindle is positioned manually
Ö
after deactivating the motor =
01024

Value to be specified in the parameter No. 4077 = 1024

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2.2.12 Calculating the Orientation Time

The time required for orientation differs between the first orientation
(before the one-rotation signal has first been detected) and the second
and subsequent orientations (once the one-rotation signal has been
detected).

(1) Before the one-rotation signal has first been detected(first

orientation)
The time, from the input of an orientation command until
orientation stops, is divided into four periods.
In the following figure, A indicates that the motor in the stop
state starts rotating and is accelerated to the orientation speed. B
indicates that the already rotating motor is decelerated to the
orientation speed.

Motor speed

Time

t1 : Time required to achieve orientation speed Nori [sec]

t2 : Time from the detection of a one-rotation signal (0 to 1 rotation) after Nori is achieved, until the
number of pulses output before the next one-rotation signal has been checked [sec]
t3 : Time from the completion of the checking of the number of pulses until deceleration starts [sec]
t4 : Time from the start of deceleration until orientation is completed [sec]

(a) Normally, t1 is measured on the actual machine.

Orientation speed Nori [min-1] is calculated from position
gain PG [sec-1] and the motor speed limit ratio for
orientation Rori.
Nori = PG × 60 × Rori
(b) t2 is the time required for the motor to rotate one to two
turns at orientation speed Nori [min-1].
1 × 60 2 × 60
≤ t2 ≤
Nori Nori
1 2
∴ ≤ t2 ≤
PG × Rori PG × Rori
(c) t3 is the time required for the motor to rotate zero to one
turns at orientation speed Nori [min-1].
0 × 60 1 × 60
≤ t3 ≤
Nori Nori
1
∴ 0 ≤ t3 ≤
PG × Rori

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(d) t4 is the time from the start of deceleration until orientation

has been completed.
Let the orientation completion width be within ±10 pulses.
Then, t4 can be calculated as follows:
1 4096 × Rori
t4 = × ln
PG 10
(e) Therefore, the orientation time t[sec](=t1+t2+t3+t4) can be
expressed as follows:
1 1 4096 × Rori 3
t1 = + ln ≤ t ≤ t1 +
PG × Rori PG 10 PG × Rori
1 4096 × Rori
+ ln
PG 10

(2) Once the one-rotation signal has been detected (second and
subsequent orientations)
(a) Once the one-rotation signal has been detected, the time
required to detect the signal is no longer necessary.
Therefore, when orientation is started from the rotating state,
orientation time t[sec](=t1+t3+t4) is expressed as follows:
1 4096 × Rori 1 1 4096 × Rori
t1 = ln ≤ t ≤ t1 + + ln
PG 10 PG × Rori PG 10
(b) Whenever orientation is started from the stop state,
orientation must be completed and the stop state entered
within one rotation. In this case, the orientation time t [sec]
is expressed as follows:
1 − Rori 1 4096 × Rori
0≤t≤ + ln
PG × Rori PG 10

(3) Calculation examples

Time required to achieve the orientation speed t1 = 0.5 [sec]
Position gain PG = 20 [sec-1]
Motor speed limit for orientation Rori = 0.33 (= 33%)
(a) Orientation time before the one-rotation signal has been
detected
1 1 4096 × 0.33 3
0 .5 + + × ln ≤ t ≤ 0 .5 +
20 × 0.33 20 10 20 × 0.33
1 4096 × 0.33
+ × ln
20 10
∴ 0.896[sec] ≤ t ≤ 1.196[sec]
(b) Orientation time when orientation is started from the
rotating state (once the one-rotation signal has been
detected)
1 4096 × 0.33 1 1 4096 × 0.33
0.5 + × ln ≤ t ≤ 0.5 + + × ln
20 10 20 × 0.33 20 10
∴ 0.746[sec] ≤ t ≤ 0.896[sec]
(c) Orientation time when orientation is started from the stop
state (once the one-rotation signal has been detected)
1 − 0.33 1 4096 × 0.33
0≤t≤ + ln
20 × 0.33 20 10
∴ 0[sec] ≤ t ≤ 0.346[sec]

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2.3 RIGID TAPPING Optional function

2.3.1 Start-up Procedure

A. Check that operation in the velocity control mode is enabled.

B. Prepare and check the rigid tapping ladder program.

C. Set up the detector-related parameters according to the system

configuration.
- Specify to use the spndile sensor and spindle motor.
- Specify the rotation direction of the spindle and motor and that of the
spindle and position coder.
- Set up the gear ratio between the spindle and motor.
- Specify an arbitrary gear ratio (for rigid tapping that uses a signal from
the built-in sensor when the gear ratio between the spindle and motor is
not 1:1).

D. Adjust the parameters according to the adjustment procedure.

- Maximum rotation speed and acceleration/deceleration time constant for
rigid tapping
- Position gain for rigid tapping
- Velocity loop proportional and integral gains for rigid tapping
- Motor voltage for rigid tapping
- Motor activation delay

E. Check the precision by actually performing cutting.

If there is a problem with the precision of the machine, adjust the
acceleration/deceleration time constant and velocity loop gains again.

2.3.2 Overview
Rigid tapping is a function for performing high-precision tapping by
exercising position control so that the spindle rotation is synchronized
with tapping axis feed at all times.
This subsection describes the specifications of the rigid tapping
function related to the serial spindle.

NOTE
To use this function, the CNC software option is
required.

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2.3.3 System Configuration

The system configurations that enable the use of rigid tapping are
shown below.

(1) When the α position coder is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SPM
TYPE A

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the α position coder S is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder S
SPM
TYPE B

JYA4
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(3) When the built-in motor is used

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE B

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(4) When the spindle motor with built-in Mi sensor (or MZi sensor) is used
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle

SPM
TYPE A
Directly connected at a ratio of 1:1
or
connected with a gear or timing belt at a ratio of m:n

NOTE
1 When performing rigid tapping by using a signal from
the sensor built into the motor as a position feedback
signal, use one of the following functions if the gear
ratio between the motor and spindle is other than 1:1
(a) Detection arbitrary gear ratio function (DMR
function)
(b) Command arbitrary gear ratio function (CMR
function)
2 When using the detection arbitrary gear ratio function
(DMR function), set the following:
- Parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle
3 When using the detection arbitrary gear ratio function
(DMR function) with a motor containing a built-in MZi
sensor, set bit 6 of No. 4007 to 1 so that the alarms
related to the position feedback signal (when non-Cs
contouring control is exercised) are not detected.
4 When using the command arbitrary gear ratio function
(CMR function) with FS16i, set the following:
- Enable the setting of an arbitrary gear ratio between
the spindle and position coder (bit 1 of No. 5200 = 1).
- Enable the setting of the command arbitrary gear
ratio function (CMR) on rigid tapping (bit 7 of No.
4006 = 1).
- Set the parameters for specifying the number of gear
teeth on the spindle side (No. 5221 to No. 5224).
- Set the parameters for specifying the number of gear
teeth on the position coder side (No. 5231 to No.
5234).
5 Reference position return can be performed when the
spindle is directly connected to the motor or when the
spindle is connected to the motor at a ratio of 1:1.
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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(5) When the separate type BZi sensor or separate type CZi sensor is used
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

BZi sensor or CZi sensor

(6) When the external one-rotation signal (proximity switch) is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

External one-rotation
signal switch (proximity
switch)

Gear or timing belt

NOTE
1 When using the external one-rotation signal
(proximity switch), use the detection arbitrary gear
ratio function (DMR function).
2 When using the detection arbitrary gear ratio
function (DMR function), set the following:
- Parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle
3 Set the type of the external one-rotation signal
(proximity switch) (bits 3 and 2 of No. 4004).
4 For stable detection of the one-rotation signal, set a
reference position return speed (No. 4074) from 50
to 100 min-1 according to the specification of the
used external one-rotation signal (proximity switch).
5 When orientation based on the external one-rotation
signal is used together, match the reference position
return speed and direction with the orientation speed
and direction.

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2.3.4 List of I/O Signals (CNC ↔ PMC)

This subsection provides a list of the I/O signals related to rigid
tapping only. For details of each signal, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.10 “RIGID TAPPING.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part I.

(1) Input signals (PMC → CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
G027 SWS2 SWS1
(*1) (*1)
G028 GR2 GR1

G029 GR21
(*2)
G061 RGTAP

NOTE
1 The rigid tapping of the second spindle is available
by the multi-spindle control function.
When SWS1 is set to 1 (regardless of whether
SWS2 is set to 0 or 1), rigid tapping is performed
using the 1st spindle. When SWS1 is set to 0, and
SWS2 is set to 1, rigid tapping is performed using
the 2nd spindle.
2 This signal is used when the rigid tapping of the
second spindle.
According to the GR21 signal, the individual gear
parameters for gear 1 or 2, also used for the 1st
spindle, are selected.

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(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
G027 SWS2 SWS1
(*1) (*1)
G028 GR2 GR1

G029 GR22 GR21

(*2) (*2)
G061 RGTAP

NOTE
1 The rigid tapping of the second spindle is available
by the multi-spindle control function.
When SWS1 is set to 1 (regardless of whether
SWS2 is set to 0 or 1), rigid tapping is performed
using the 1st spindle. When SWS1 is set to 0, and
SWS2 is set to 1, rigid tapping is performed using
the 2nd spindle.
2 This signal is used when the rigid tapping of the
second spindle.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
1st- G026 SPSTPA
2nd- G272 SPSTPB

(c) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 SFRA SRVA CTH1A CTH2A
2nd- G235 G074 G074 SFRB SRVB CTH1B CTH2B

(2) Output signals (CNC → PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F065 RGSPM RGSPP
(*1) (*1)
F075 RTAP

NOTE
*1 These signals are effective when M series.

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(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F065 RGSPM RGSPP
(*1) (*1)
F075 RTAP

NOTE
*1 These signals are effective when M series.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F040 RTAP
F155 RSPC RSPM RSPP

2.3.5 Sequence
For a rigid tapping sequence, refer to the Connection Manual
(Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.10 “RIGID TAPPING.”

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2.3.6 Related Parameters

Parameter No.
Description
15i 16i 16i
- 5210 5210 M code of rigid tapping command
5202#0 5202#0 Whether to perform orientation (reference position return) when starting
5606#6
(M series only) (M series only) rigid tapping
3706#1,0
- - Gear ratio between spindle and position coder, 1:1, 1:2, 1:4, 1:8
3707#1,0
5842 - 3720 Number of pulse of the position coder
- 5200#1 - Selection of arbitrary gear ratio between spindle and position coder
5852 5221 5221
5855 5222 5222 Teeth number of spindle side at arbitrary gear ratio (command) setting
5858 5223 5223 (16i/30i: No. 5224 is used for the T series only.)
5861 5224 5224
5851 5231 5231
5854 5232 5232 Teeth number of position coder side at arbitrary gear ratio (command)
5857 5233 5233 setting (16i/30i: No. 5234 is used for the T series only.)
5860 5234 5234
5280 5280 Position gain of tapping axis at rigid tapping (16i/30i: No. 5284 is used
3065 to 3068
5281 to 5284 5281 to 5284 for the T series only.)
5605#1 - - Acc/Dec type (Set to 1.)
5241 5241
5242 5242 Spindle maximum speed at rigid tapping (16i/30i: No. 5244 is used for
5711
5243 5243 the T series only.)
5244 5244
5605#2 - -
5757 - -
5886 - - Spindle speed for determining an acceleration value for cutting feed on
5889 - - rigid tapping
5892 - -
5605#2
5261 5261
5751
5262 5262
5886 Acc/Dec time constant (16i/30i: No. 5264 is used for the T series only.)
5263 5263
5889
5264 5264
5892
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration on rigid
- -
5888 tapping
- -
5891
- -
5894
- 5200#4 5200#4 Override selection at extracting
5883 5211 5211 Override value at extracting
5201#2 5201#2
- Time constant at extracting (No. 5274 is used for the T series only.)
5271 to 5274 5271 to 5274
- - 5203#2 Feed-forward function at rigid tapping
1827 5300 5300 In-position width of tapping axis
5875 5301 5301 In-position width of spindle
5310
1837 5310 Allowable level of position error of tapping axis at moving
5341
5876 5311 5311 Allowable level of position error of spindle at moving
1829 5312 5312 Allowable level of position error of tapping axis at stop

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Parameter No.
Description
15i 16i 16i
5877 5313 5313 Allowable level of position error of spindle at stop
5853
Backlash of spindle
5856
5321 to 5324 5321 to 5324 (16i: No. 5322 and No. 5324 are used for the T series only.
5859
30i: No. 5324 is used for the T series only.)
5862
3000#4 4000#4 4000#4 Reference position return direction on servo mode
Whether to enable the rotation direction signal (SFR/SRV) on servo
3002#5 4002#5 4002#5
mode
Setting of the command arbitrary gear ratio function (CMR) on rigid
3006#7 4006#7 4006#7
tapping
Setting related to the control characteristics on Cs contouring control or
3016#4 4016#4 4016#4
servo mode
- - 4037 Velocity loop feed-forward coefficient
Velocity loop proportional gain on servo mode/spindle synchronous
3044 4044 4044
control
3045 4045 4045
(It is selected by input signal CTH1A/B.)
3052 4052 4052 Velocity loop integral gain on servo mode/spindle synchronous control
3053 4053 4053 (It is selected by input signal CTH1A/B.)
Gear ratio between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059
(It is selected by input signal CTH1A or CTH2A)
Spindle position gain on servo mode/spindle synchronous control
3065 to 3068 4065 to 4068 4065 to 4068
(It is selected by input signal CTH1A or CTH2A)
3073 4073 4073 Grid shift amount on servo mode
3074 4074 4074 Reference position return speed on Cs contouring control/servo mode
3091 4091 4091 Position gain change ratio at reference position return time on servo mode
Motor voltage (for high-speed characteristics) on servo mode/spindle
3085 4085 4085
synchronous control
Motor voltage (for low-speed characteristics) on servo mode/spindle
3137 4137 4137
synchronous control
3099 4099 4099 Delay time for stable motor excitation
Denominator of an arbitrary gear ratio between the motor sensor and
3171 4171 4171
spindle
3173 4173 4173
(A parameter is selected by the input signal CTH1A.)
Numerator of an arbitrary gear ratio between the motor sensor and
3172 4172 4172
spindle
3174 4174 4174
(A parameter is selected by the input signal CTH1A.)
- - 4344 Advanced preview feed-forward coefficient

NOTE
1 For the parameters related to detectors, see Section
1.3 “PARAMETERS RELATED TO DETECTORS”
in the Part I.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part I.

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2.3.7 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, and in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to rigid tapping. For
details of other parameters, refer to the Connection Manual (Function)
of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.10 “RIGID TAPPING.”

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 4000 RETSV

RETSV Reference position return direction on servo mode (rigid

tapping/spindle positioning)
0 : The spindle performs a reference position return operation in the
CCW(counterclockwise) direction.
1 : The spindle performs a reference position return operation in the
CW(clockwise) direction.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 SVMDRT

SVMDRT Whether to enable the rotation direction signal (SFR/SRV) function

on servo mode (rigid tapping/spindle positioning)
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW direction when the input
signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW direction when the input
signal SRV (bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle
rotates in the CCW direction when the input signal SFR = 1 or
SRV = 1.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 RGTCMR

RGTCMR Sets the command arbitrary gear ratio function (CMR) on rigid
tapping.
0 : Disables the command arbitrary gear ratio function.
1 : Enables the specified arbitrary gear ratio function.
Set this parameter to 1 when rigid tapping is performed using a signal
from the sensor built-into the motor as a position feedback signal and
the gear ratio between the motor and spindle is other than 1:1.
When using the command arbitrary gear ratio function (CMR
function), set the following as well:
• Enabling an arbitrary gear ratio between the spindle and position
coder (bit 1 of No. 5200 = 1)
• Parameters for the number of gear teeth on the spindle side (No.
5221 to No. 5224)
• Parameters for the number of gear teeth on the position coder
side (No. 5231 to No. 5234)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3016 4016 4016 IDLPTN

IDLPTN Sets control characteristics on Cs contouring control and servo mode

(rigid tapping).
Usually, set this parameter to 0.
Set this bit to 1 when setting a value less than 100 as the motor
voltage on Cs contouring control (No. 4086) or as the motor voltage
on servo mode (No. 4085).

30i
4037 Velocity loop feed-forward coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a velocity loop feed-forward coefficient for using
feed-forward control. Set the result of calculation of the following
expression:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)

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15i 16i 30i

Velocity loop proportional gain on servo mode/spindle synchronous control
3044 4044 4044 (HIGH) CTH1A=0

Velocity loop proportional gain on servo mode/spindle synchronous control

3045 4045 4045
(LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop proportional gain on servo mode
(rigid tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

Velocity loop integral gain on servo mode/spindle synchronous control (HIGH)
3052 4052 4052
CTH1A=0
Velocity loop integral gain on servo mode/spindle synchronous control (LOW)
3053 4053 4053
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop integral gain on servo mode
(rigid tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.
A parameter is selected with the CTH1A and CTH2A input signals.
Set the gear or clutch status to correspond to the clutch/gear signal
(CTH1A, CTH2A) in input signals.

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NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

15i 16i 30i

Spindle position gain on servo mode/spindle synchronous control (HIGH)
3065 4065 4065 CTH1A=0, CTH2A=0

Spindle position gain on servo mode/spindle synchronous control

3066 4066 4066 (MEDIUM HIGH) CTH1A=0, CTH2A=1

Spindle position gain on servo mode/spindle synchronous control

3067 4067 4067 (MEDIUM LOW) CTH1A=1, CTH2A=0

Spindle position gain on servo mode/spindle synchronous control (LOW)

3068 4068 4068 CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting value : 1000
These parameters set a position gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
A parameter is selected according to the input signals CTH1A and
CTH2A.

15i 16i 30i

3073 4073 4073 Grid shift amount on servo mode

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4095
Standard setting value : 0
This parameter is used to shift the reference position on servo mode
(rigid tapping/spindle positioning).
The reference position of the spindle is shifted in the CCW direction
by the specified number of pulses.

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15i 16i 30i

3074 4074 4074 Reference position return speed on Cs contouring control/servo mode

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0
• When 0 is set
The value calculated from the position gain (No. 4065 to No.
4068) and orientation-time speed limit ratio (No. 4076) as
indicated below is used as a reference position return speed on
servo mode (rigid tapping/spindle positioning).
Reference position return speed (motor speed) =
Position gain Speed limit ratio
60× 100 ×Gear ratio× 100 [min-1]

• When a value other than 0 is set

The value set in this parameter is used as a reference position
return speed on servo mode (rigid tapping/spindle positioning).

NOTE
When using the external one-rotation signal
(proximity switch), set a reference position return
speed from 50 to 100 min-1 according to the
specification of the used external one-rotation signal
(proximity switch) for stable detection of the
one-rotation signal.

15i 16i 30i

Motor voltage (for high-speed characteristics) on servo mode/ spindle
3085 4085 4085
synchronous control
Motor voltage (for low-speed characteristics) on servo mode/ spindle
3137 4137 4137
synchronous control

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : Depends on the motor model.
These parameters set a motor voltage on servo mode (rigid tapping,
spindle positioning, and so forth). When performing rigid tapping, set
100 usually.
When setting a value less than 100, set bit 4 of No. 4016 to 1 as the
setting of control characteristics on Cs contouring control/servo mode.

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15i 16i 30i

3091 4091 4091 Position gain change ratio at reference position return time on servo mode

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter sets a position gain change ratio at reference position
return time on servo mode (rigid tapping, spindle positioning, and so
forth).

NOTE
An overshoot can occur at reference position return
time for a cause such as an excessively high
reference position return speed and an excessively
large spindle inertia. In this case, an overshoot can
be avoided by setting a small value in this
parameter.

15i 16i 30i

3099 4099 4099 Delay time for stable motor excitation

Unit of data : 1ms

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a period of time required until motor excitation
becomes stable on rigid tapping or Cs contouring control.

NOTE
In switching from the velocity control mode to rigid
tapping mode, the stop time excessive error alarm
can be issued intermittently.
This is because the excitation state of the spindle
motor changes abruptly, and therefore a transient
state occurs in the motor, thus moving the motor
shaft slightly.
In such a case, set this parameter. In general, set a
value from about 300 to 400 (300 to 400 msec).

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15i 16i 30i

Denominator of an arbitrary gear ratio between the motor sensor and spindle
3171 4171 4171
(HIGH) CTH1A=0
Numerator of an arbitrary gear ratio between the motor sensor and spindle
3172 4172 4172
(HIGH) CTH1A=0
Denominator of an arbitrary gear ratio between the motor sensor and spindle
3173 4173 4173
(LOW) CTH1A=1
Numerator of an arbitrary gear ratio between the motor sensor and spindle
3174 4174 4174
(LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set conversion coefficients (numerator,
denominator) for using the detection arbitrary gear ratio function
(DMR function) by multiplying a motor sensor (Mi sensor or MZi
sensor) feedback signal by a gear ratio to produce a spindle position
feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times
(there is no common divisor other than 1 for P and Q), the settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.

NOTE
When using the external one-rotation signal
(proximity switch), use the detection arbitrary gear
ratio function (DMR function) by setting an arbitrary
gear ratio between the motor sensor and spindle with
this parameter.

15i 16i 30i

- - 4344 Advanced preview feed-forward coefficient

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a feed-forward coefficient for using feed-forward
control. Set the same value as for the servo axis simultaneously
subjected to interpolation.

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2.3.8 Parameter Setting Procedure

(1) Command arbitrary gear ratio (CMR)

(a) For a configuration in which the sensor built into the motor is used for position
detection and the gear ratio between the spindle and motor is not 1:1, as
shown in sample system configuration 2 below, the command arbitrary gear
ratio (CMR) is used.
[Sample system configuration 1]
When the position detector is connected to the spindle at a ratio of 1:1,
the command arbitrary gear ratio (CMR) function is not used.

Motor

Spindle +
built-in motor
Spindle

BZi sensor
(directly connected to the spindle)
α position coder
(connected to the spindle at a ratio of 1:1)

[Sample system configuration 2]

When the sensor built into the motor is used as the position detector in
a configuration in which the gear ratio between the spindle and motor
is not 1:1, the command arbitrary gear ratio (CMR) function is used.

CNC SPM

Arbitrary gear Position

ratio command Position Motor
(command) control

Spindle
Position feedback

NOTE
This system configuration also enables the detection
arbitrary gear ratio function (DMR function) to be
used.

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[Sample system configuration 3]

When orientation by the external one-rotation signal is used in a
configuration in which the gear ratio between the spindle and motor is
not 1:1, the detection arbitrary gear ratio function (DMR function) is
used, and the command arbitrary gear ratio function (CMR function)
is not used.
CNC SPM
Position
command Position Motor
control

Arbitrary gear Spindle

ratio
(command)

(b) To use the command arbitrary gear ratio (CMR), set the following parameters:

15i 16i 30i Setting data

3006#7 4006#7 4006#7 1
0: The command arbitrary gear ratio (CMR) is not used.
1: Rigid tapping is performed using the command arbitrary gear
ratio (CMR) with the sensor built into the motor.

(c) Set the parameters to enable the command arbitrary gear ratio (arbitrary gear
ratio between the spindle and position coder).
15i 16i 30i Setting data
- 5200#1 - 1

(d) Set the parameter "the arbitrary gear ratio between the spindle and the position
coder" according to each CNC.

[Series 16i]
(1) Set the gear teeth number of the spindle side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series] : GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed
constant option : GR2, GR1
Second spindle of turning [T series] : GR21
(Multi-spindle control option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal
Parameter No. Parameter No.
GR1O GR2O GR3O 1st. sp 2nd. sp
1 0 0 5221 GR1 GR2 GR21 T series M series
0 1 0 5222 0 0 0 5221
0 0 1 5223 1 0 1 5222
0 1 - 5223
1 1 - 5224 5223

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(2) Set the gear teeth number of the position coder side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining[M series] with surface speed
constant option : GR2, GR1
Second spindle of turning [T series] : GR21
(Multi- spindle control option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal
Parameter No. Parameter No.
GR1O GR2O GR3O 1st. sp 2nd. sp
1 0 0 5231 GR1 GR2 GR21 T series M series
0 1 0 5232 0 0 0 5231
0 0 1 5233 1 0 1 5232
0 1 - 5233
1 1 - 5234 5233

[Series 30i]
(1) Set the gear teeth number of the spindle side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series] : GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed
constant option : GR2, GR1
Second spindle : GR21, GR21
(Multi-spindle control option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal Parameter No.
Parameter No.
GR1O GR2O GR3O GRs1* GRs2* T series M series
1 0 0 5221 0 0 5221
0 1 0 5222 1 0 5222
0 0 1 5223 0 1 5223
1 1 5224 5223
* First spindle: GR1, GR2 / Second spindle: GR21, GR22

(2) Set the gear teeth number of the position coder side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining[M series] with surface speed
constant option: GR2, GR1
Second spindle : GR21, GR21
(Multi-spindle control option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal Parameter No.
Parameter No.
GR1O GR2O GR3O GRs1* GRs2* T series M series
1 0 0 5231 0 0 5231
0 1 0 5232 1 0 5232
0 0 1 5233 0 1 5233
1 1 5234 5233
* First spindle: GR1, GR2 / Second spindle: GR21, GR22

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[Series 15i]
Gear signal Parameter No.
Gear teeth number of Gear teeth number of
CTH1A CTH2A
spindle side position coder side
0 0 5852 5851
0 1 5855 5854
1 0 5858 5857
1 1 5861 5860

(2) Gear ratio between the spindle and the motor

The loop gain constant (position gain constant) parameter is not used
in the αi series (serial) spindle system.
“Gear ratio between the spindle and the motor” parameter should be
set instead of it.
Each parameter is selected according to the gear selection signal
(CTH1A/B, CTH2A/B).

[1st. sp]
Gear signal Parameter No.
CTH1A CTH2A 15i 16i 30i
0 0 3056 (S1) 4056 (S1) 4056 (S1)
0 1 3057 (S1) 4057 (S1) 4057 (S1)
1 0 3058 (S1) 4058 (S1) 4058 (S1)
1 1 3059 (S1) 4059 (S1) 4059 (S1)

[2nd. sp]
Gear signal Parameter No.
CTH1B CTH2B 15i 16i 30i
0 0 3056 (S2) 4056 (S2) 4056 (S2)
0 1 3057 (S2) 4057 (S2) 4057 (S2)
1 0 3058 (S2) 4058 (S2) 4058 (S2)
1 1 3059 (S2) 4059 (S2) 4059 (S2)

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(3) Position gain

In rigid tapping, the tapping axis and spindle are controlled to be
synchronized. So, the position gains of the tapping axis and spindle
must be set to the same value.

[Series 16i]
The position gain parameter of the tapping axis in the rigid tapping is
selected as follows according to the gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed
constant option : GR2, GR1
Second spindle of turning [T series]: GR21 (Multi-spindle control
option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal
Parameter No. Parameter No.
GR1O GR2O GR3O 1st. sp 2nd. sp
5280 (*1) GR1 GR2 GR21 T series M series
1 0 0 5281 5280 (*1)
0 1 0 5282 0 0 0 5281
0 0 1 5283 1 0 1 5282
0 1 5283
1 1 5284 5283

NOTE
*1 When this parameter is "0", each gear parameter
becomes valid.
When this parameter is not "0", each gear parameter
becomes invalid, and this parameter is always used.

The position gain parameter of the spindle in the rigid tapping is

selected as follows according to the gear selection signal (CTH1A/B,
CTH2A/B). (This is common T series and M series)

[1st. sp] [2nd. sp]

Gear signal Gear signal
Parameter No. Parameter No.
CTH1A CTH2A CTH1B CTH2B
0 0 4065 (S1) 0 0 4065 (S2)
0 1 4066 (S1) 0 1 4066 (S2)
1 0 4067 (S1) 1 0 4067 (S2)
1 1 4068 (S1) 1 1 4068 (S2)

CAUTION
Take care to input the gear selection signal GR1,
GR2, GR21, GR1O, GR2O, GR3O and CTH1A/B,
CTH2A/B according to the real gear state in order to
get the same position gain of the tapping axis and
that of the spindle, because GR1, GR2, GR21,
GR1O, GR2O, GR3O and CTH1A/B, CTH2A/B are
inputted independently.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

[Series 30i]
The position gain parameter of the tapping axis in the rigid tapping is
selected as follows according to the gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed
constant option : GR2, GR1
Second spindle : GR22, GR21(Multi-spindle control option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal Parameter No.
Parameter No.
GR1O GR2O GR3O GRs1* GRs2* T series M series
(*1)
1 0 0 5231 5280
0 1 0 5232 0 0 5281
0 0 1 5233 1 0 5282
0 1 5283
1 1 5284 5283
* First spindle: GR1, GR2 / Second spindle: GR21, GR22

NOTE
*1 When this parameter is "0", each gear parameter
becomes valid.
When this parameter is not "0", each gear parameter
becomes invalid, and this parameter is always used.

The position gain parameter of the spindle in the rigid tapping is

selected as follows according to the gear selection signal (CTH1A/B,
CTH2A/B). (This is common T series and M series)

[1st. sp] [2nd. sp]

Gear signal Gear signal
Parameter No. Parameter No.
CTH1A CTH2A CTH1B CTH2B
0 0 4065 (S1) 0 0 4065 (S2)
0 1 4066 (S1) 0 1 4066 (S2)
1 0 4067 (S1) 1 0 4067 (S2)
1 1 4068 (S1) 1 1 4068 (S2)

CAUTION
Take care to input the gear selection signal GR1,
GR2, GR21, GR22, GR1O, GR2O, GR3O and
CTH1A/B, CTH2A/B according to the real gear state
in order to get the same position gain of the tapping
axis and that of the spindle, because GR1, GR2,
GR21, GR22, GR1O, GR2O, GR3O and CTH1A/B,
CTH2A/B are inputted independently.

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[Series 15i]
In the rigid tapping, the same parameter address data is used for the
position gain of the tapping axis and the spindle.
Each position gain is selected as follows according to the gear
selection signal (CTH1A, CTH2A).

Gear signal
Parameter No.
CTH1A CTH2A
0 0 3065
0 1 3066
1 0 3067
1 1 3068

(4) Acceleration/deceleration time constant

[Series 16i]
(1) Each parameter can be set for each gear and is selected according
to the gear selection signal.
By setting the following parameter, the different time constant
between the cutting in and cutting out (extracting) becomes
available.

5201 #2 0 : The same time constant between cutting in and out.

(No. 5261 to 5264)
1 : The different time constant between cutting in and
out.
Cutting in : No. 5261 to 5264
Cutting out: No. 5271 to 5274

Standard Machining [M series]: GR3O, GR2O, GR1O

Turning [T series] and Machining [M series] with surface speed
constant : GR2, GR1
2nd. sp of Turning [T series] : GR21 (Multi- spindle control
option is needed)

Standard machining [M series]

Gear signal Spindle max.
Time constant Time constant
speed at rigid
(Cutting in) (Cutting out)
GR1O GR2O GR3O tapping
Parameter No. Parameter No.
Parameter No.
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

Turning [T series] and machining [M series] with surface speed constant

Gear signal Spindle max. speed at
Time constant Time constant
rigid tapping
Fst. sp Snd. sp (Cutting in) (Cutting out)
Parameter No.
Parameter No. Parameter No.
GR1 GR2 GR21 T/TT series M series
0 0 0 5261 5271 5241 5241
1 0 1 5262 5272 5242 5242
0 1 - 5263 5273 5243 5243
1 1 - 5264 (*1) 5274 (*1) 5244 (*1) -

NOTE
*1 This is not available for Machining (M series).

(2) The override at extracting.

5200 #4 0 : The override at extracting is not valid.
1 : The override at extracting is valid.
(Set override value at No. 5211)

[Series 30i]
(1) Each parameter can be set for each gear and is selected according
to the gear selection signal.
By setting the following parameter, the different time constant
between the cutting in and cutting out (extracting) becomes
available.

5201 #2 0 : The same time constant between cutting in and out.

(No. 5261 to 5264)
1 : The different time constant between cutting in and
out.
Cutting in : No. 5261 to 5264
Cutting out: No. 5271 to 5274

Standard Machining [M series]: GR3O, GR2O, GR1O

Turning [T series] and Machining [M series] with surface speed
constant : GR2, GR1
2nd. sp : GR21, GR21 (Multi- spindle control option is needed)

Standard machining [M series]

Gear signal Spindle max.
Time constant Time constant
speed at rigid
(Cutting in) (Cutting out)
GR1O GR2O GR3O tapping
Parameter No. Parameter No.
Parameter No.
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243

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Turning [T series] and machining [M series] with surface speed constant

Spindle max. speed at
Time constant Time constant
Gear signal rigid tapping
(Cutting in) (Cutting out)
Parameter No.
Parameter No. Parameter No.
GRs1* GRs2* T series M series
0 0 5261 5271 5241 5241
1 0 5262 5272 5242 5242
0 1 5263 5273 5243 5243
1 1 5264 (*1) 5274 (*1) 5244 (*1) -
* First spindle: GR1, GR2 / Second spindle: GR21, GR22

NOTE
*1 This is not available for Machining (M series).

(2) The override at extracting.

5200 #4 0 : The override at extracting is not valid.
1 : The override at extracting is valid.
(Set override value at No. 5211)

[Series 15i]
(1) Acc/Dec type
5605 #1 0 : Exponential type Acc/Dec
1 : Linear type Acc/Dec

NOTE
Usually, linear type acceleration/deceleration (bit 1 of
No. 5605 = 1) is used.

(2) Set Acc/Dec the time constant of the rigid tapping mode.
<1> The time constant is a fixed value if bit 2 of parameter No.
5605 = 0.

Acc/Dec time constant 5751

Spindle speed 5757

<2> When bit 2 of parameter No.5605 is set to 1, one of the four

acceleration/deceleration time constants is selected,
depending on the spindle speed.

Spindle speed Acc/Dec time constant

Gear 1 5886 5884
Gear 2 5889 5887
Gear 3 5892 5890
Gear 4 - 5893

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.3.9 Adjustment Procedure

(1) Parameters used for adjustment

The table below lists and describes the parameters used for adjusting
rigid tapping.

Parameter No. (FS16i) Description

Maximum spindle speed on rigid tapping (Depends on the GR signal. No.5244 is for
5241 to 5244
the T series only.)
Acceleration/deceleration time constant on rigid tapping (Depends on the GR
5261 to 5264
signal. No.5264 is for the T series only.)
Position gain of tapping axis on rigid tapping (No.5280 is for all gears. No.5281 to
5280 to 5284
No.5284 depend on the GR signal. No.5284 is for T series only.)
4065 to 4068 Spindle position gain on rigid tapping (depends on CTH1A and CTH2A signals)
4044 to 4045 Velocity loop proportional gain on rigid tapping (depends on CTH1A signal)
4052 to 4053 Velocity loop integral gain on rigid tapping (depends on CTH1A signal)
4085 Motor voltage on rigid tapping (for high speed characteristics) (Specify 100).
4137 Motor voltage on rigid tapping (for low speed characteristics) (Specify 100).
4099 Delay time for motor excitation. (Specify a value around 300 to 400).
4016#4 Control properties settings on rigid tapping. (Set "0" as normal.)

NOTE
When the maximum speed for rigid tapping (in terms
of motor axis) is higher than the base speed of the
spindle motor, set a value less than 100 as the motor
voltage (No. 4085, No. 4137) for rigid tapping
according to the following expression:
Motor voltage (%)=

Spindle motor base speed

100×
Maximum speed for rigid tapping (in terms of motor axis)
In this case, also set bit 4 of No. 4016 to 1 as the
setting of control characteristics on rigid tapping.

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(2) Spindle data used for adjustment

Adjust the parameters while observing the motor speed, torque
command, velocity error, synchronous error, and other waveform by
using a spindle check board and oscilloscope or SERVO GUIDE. The
table below lists spindle check board settings for observing the
waveform.

Check board setting address

Settings Observing data
Output to CH1 Output to CH2
d-05 d-09 25
Velocity error
d-06 d-10 12
±128 min-1 at ±5 V
d-07 d-11 0
±256min-1 at ±5 V if d-06 (d-10) is set to 13
d-08 d-12 1
d-05 d-09 90 Torque command
d-06 d-10 7 Maximum positive/negative torque command at ±5 V
d-07 d-11 0 Maximum positive/negative torque command at ±2.5 V
d-08 d-12 1 if d-06 (d-10) is set to 8
d-05 d-09 68 Synchronous error (value converted for the spindle:
d-06 d-10 0 4096 pulses/rev)
±128 pulses at ±5 V
d-07 d-11 0
±256 pulses at ±5 V if d-06 (d-10) is set to 1
d-08 d-12 1 ±512 pulses at ±5 V if d-06 (d-10) is set to 2
d-05 d-09 19 Motor speed
d-06 d-10 18 ±8192 min-1 at ±5 V
d-07 d-11 0 ±4096 min-1 at ±5 V if d-06 (d-10) is set to 17
d-08 d-12 1 ±2048 min-1 at ±5 V if d-06 (d-10) is set to 16

NOTE
When observing the synchronous error of Series 16i,
set the following parameters:
No. 3700, #7 = 1:
Uses the synchronous error output (maintenance
function).
(Return the setting to 0 after the observation is
completed.)
No. 5203, #7 = 1 :
Sets a synchronous error update cycle.
(Return the setting to 0 after the observation is
completed.)
No. 5204, #0 = 0 :
Displays the synchronous error on the diagnosis
screen.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Adjustment procedure

(3)-1 Specifying an acceleration/deceleration time constant (1):
Specifying a provisional value
Before optimizing the acceleration/deceleration time constant, adjust
the gain to improve the response. Following (a) or (b) below, specify a
provisional acceleration/deceleration time constant according to the
target maximum speed.

(a) Specifying a provisional time constant according to the velocity waveform in

actual acceleration/deceleration
Observe the motor velocity waveform (velocity control mode) in
acceleration up to the maximum rigid tapping speed. Specify such a
provisional time constant that the inclination (acceleration) during
rigid tapping acceleration becomes about a half of the inclination of a
tangent to the motor velocity waveform near the location of maximum
speed. See the sample waveform shown below.

Nr: Maximum rigid tapping speed (No. 5241 to 5244)

4000 min-1 in this example
ta: Time of acceleration by the maximum torque at Nr
About 400 ms in this example
tr: Rigid tapping acceleration/deceleration time constant
Motor speed
(No. 5261 to 5264) 800 ms, which is two times ta, in
4096 min-1 / 5V Nr
this example

ta

In this example, the maximum rigid tapping speed Nr is set to 4000

min-1. To determine the acceleration/deceleration time constant, the
motor velocity waveform in acceleration up to 4000 min-1 is observed.
If the acceleration is performed with the maximum motor torque at
4000 min-1, the acceleration time ta needed to attain 4000 min-1 is
about 400 ms, as shown above. This is the minimum value of
acceleration/deceleration time constant tr, which can be specified
without consideration of cutting load. A time constant that can be
specified in consideration of cutting load is usually about 1.2 to 1.5
times this value. As a provisional value for gain adjustment,
approximately double (800 ms) is specified here.

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(b) Specifying a value calculated from the relationship between the maximum
torque and spindle inertia
Specify an acceleration/deceleration time constant calculated from the
following expression:
Jm[ kgm2 ] + JL [ kgm2 ] 2π
tr [ms] = × × Nr [min −1 ] × GR × 1000 × 2
T max(Nr )[Nm] 60
tr[ms] : Acceleration/deceleration time constant on rigid
tapping (No. 5261 to 5264)
Nr[min-1]: Maximum spindle speed on rigid tapping (No. 5241
to 5244)
GR : Spindle-motor gear ratio (Motor rotation per spindle
rotation)
Tmax(Nr) [Nm]: Maximum torque of spindle motor at Nr
Jm[kgm2]: Rotor inertia of spindle motor
JL[kgm2]: Spindle load inertia(converted for the motor shaft)

(3)-2 Specifying a position gain

Specify an initial value of about 2000(20 sec-1) to 3000(30 sec-1), then
adjust the value as needed. Basically, specify identical values for the
spindle and tapping axis.
After specifying the position gain, check whether the spindle is
operating as designed. For that purpose, check that the position error
(value displayed on the CNC screen) during stable rotation at the
maximum speed is almost the same as the theoretical value. This
theoretical value is calculated as shown below. If the theoretical value
is substantially different, re-check the parameters related to position
gain, gear ratio, and detector.
Nr [min −1 ] 1
Perr (Nr )[ pulse ] = × 4096[ pulse / rev ] ×
60 PG [sec −1 ]
Perr(Nr) [pulse] : Position error in stable rotation at Nr
Nr [min-1] : Maximum speed on rigid tapping
PG [sec-1] : Position gain on rigid tapping
If the gear ratio is 1:1 at Nr=4000 min-1 and PG=3000 (30 sec-1), the
position error in stable rigid tapping at Nr is calculated as follows:
4000 1
Perr (Nr ) = × 4096 × = 9102[ pulse ]
60 30

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3)-3 Specifying a velocity loop gain

Refer to Section 4.1 “VELOCITY LOOP GAIN ADJUSTMENT” for
details of the velocity loop proportional/integral gain. Adjust the
velocity loop proportional/integral gain so that the velocity error
decreases.
During the adjustment, observe the velocity error and motor speed.
Sample waveforms before and after the adjustment are shown below:

(a) Waveform before adjustment (No. 4044 = (b) Waveform after adjustment (No. 4044 =
10, No. 4052 = 10) 20, No. 4052 = 60)

CH1 : Velocity deviation CH1 : Velocity deviation

12.5 min-1/div 12.5 min-1/div

CH2 : Motor speed CH2 : Motor speed

2048 min-1/div 2048 min-1/div

(3)-4 Specifying an acceleration/deceleration time constant (2) :

Specifying an optimum value
Observing the torque command and motor speed, make a final
adjustment of the time constant. Adjust the time constant in
consideration of the actual cutting load, so that the peak torque at air
cut becomes about 70% to 80% (3.5 to 4.0 V) of the maximum value.
Sample waveforms before and after the adjustment are shown below:

(a) Waveform before adjustment (No. 5261 = 800) (b) Waveform after adjustment (No. 5261 = 480)

CH1 : Torque command CH1 : Torque command

50% / div 50% / div

CH2 : Motor speed CH2 : Motor speed

2048 min-1 / div 2048 min-1 / div

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(3)-5 Checking the synchronous error

The spindle adjustment ends when the adjustments described in above
procedures are completed. After the spindle adjustment, check the
synchronous error between the spindle and servo axis, which will be
an index of rigid tapping precision.
The synchronous error is a difference between the spindle position
error and the servo axis position error converted for the spindle.
SYNCER [pulse] = PERsp[pulse] − PERsv [pulse]
SYNCER [pulse]:Synchronous error
(4096 pulses per spindle rotation)
PERsp [pulse]:Spindle position error
PERsv [pulse]:Servo axis position error converted for the spindle

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.3.10 Diagnosis (Diagnosis Screen)

This subsection provides a list of the diagnosis (diagnosis screen)
indications related to rigid tapping only. For details, refer to the
Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.10 “RIGID TAPPING.”

(1) Series 16i

Address Description Unit
0300 Position error pulse of the tapping axis (error) Pulse
0450 Position error pulse of the spindle (error) Pulse
0451 Interpolation pulse of the spindle Pulse
0454 Integrated interpolation pulse of the spindle Pulse
Difference of move command converted for the
0455 Pulse
spindle (instantaneous)
Difference of position error converted for the spindle
0456 Pulse
(instantaneous)
(In terms of spindle) Width of synchronous error
0457 Pulse
(maximum)

NOTE
The data indicated below is displayed only when bit
0 (DGN) of parameter No. 5204 is set to 0. Usually,
set 0.
0455 : Difference of move command converted for
the spindle (instantaneous)
0456 : Difference of position error converted for the
spindle (instantaneous)
0457 : (In terms of spindle) Width of synchronous
error (maximum)

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(2) Series 30i

Address Description Unit
0300 Position error pulse of the tapping axis (error) Pulse
0450 Position error pulse of the spindle (error) Pulse
0451 Interpolation pulse of the spindle Pulse
0454 Integrated interpolation pulse of the spindle Pulse
Difference of move command converted for the
0455 Pulse
spindle (instantaneous)
Difference of position error converted for the spindle
0456 Pulse
(instantaneous)
(In terms of spindle) Width of synchronous error
0457 Pulse
(maximum)

NOTE
The data indicated below is displayed only when bit
0 (DGN) of parameter No. 5204 is set to 0. Usually,
set 0.
0455 : Difference of move command converted for
the spindle (instantaneous)
0456 : Difference of position error converted for the
spindle (instantaneous)
0457 : (In terms of spindle) Width of synchronous
error (maximum)

(3) Series 15i

Address Description Unit
1600 Position error pulse of the spindle (instantaneous) Pulse
1601 Position error pulse of the spindle (maximum) Pulse
Position error pulse of the tapping axis
1602 Pulse
(instantaneous)
1603 Position error pulse of the tapping axis (maximum) Pulse
(Value converted for the spindle) Width of
1604 Pulse
synchronous error (instantaneous)
(Value converted for the spindle) Width of
1605 Pulse
synchronous error (maximum)

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.3.11 Alarm
This subsection provides a list of the alarms related to rigid tapping
only. For details, refer to the Connection Manual (Function) of each
CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.10 “RIGID TAPPING.”

(1) Series 16i

(a) Program error (P/S Alarm)
Alarm number Description
200 S command is over the range or not inputted.
201 F command is not inputted.
202 The interpolation pulse for the spindle is over the range
203 The commanded place of M29 or S command is not proper.
204 The axis move command is inserted between M29 and G84 (G74).
The rigid mode input signal is not ON during G84 (G74) although M29 is commanded.
205 The rigid mode DI signal does not go ON.
The rigid mode input signal goes OFF during the rigid tapping.
206 The plane change is commanded during the rigid tapping. (M series only)
207 In rigid tapping, the lead is too short or too long. (M series only)

(b) Servo alarm

Alarm number Description
410 The position error of the tapping axis or the spindle at stop exceeds the alarm level.
411 The position error of the tapping axis or the spindle at moving exceeds the alarm level.
413 Tapping axis LSI overflow (error counter overflow)
740 Position error at rest on the spindle side is larger than the predetermined value (No. 5313).
The positional deviation during movement on the spindle side is larger than the setting of No.
741
5311.
742 Spindle LSI overflow (error counter overflow)

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(2) Series 30i

(a) Program error (P/S Alarm)
Alarm number Description
PS0200 S command is over the range or not inputted.
PS0201 F command is not inputted.
PS0202 The interpolation pulse for the spindle is over the range
PS0203 The commanded place of M29 or S command is not proper.
PS0204 The axis move command is inserted between M29 and G84 (G74).
The rigid mode input signal is not ON during G84 (G74) although M29 is commanded.
PS0205 The rigid mode DI signal does not go ON.
The rigid mode input signal goes OFF during the rigid tapping.
PS0206 The plane change is commanded during the rigid tapping. (M series only)
PS0207 In rigid tapping, the lead is too short or too long. (M series only)

(b) Servo alarm

Alarm number Description
SV0410 The position error of the tapping axis or the spindle at stop exceeds the alarm level.
SV0411 The position error of the tapping axis or the spindle at moving exceeds the alarm level.
SV0413 Tapping axis LSI overflow (error counter overflow)
SP0740 Position error at rest on the spindle side is larger than the predetermined value (No. 5313).
The positional deviation during movement on the spindle side is larger than the setting of No.
SP0741
5311, or the synchronous error is larger than the setting of No. 5214.
SP0742 Spindle LSI overflow (error counter overflow)

(2) Series 15i

(a) Program error (P/S Alarm)
Alarm number Description
An attempt was made to execute an instruction that uses the spindle although the spindle to be
PS0223
controlled has not been set correctly.
When the feedrate instruction contains valid data below the decimal point, the alarm is set and
PS0531
the F code contains valid data below the decimal point.
When the feedrate instruction contains valid data below the decimal point, the alarm is set and
PS0532
the E code contains valid data below the decimal point.
The feedrate for the hole drilling axis calculated from the F and S codes is too slow in the feed
PS0533
per single rotation mode (G95).
The feedrate for the hole drilling axis calculated from the F and S codes is too fast in the feed
PS0534
per rotation mode (G95).
The feedrate for the hole drilling axis calculated from the E and S codes is too slow in the feed
PS0535
per rotation mode (G95).
The feedrate for the hole drilling axis calculated from the E and S codes is too fast in the feed
PS0536
per rotation mode (G95).
PS0537 The speed obtained by applying override to the F instruction is too slow.
PS0538 The speed obtained by applying override to the F instruction is too fast.
PS0539 The speed obtained by applying override to the E instruction is too slow.
PS0540 The speed obtained by applying override to the E instruction is too fast.
PS0541 "0" has been instructed as the S code.
PS0542 "0" has been instructed as the feedrate (E code).
The gear ratio between the spindle and position coder, or the set position coder number of
PS0543
pulses is illegal in the spindle position function and the rigid tapping function.
PS0544 The value specified with the S command exceeds the maximum spindle speed.

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(b) Spindle alarm (SP alarm)

Alarm number Description
SP0224 The spindle-position coder gear ratio was incorrect.
The position error during spindle rotation was greater than the value set in parameter
SP0231
(No.5876).
SP0232 The position error during spindle stop was greater than the value set in parameter (No.5877).
SP0233 The error counter/speed instruction value of the position coder overflowed.
SP0234 Grid shift overflowed.
SP0235 The orientation (reference position return) speed is too fast.
SP0238 An attempt was made to change the spindle mode during the rigid tapping mode.

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2.4 Cs CONTOURING CONTROL Optional function

2.4.1 Start-up Procedure

A. Check that operation in the velocity control mode is enabled.

B. Prepare and check the ladder program for the Cs contouring control
function.

C. Set the necessary parameters for Cs contouring control.

D. Check and adjust the waveforms on the Cs contouring control detector.

E. Check the operation of reference position return.

- Direction of return to the reference position in Cs contouring control
mode
- Maximum speed in Cs contouring control mode
- Feedrate at which return to the reference position is performed in Cs
contouring control mode
- Parameter for the rate of change in the position gain for return to the
reference position in Cs contouring control mode

F. Check the stop position when return to the reference position is

performed.
- Grid shift in Cs contouring control mode

G. Check the direction of spindle rotation in Cs contouring control mode.

- Parameter specifying the direction of rotation for a positive (+) motion
command

H. Adjust and check the Cs contouring control servo system.

(Check the operation in jog mode, rapid traverse mode, handle mode,
and other modes.)
- Position gain in Cs contouring control mode
- Velocity loop proportional gain in Cs contouring control mode
- Velocity integral gain in Cs contouring control mode
- Motor voltage in Cs contouring control mode
- Disturbance torque compensating constant (acceleration feedback gain)
- Spindle speed feedback gain

I. End of operation check in Cs contouring control mode

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2.4.2 Overview
Cs contouring control is a function for exercising position control by
handling the spindle as a CNC controlled axis with an MZi sensor,
BZi sensor, CZi sensor, or α position coder S.
This function enables positioning and interpolation with another servo
axis. This means that linear interpolation, circular interpolation, and so
forth can be specified between the spindle and a servo axis.

NOTE
To use this function, the CNC software option is
required.

2.4.3 System Configuration

The system configurations that enable the use of the Cs contouring
control function are shown below.

(1) When the α position coder S is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder S
SPM
TYPE B

JYA4
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(2) When the built-in motor is used

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

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(3) When the spindle motor with built-in MZi sensor is used
Spindle motor with built-in MZi sensor

JYA2 Spindle

SPM
TYPE A
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(4) When the separate type BZi sensor or separate type CZi sensor is used
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2
Spindle
SPM
TYPE B

JYA4 BZi sensor or CZi sensor

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2.4.4 List of I/O Signals (CNC ↔ PMC)

This subsection provides a list of the I/O signals related to Cs
contouring control only. For details of each signal, refer to the
Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.9 “Cs CONTOUR CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.9 “Cs CONTOUR CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “Cs CONTOUR CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.8 “Cs CONTOUR CONTROL.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS ↔ CNC (PMC)", in Part I.

(1) Input signals (PMC → CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
G027 CON
G028 GR2 GR1

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
G027 CON
G028 GR2 GR1

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
G067 SCNTR1
G071 SCNTR2
: :

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(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 SFRA SRVA CTH1A CTH2A
2nd- G235 G074 G074 SFRB SRVB CTH1B CTH2B

1st- G226 G071 G071 INTGA

2nd- G234 G075 G075 INTGB

(2) Output signals (CNC → PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F044 FSCSL
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
1* These signals are valid with the M series only.

(b) Series 30i

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

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F044 FSCSL
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
1* These signals are valid with the M series only.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1

F071 MSCNTR2

: :

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2.4.5 Examples of Sequences

Velocity control mode Cs contouring control mode (*3) Velocity control mode

Cs contouring control ON(1)

mode command
FS16i/30i : CON
FS15i : SCNTRx OFF(0) OFF(0)

ON(1)
Spindle rotation
command
(SFR/SRV) OFF(0) OFF(0)

Sxxxxx(≠0)
( 1)
Spindle speed command *
S0

ON(1)
Cs contouring control mode state
FS16i/30i : FSCSL
FS15i : MSCNTRx OFF(0) OFF(0)

Spindle clamp

( 2)
Spindle clamped *

ON(1)
Velocity integral control signal (*2)
(INTGA) OFF(0) OFF(0)

NOTE
1 In Cs contouring control mode, reset the spindle
speed command (specify S0) for safety.
2 When the spindle is clamped to perform machining
such as drilling after positioning based on Cs
contouring control, the spindle may be clamped at a
position slighted shifted from the specified position.
In such a case, the velocity loop integral function
attempts to move the spindle to the specified
position, so that an excessively high current can flow
through the motor.
To prevent this, turn on (set to 1) the velocity integral
control signal (INTGA) to disable the velocity loop
integral function, or turn off the power to the motor
with the servo-off signal.
3 In Cs contouring control, do not perform spindle gear
switching. Be sure to perform spindle gear switching,
if needed, on the velocity control mode.

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2.4.6 Related Parameters

Parameter No.
Description
15i 16i 30i
1005#0 1005#0 1005#0 Whether to use the reference position return function
1005#2 - - Sets automatic reference position return (G28). (Set “0”.)
Set workpiece coordinate system preset at automatic reference position
1005#3 - -
return time. (Set “1”.)
1600#2,#1,#0 1006#2 1006#2 Sets a linear axis/rotation axis. (Set “1”.)
1600#3 - - Sets a radius for a move command/rotation axis. (Set “0”.)
1804#7 - - Sets a Cs contouring control axis with a serial spindle. (Set “1”.)
2203#1 - - Sets machine position display on the CRT. (Set “1”.)
Specifies whether to enable the reference position return function for the first
- 3700#1 3700#1
G00 command received after switching to Cs contouring control.
- 3712#2 3712#2 Sets the Cs axis coordinate establishment function.
1012 1004 1013 Increment system
#3,#2,#1,#0 #1,#0 #3,#2,#1,#0 (Usually, set and use IS-B.)
1020 1020 1020 Program axis name
- 1022 1022 Sets an axis of the basic coordinate system. (Set “0”.)
1023 1023 1023 Servo axis number (Set “-1”.)
1028 - - Spindle number of Cs contouring control axis
1260 - 1260 Movement per rotation of rotation axis (Set “360.0”.)
1420 1420 1420 Rapid traverse rate
1620 1620 1620 Linear acceleration/deceleration time constant for rapid feed
1820 1820 1820 Command multiplication (Usually, set "2" [= CMR 1].)
5879 1826 1826 In-position width
5880 1828 1828 Position error limit during movement
5881 1829 1829 Position error limit when stopped
5882 - - Position error limit when the servo system is off
Sets a position gain for a servo axis subject to interpolation with the Cs
5609#0 - - contouring control axis.
("0": Automatically set, "1": Not automatically set. Usually, set "0".)
3900 3900
3910 3910
Servo axis number subject to interpolation with the Cs contouring control
- 3920 3920
axis
3930 3930
3940 3940
3901 to 3904 3901 to 3904
3911 to 3914 3911 to 3914
Position gain of a servo axis subject to interpolation with the Cs contouring
- 3921 to 3924 3921 to 3924
control axis
3931 to 3934 3931 to 3934
3941 to 3944 3941 to 3944
5843 - - Number of pulses of position detector for Cs contouring control
Spindle rotation direction for a positive motion command on Cs contouring
3000#1 4000#1 4000#1
control mode
Direction of reference position return when the system enters Cs contouring
3000#3 4000#3 4000#3
control mode
Whether to use the rotation direction signal (SFR/SRV) function on Cs
3002#4 4002#4 4002#4
contouring control
3005#0 4005#0 - Sets the detection unit for Cs contouring control.
3016#3 4016#3 4016#3 Sets the smoothing function in feed-forward control.

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Parameter No.
Description
15i 16i 30i
3016#4 4016#4 4016#4 Sets control characteristics on Cs contouring control/servo mode.
3021 4021 4021 Maximum spindle speed on Cs contouring control mode
3036 4036 - Feed-forward coefficient
3037 4037 4037 Velocity loop feed-forward coefficient
3046 4046 4046 Velocity loop proportional gain on Cs contouring control mode
3047 4047 4047 (A parameter is selected by the CTH1A input signal sent from the PMC.)
3054 4054 4054 Velocity loop integral gain on Cs contouring control mode
3055 4055 4055 (A parameter is selected by the CTH1A input signal sent from the PMC.)
Spindle-to-motor gear ratio
3056 to 3059 4056 to 4059 4056 to 4059 (A parameter is selected by the CTH1A and CTH2A input signals sent from
the PMC.)
Position gain for axes subject to Cs contouring control
3069 to 3072 4069 to 4072 4069 to 4072
(A parameter is selected by the CTH1A input signal sent from the PMC.)
Feedrate for reference position return on Cs contouring control mode or
3074 4074 4074
servo mode
3086 4086 4086 Motor voltage on Cs contouring control mode
Rate of change in the position gain when reference position return is
3092 4092 4092
performed on Cs contouring control mode
3094 4094 4094 Disturbance torque compensating constant (acceleration feedback gain)
3097 4097 4097 Spindle speed feedback gain
3099 4099 4099 Motor excitation delay
3131 4131 4131 Velocity detection filter time constant (on Cs contouring control)
3135 4135 4135 Grid shift on Cs contouring control mode
3162 4162 4162 Velocity loop integral gain for cutting feed on Cs contouring control
3163 4163 4163 (A parameter is selected by the PMC input signal CTH1A.)
- - 4344 Advanced preview feed-forward coefficient
- 4353#5 4353#5 Sets the Cs axis position data transfer function.
Acceleration/deceleration time constant for Cs control reference position
3406 4406 4406
return

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part I.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part I.

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2.4.7 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to Cs contouring
control. For details of other parameters, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.9 “Cs CONTOUR CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.9 “Cs CONTOUR CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “Cs CONTOUR CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.8 “Cs CONTOUR CONTROL.”

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 4000 RETRN ROTA2

ROTA2 Indicates the spindle direction by the move command (+). (Only
effective on Cs contouring control)
0 : When the value of a move command from the CNC is positive
(+), the spindle rotates in the CCW direction.
1 : When the value of a move command from the CNC is positive
(+), the spindle rotates in the CW direction.
Change the setting of this parameter when changing the rotation
direction of the spindle on Cs contouring control.

RETRN Indicates the reference position return direction on Cs contouring

control.
0 : Returns the spindle from the CCW direction to the reference
position (counter clockwise direction).
1 : Returns the spindle from the CW direction to the reference
position (clockwise direction).

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 CSDRCT

CSDRCT Whether to use the rotation direction signal (SFR/SRV) on Cs

contouring control
0 : Rotation direction function enabled
(1) When bit 1 (ROTA2) of No. 4000 = 0, and the value of a
move command from the CNC is positive (+)
(a) The spindle rotates counterclockwise when input
signal SFR(G70#5) is set to 1.
(b) Tthe spindle rotates clockwise when input signal
SRV(G70#4) is set to 1.
(2) When bit 1 (ROTA2) of No. 4000 = 1, and the value of a
move command from the CNC is positive (+)
(a) The spindle rotates clockwise when input signal
SFR(G70#5) is set to 1.
(b) The spindle rotates counterclockwise when input
signal SRV(G70#4) is set to 1.
1 : Rotation direction function disabled
The rotation direction function of the SFR/SRV signal is disabled.
Only the function for enabling spindle motor excitation is
available.
(1) When bit 1 (ROTA2) of parameter No. 4000 is set to 0
When the value of a move command from the CNC is
positive (+), and SFR/SRV = 1, the spindle rotates in the
CCW direction.
(2) When bit 1 (ROTA2) of parameter No. 4000 is set to 1
When the value of a move command from the CNC is
positive (+), and SFR/SRV = 1, the spindle rotates in the
CW direction.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 - CS360M

CS360M Sets the detection unit for Cs contouring control.

0 : 0.001°
1 : 0.0001°
Set 0 usually. When a CZi sensor is used as the position detector and
the setting unit IS-C is used, set 1.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3016 4016 4016 IDLPTN FFSMTH

FFSMTH Specifies whether to use the smoothing function under feed-forward

control.
0 : Don’t use the smoothing function.
1 : Uses the smoothing function.
This bit specifies whether to use the smoothing function under
feed-forward control on Cs contouring control mode.

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IDLPTN Specifies the control characteristic on Cs contouring control mode or

servo mode (rigid tapping mode).
Normally, set this bit to 0.
Set this bit to 1 when setting a value less than 100 as the motor
voltage on Cs contouring control (No. 4086) or as the motor voltage
on servo mode (No. 4085).

15i 16i 30i

3021 4021 4021 Maximum speed on Cs contouring control mode

Unit of data : 1min-1 (10min-1 when parameter No.4006#2 (SPDUNT) is set to 1)

Valid data range : 0 to 32767
Standard setting : 100
This parameter specifies the maximum speed of a spindle operating on
Cs contouring control mode.
When 0 is specified as the parameter for the feedrate for reference
position return on Cs contouring control mode (parameter No. 4074),
reference position return is performed at the speed specified as the
maximum speed in this parameter.

15i 16i 30i

3036 4036 - Feed-forward coefficient

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 0
Set the feed-forward coefficient when feed-forward control is
executed on Cs contouring control.

15i 16i 30i

3037 4037 4037 Velocity loop feed-forward coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set a velocity loop feed-forward coefficient when feed-forward
control is executed on Cs contouring control. Use the following
expression to determine a value to be set:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)

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15i 16i
3046 4046 Velocity loop proportional gain on Cs contouring control (HIGH) CTH1A=0
3047 4047 Velocity loop proportional gain on Cs contouring control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 30
These parameters specify the proportional gains of the velocity loop
on Cs contouring control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3054 4054 4054 Velocity loop integral gain on Cs contouring control (HIGH) CTH1A=0
3055 4055 4055 Velocity loop integral gain on Cs contouring control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 50
These parameters specify the integral gains of the velocity loop for Cs
contouring control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor to the spindle.
When the motor rotates 2.5 times for every rotation of the spindle, for
example, set 250 in the parameter.
A parameter is selected by the CTH1A and CTH2A input signals.
The gear or clutch status must correspond to the status of the CTH1A
and CTH2A input signals.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle does not stop but keeps rotating at the
time of orientation. So, be sure to set a proper gear
ratio.

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15i 16i 30i

3069 4069 4069 Position gain on Cs contouring control (HIGH) CTH1A=0, CTH2A=0
3070 4070 4070 Position gain on Cs contouring control (MEDIUM HIGH) CTH1A=0, CTH2A=1
3071 4071 4071 Position gain on Cs contouring control (MEDIUM LOW) CTH1A=1, CTH2A=0
3072 4072 4072 Position gain on Cs contouring control (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 3000
These parameters specify the position gains used on Cs contouring
control mode.
A parameter is selected by the input signals CTH1A and CTH2A.

15i 16i 30i

Speed for return to reference position on Cs contouring control mode/servo
3074 4074 4074 mode

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 0
• When 0 is set
The value set in No. 4021 (maximum spindle speed) is used as a
reference position return speed on Cs contouring control.
• When a value other than 0 is set
The value set in this parameter is used as a reference position
return speed on Cs contouring control.

NOTE
An overshoot can occur at reference position return
time for a cause such as an excessively high
reference position return speed by setting the
parameter No. 4021 (maximum spindle speed on Cs
contouring control mode). In this case, set this
parameter.

15i 16i 30i

3086 4086 4086 Motor voltage setting on Cs contouring control

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
Set the motor voltage to "100", when Cs contouring control is in
operation.

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NOTE
When the maximum speed on Cs contouring control
(in terms of motor shaft) is higher than the base
speed of the spindle motor, set a value less than
100 in this parameter according to the following
expression:
Spindle motor base speed
Motor voltage (%)=100×
Maximum speed in Cs contouring control
(in terms of motor shaft)
In this case, also set bit 4 of No. 4016 to 1 as the
setting of control characteristics on Cs contouring
control.

15i 16i 30i

The reduction rate of position loop gain in returning to the reference position
3092 4092 4092 on Cs contouring mode

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
This parameter specifies a rate of change in the position gain used for
reference position return on Cs contouring control mode.

NOTE
An overshoot can occur at reference position return
time for a cause such as an excessively high
reference position return speed and an excessively
large spindle inertia. In this case, an overshoot can
be avoided by setting a small value in this
parameter.

15i 16i 30i

The constant of the torque disturbance compensating (Acceleration feedback
3094 4094 4094 gain)

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
This parameter specifies the constant for compensating for a
disturbance torque on Cs contouring control mode.

NOTE
By setting this parameter, stability in cutting can be
improved.
In this parameter, set a value from 500 to 2000.
Do not set a value exceeding 4000.

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15i 16i 30i

3097 4097 4097 Spindle speed feedback gain

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
This parameter is set to feed back spindle speed and compensate for
torque disturbance on Cs contouring control in systems where spindles
and spindle motors are linked by gears or belts.

NOTE
When a belt is used to connect the spindle with the
motor, control stability may be improved by feeding
back the spindle speed.
In this parameter, set about the same value (10 to
50) as specified in parameter No. 4046 (velocity loop
proportional gain), or a smaller value.

15i 16i 30i

3099 4099 4099 Delay time for motor excitation

Unit of data : 1ms

Valid data range : 0 to 32767
Standard setting : 0
This parameter specifies the time required to achieve stable motor
excitation on rigid tapping mode or Cs contouring control mode.

NOTE
At the time of switching from the velocity control
mode to Cs contouring control mode, the stop time
excessive error alarm can be issued intermittently.
This is because the excitation state of the spindle
motor changes abruptly, and therefore a transient
state occurs in the motor, thus moving the motor
shaft slightly.
In such a case, set this parameter. In general, set a
value from about 300 to 400 (300 to 400 msec).

15i 16i 30i

3131 4131 4131 Velocity detection filter time constant (on Cs contouring control)

Unit of data : 0.1ms

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a filter time constant for the velocity feedback
signal on Cs contouring control. Usually, set 0.

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15i 16i 30i

3135 4135 4135 Grid shift amount on Cs contouring control

Unit of data : 1 pulse unit (=0.001°) (0.0001° when bit 0 (CS360M) of parameter No.
4005 is set to 1)
Valid data range : -360000 to +360000
(-3,600,000 to +3,600,000 when bit 0 (CS360M) of parameter No.
4005 is set to 1)
Standard setting value : 0
Use this parameter to shift the machine reference position on Cs
contouring control.
The machine reference position of the spindle shifts by the set number
of pulses in the CCW direction.

15i 16i 30i

Velocity loop integral gain for cutting feed on Cs contouring control(HIGH)
3162 4162 4162
CTH1A=0
Velocity loop integral gain for cutting feed on Cs contouring control(LOW)
3163 4163 4163
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set a velocity loop integral gain for cutting feed
(G01, G02, G03) on Cs contouring control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

NOTE
When 0 is set in these parameters, the values set in
No. 4054 and No. 4055 (velocity loop integral gain
on Cs contouring control) are valid.

15i 16i 30i

- - 4344 Advanced preview feed-forward coefficient

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a feed-forward coefficient for exercising
feed-forward control when Cs contouring control is used.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

- 4353 4353 CSPTRE

CSPTRE Sets the Cs axis position data transfer function.

0 : Disables the Cs axis position data transfer function.
1 : Enables the Cs axis position data transfer function.
Set this parameter to 1 when using the Cs axis coordinate
establishment function.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

NOTE
This parameter is valid with 9D50 series G (07)
edition or later and 9D70 series A (01) edition or
later.

15i 16i 30i

Acceleration/deceleration time constant at return to the reference position in
3406 4406 4406 Cs contouring control

Unit of data : 1msec

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets the acceleration to be used for returning to the
reference position in Cs contouring control. Use of this parameter can
reduce the shock due to acceleration/deceleration during return to the
reference position. The spindle speed command during return to the
reference position is then given as follows:
One-rotation signal detected

Reference
position return
speed-1
(min )

Setting in Setting in
parameter parameter
No. 4406 No. 4406
(msec) (msec)

Start of reference position return End of reference position return

NOTE
1 When 0 is set in this parameter, a velocity command
is assumed as follows.
• Before detecting the one-rotation signal:
Reference position return speed (step-type
velocity command)
• After detecting the one-rotation signal:
Distance to the reference position × Position gain
2 This parameter is enabled when soft start/stop signal
SOCNA is 1.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.4.8 Diagnosis (Diagnosis Screen)

Address
Description Unit
15i 16i 30i
- 0418 - Position error value of the first spindle Pulse
1540 - 0418 Position error value of the spindle Pulse

2.4.9 Alarm
This subsection provides a list of the alarms related to Cs contouring
control only. For details of alarms, refer to the Connection Manual
(Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.9 “Cs CONTOUR CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.9 “Cs CONTOUR CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “Cs CONTOUR CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.8 “Cs CONTOUR CONTROL.”

(1) Series 16i

Alarm No. Description
194 Cs contouring control is specified in serial spindle synchronous control mode.
197 A move command was issued from a program when the input signal CON (bit 7 of G027) is off.
751 An alarm was issued on the serial spindle amplifier side.
752 Switching to Cs contouring control mode is not terminated normally.

(2) Series 30i

Alarm No. Description
PS0194 Cs contouring control is specified in serial spindle synchronous control mode.
PS0197 A move command was issued from a program when the input signal CON (bit 7 of G027) is off.
SP0752 Switching to Cs contouring control mode is not terminated normally.

(3) Series 15i

Alarm No. Description
A move command for Cs contouring control was issued for an axis not placed on Cs contouring
PS0571
control mode.
PS0572 A Cs contouring control axis command was issued for an axis in motion.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.5 SPINDLE SYNCHRONOUS CONTROL Optional function

2.5.1 Start-up Procedure

A. Check that operation in velocity control mode is ready.

B. Prepare and check the ladder programs for the spindle synchronous
control function.

C. Set the parameters related to spindle synchronous control.

D. Connect a position coder and check the feedback signal.

E. Check the spindle synchronous speed.

F. Check the direction of spindle rotation when spindle synchronous control

is applied.
- Direction of spindle motor rotation when spindle synchronous control is
applied.

G. Check that errors such as overshoot or hunting do not occur before the
spindle achieves the maximum speed for synchronization.
- Position gain for spindle synchronous control
- Acceleration/deceleration time constant used for spindle synchronous
control control

H. Check that the error pulse difference between the spindles is within ±5
pulses.
- Position gain for spindle synchronous control
- Spindle-to-motor gear ratio data
- Velocity loop proportional gain for spindle synchronous control
- Velocity loop integral gain for spindle synchronous control
- Incomplete integration coefficient
- Bell-shaped acceleration/deceleration time constant for spindle
synchronous control
- Motor voltage for spindle synchronous control

I. Check the operation of spindle phase synchronization control.

- Shift amount for spindle phase synchronization
- Compensation data for spindle phase synchronization

J. End the checking of spindle synchronous control operation.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.5.2 Overview
When, on a machine (such as a lathe) that has two facing spindles,
workpiece seizure is to be switched from the first spindle to the
second spindle during spindle rotation, or acceleration/deceleration is
performed while the first spindle and second spindle hold a workpiece,
the two spindles must rotate at the same speed.
When the seizure of a uniquely shaped workpiece is to be switched
from one spindle to the other, the two spindles must have the same
spindle rotation phase (angular displacement).
The spindle synchronous control function exercises synchronous
control between two spindles in these cases.

CAUTION
1 To use this function, the CNC software option is
required.
2 This function cannot be used with FANUC Series
15i.

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2.5.3 System Configuration

The system configurations that enable the use of the spindle
synchronous control function are shown below.

NOTE
1 Spindle synchronous control between spindles each
having a different detector configuration is possible.
2 Spindle synchronous control between different path
is possible. For details, see below:
Section 9.12, "SPINDLE SYNCHRONOUS
CONTROL", in FANUC Series 16i/18i/21i –MODEL
B CONNECTION MANUAL (FUNCTION)
(B-63523EN-1)
Section 11.13, "SPINDLE SYNCHRONOUS
CONTROL", in FANUC Series 30i/31i/32i –MODEL
A CONNECTION MANUAL (FUNCTION)
(B-63943EN-1)

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(1) When the α position coder is used

1t spindle
Spindle motor with built-in Mi sensor
CNC (or MZi sensor)

JA7B Spindle
JYA2 α position coder
SPM
TYPE A
JYA3
JA7A
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

2nd spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)

JA7B Spindle
JYA2 α position coder
SPM
TYPE A
JYA3

Directly connected or connected with a gear or timing belt

at a ratio of 1:1

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(2) When the α position coder S is used

1st spindle
Spindle motor with built-in Mi sensor
CNC (or MZi sensor)

JA7B Spindle
JYA2 α position coder S
SPM
TYPE B
JYA4
JA7A
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

2nd spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)

JA7B Spindle
JYA2
α position coder S
SPM
TYPE B
JYA4

Directly connected or connected with a gear or timing belt

at a ratio of 1:1

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) When the built-in motor is used

1st spindle
BZi sensor or CZi sensor

CNC
Spindle +
Built-in motor

JA7B
JYA2
SPM
TYPE A

JA7A

2nd spindle
BZi sensor or CZi sensor

Spindle +
Built-in motor

JA7B
JYA2
SPM
TYPE A

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(4) When the spindle motor with built-in MZi sensor is used
1st spindle
Spindle motor with built-in MZi sensor
CNC

JA7B Spindle
JYA2
SPM
TYPE A

JA7A Directly connected or connected with a gear or timing

belt at a ratio of 1:1

2nd spindle
Spindle motor with built-in MZi sensor

JA7B Spindle
JYA2
SPM
TYPE A

Directly connected or connected with a gear or timing

belt at a ratio of 1:1

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(5) When the separate type BZi sensor or separate type CZi sensor is used
1st spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)
CNC

JA7B Spindle
JYA2
SPM
TYPE B
JYA4
JA7A BZi sensor or CZi sensor

2nd spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)

JA7B Spindle
JYA2
SPM
TYPE B
JYA4
BZi sensor or CZi sensor

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(6) When the external one-rotation signal (proximity switch) is used

1st spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)
CNC

Spindle
JA7B
JYA2
External one-rotation
SPM
signal switch (proximity
TYPE A switch)
JYA3 Gear or timing belt
JA7A

2nd spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle
JA7B
JYA2
External one-rotation
SPM
signal switch (proximity
TYPE A
switch)
JYA3 Gear or timing belt

NOTE
1 When using the external one-rotation signal
(proximity switch), use the detection arbitrary gear
ratio function (DMR function).
2 When using the detection arbitrary gear ratio
function (DMR function), set the following:
- Parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle
3 Set the type of the external one-rotation signal
(proximity switch) (bits 3 and 2 of No. 4004).
4 For stable detection of the one-rotation signal, detect
the one-rotation signal by performing spindle
orientation before entering spindle synchronous
control mode.
For orientation based on the external one-rotation
signal, see Section 2.2, "POSITION CODER
METHOD ORIENTATION", in Part I.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.5.4 Explanation of Operation

(i) If spindle synchronous control is commanded when the two
spindles are rotating at different speeds (including stop state), the
two spindles are accelerated or decelerated to the commanded
speed then enter synchronous control state.
(ii) If the synchronous speed command is changed after synchronous
control state is entered, the spindles are accelerated or
decelerated to the new commanded speed with the parameter-set
acceleration while synchronous control state is held. If the
synchronous speed command is 0 min-1, the spindles stops in
synchronism.
(iii) If spindle synchronous control at a synchronous speed of 0 min-1
is commanded when the spindles are in stop state, each spindle
automatically makes two to three turns to detect the position
coder one-rotation signal (as a preparation for spindle phase
synchronous control), then enters synchronous control state.
Next, when the synchronous speed command is changed, the
spindles are accelerated with the parameter-set acceleration while
synchronous control state is held, until the speed command is
changed.
(iv) When the seizure of a uniquely shaped workpiece needs to be
switched between the two spindles, the rotation phase (angular
displacement) of one spindle must match that of the other.
If a spindle phase synchronous control command is entered when
the two spindles are rotating in synchronous control state, each
spindle is controlled to have the parameter-set rotation phase (a
momentary speed change occurs at this time), then enters
synchronous control state again.
A rotation phase match can be secured by matching the reference
positions of the two spindles by parameter setting beforehand.
(v) If the two spindles enter synchronous control state at a specified
synchronous speed of 0 min-1, and a phase synchronous control
command is then entered, each spindle rotates and stops to
achieve a parameter-set phase. This operation is performed as if
spindle positioning (spindle orientation) is performed while the
spindles are stopped. As a result, the reference position of one
spindle matches that of the other (phase synchronization).
If the synchronous speed command is changed after the two
spindles seize a uniquely shaped workpiece, the two spindles are
accelerated to the new specified speed with the parameter-set
acceleration while synchronous control state is held.
(vi) Even in the state where the two spindles are seizing a workpiece
in synchronous control state, constant surface speed control can
be exercised.
However, even if a speed change greater than the parameter-set
acceleration is commanded, the speed changes within the
parameter-set acceleration.
(vii) Do not change the rotation direction command (SFRA, SRVA)
during synchronous control.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

NOTE
For details, see below:
Section 9.12, "SPINDLE SYNCHRONOUS CONTROL",
in FANUC Series 16i/18i/21i -MODEL B CONNECTION
MANUAL (FUNCTION) (B-63523EN-1).
Section 11.13, "SPINDLE SYNCHRONOUS
CONTROL", in FANUC Series 30i/31i/32i –MODEL A
CONNECTION MANUAL (FUNCTION) (B-63943EN-1)
Section 9.11, "SPINDLE SYNCHRONOUS CONTROL",
in FANUC Series 0i -MODEL C CONNECTION
MANUAL (FUNCTION) (B-64113EN-1).

2.5.5 I/O Signals (CNC ↔ PMC)

(1) Address list of input signals (PMC → CNC)

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G038 G038 SPPHS SPSYC
Common to all axes G032 G032 R08I R07I R06I R05I R04I R03I R02I R01I
Common to all axes G033 G033 SSGN R12I R11I R10I R09I

1st- G070 G070 SFRA SRVA CTH1A CTH2A

2nd- G074 G074 SFRB SRVB CTH1B CTH2B

1st- G071 G071 INTGA

2nd- G075 G075 INTGB

(2) Details of input signals (CNC → PMC)

(a) Spindle synchronous control signal SPSYC
[Function] Specifies switching to spindle synchronous control mode.
[Operation] When this signal is set to 1, spindle synchronous control mode is set.
When this signal is set to 0, spindle synchronous control mode is
cancelled.

(b) Spindle phase synchronous control signal SPPHS

[Function] Specifies spindle phase synchronous control mode (phase matching).
(i) This function is valid when the spindle synchronous control
signal SPSYC is 1.
(ii) After the spindle synchronous speed control completion signal
FSPSY is set to 1, specify this signal.
(iii) A spindle phase synchronous control operation is performed on
the rising edge of this signal. So, the phase once matched is not
shifted by setting this signal to 0.
However, a phase matching operation is performed when this
signal is changed from 0 to 1 again.
[Operation] When this signal makes a transition from 0 to 1, spindle phase
synchronous control is exercised.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(c) Velocity integral control signal INTGA

[Function] Enables or disables velocity integral control.
[Operation] When this signal is set to 1
⇒ The velocity loop integral function is disabled. This has the same
effect as the setting of a velocity loop integral gain of 0.
When this signal is set to 0
⇒ The velocity loop integral function is enabled.

NOTE
1 When the two spindles seize the same workpiece, a
spindle may be fixed at a position slightly displaced
from the specified position because the two spindles
are mechanically connected.
In this case, an excessively high current can flow
because the velocity loop integral function attempts
to return the spindle to the specified position.
To prevent this, turn on (set to 1) the velocity integral
control signal INTGA to disable the velocity loop
integral function if the two spindles are mechanically
connected.
2 When the velocity integral control signal INTGA is
turned on (set to 1), the velocity loop integral
function is disabled. So, an increased synchronous
error can occur. When the two spindles do not seize
the same workpiece, turn off (set to 0) the velocity
integral control signal INTGA to enable the velocity
loop integral function.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(3) Address list of output signals (CNC → PMC)

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F044 F044 SYCAL FSPPH FSPSY

1st- F045 F045 SARA

2nd- F049 F049 SARB

(4) Details of output signals (CNC → PMC)

(a) Spindle synchronous speed control completion signal FSPSY
[Function] Posts that spindle synchronous control (speed synchronization) is
completed.
[Output condition] This signal is set to 1 when the following condition is satisfied:
(i) This signal is output when the two spindles have reached the
speed corresponding to a specified spindle synchronous speed
and the speed difference between the two spindles is equal to or
less than the value set in parameter No. 4033 on spindle
synchronous control mode.
This signal is set to 0 when any of the following conditions is
satisfied:
(i) The two spindles have not reached the speed corresponding to a
specified spindle synchronous speed on spindle synchronous
control mode.
(ii) The speed difference between the two spindles is greater than the
value set in parameter No. 4033 on spindle synchronous control
mode.
(iii) Spindle synchronous control mode is not set.

NOTE
Even if this signal is set to 1 once, this signal is set
to 0 when the speed difference becomes equal to or
greater than the value set in parameter No. 4033 for
a cause such as cutting load variation.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(b) Spindle phase synchronous control completion signal FSPPH

[Function] Posts that spindle phase synchronous control (phase matching) is
completed.
[Output condition] This signal is set to 1 when the following condition is satisfied:
(i) This signal is output when phase matching is completed with the
spindle phase synchronous control signal (the error pulse
difference between the two spindles is equal to or less than the
value set in parameter No. 4810) after the two spindles have
reached the speed corresponding to a specified spindle
synchronous speed on spindle synchronous control mode.
This signal is set to 0 when any of the following conditions is
satisfied:
(i) Phase matching between the two spindles is not completed on
spindle synchronous control mode. The error pulse difference
between the two spindles is greater than the value set in
parameter No. 4810 on spindle synchronous control mode.
(ii) Spindle phase synchronous control mode is not set.

NOTE
Even if this signal is set to 1 once, this signal is set
to 0 when the speed difference becomes equal to or
greater than the value set in parameter No. 4033 for
a cause such as cutting load variation.

(c) Phase error monitoring signal SYCAL

[Function] Posts that the error pulse difference between the two spindles is
greater than the parameter-set value on spindle synchronous control
mode.
[Output condition] This signal is set to 1 when the following condition is satisfied:
(i) The error pulse difference between the two spindles after spindle
synchronous control is completed is greater than the value set in
parameter No. 4811 on spindle synchronous control mode.
This signal is set to 0 when any of the following conditions is
satisfied:
(i) The error pulse difference between the two spindles is equal to or
less than the value set in parameter No. 4811 on spindle
synchronous control mode.
(ii) Spindle phase synchronous control mode is not set.

NOTE
Use this signal to take an action if an error such as
an excessive synchronous error occurs for a cause
on spindle synchronous control mode.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.5.6 Examples of Sequences

(1) While spindle 1 is rotating, spindle 2 is accelerated for synchronization with

spindle 1, and phase matching is performed. Then, the synchronous speed is
also changed for acceleration/deceleration synchronization.
Speed
Spindle 1
Phase matching
Synchronous Acceleration/deceleration synchronization
speed A

Synchronous
speed B

Spindle 2

Time
First spindle forward 1
rotation command
SFRA (Note 2) 0
Second spindle forward 1
rotation command
SFRB (Note 2) 0
(i)
Spindle synchronous
control signal
SPSYC
Spindle synchronous Speed A
speed command signal Speed B
R12I-R01I
(iii)
Spindle phase synchronous
control signal
SPPHS
(ii)
Spindle synchronous speed
control completion signal
FSPSY (Note 1)
(iv)
Spindle synchronous speed
control completion signal
FSPPH
(i) The spindle synchronous speed command signal is input to set the
spindle synchronous control signal SPSYC to 1.
(ii) The spindle synchronous speed control completion signal FSPSY
set to 1 is awaited.
(iii) The spindle phase synchronous control signal SPPHS is set to 1.
(iv) The spindle phase synchronous control completion signal FSPPH
set to 1 is awaited.
NOTE
1 When the spindle phase synchronous control signal is input, the spindle synchronous
speed control completion signal is once set to 0, then is set to 1 again upon
completion of phase synchronization.
2 Set the spindle forward rotation command SFR (or the spindle reverse rotation
command SRV) to 1 at all times during spindle synchronous control.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) Spindle 1 and spindle 2 perform phase matching in stop state, then are
accelerated in synchronism.
Next, spindle 1 and spindle 2 are decelerated to a stop in synchronism.
Speed

Synchronous Spindle 1, 2
speed Acceleration/deceleration
Phase matching
synchronization
(Note)

Time
First spindle forward
rotation command
SFRA
Second spindle forward
rotation command
SFRB
Spindle synchronous (i) (viii)
control signal
SPSYC
Spindle synchronous (v) (vi)
speed command signal
R12I-R01I
(iii)
Spindle phase
synchronous control signal
SPPHS
Spindle synchronous speed (ii)
control completion signal
FSPSY
(iv)
Spindle synchronous speed
control completion signal
FSPPH

First spindle speed

zero detection signal
SSTA
(vii)
Second spindle speed
zero detection signal
SSTB
(i) The spindle synchronous speed command signal is set to 0, and
the spindle synchronous control signal SPSYC is set to 1.
(ii) The spindle synchronous speed control completion signal FSPSY
set to 1 is awaited.
(iii) The spindle phase synchronous control signal SPPHS is set to 1.
(iv) The spindle phase synchronous control completion signal FSPPH
set to 1 is awaited.
(v) The spindle synchronous speed command signal is input.
(vi) The spindle synchronous speed command signal is set to 0.
(vii) The speed zero detection signal of both spindles set to 1 is
awaited.
(viii) The spindle phase synchronous control signal SPPHS is set to 0
and the spindle synchronous control signal SPSYC is set to 0,
then the forward rotation command SFR of both spindles is set to
0.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

NOTE
If the mode is switched to the spindle synchronous
control mode when a one-rotation signal is undetected,
a one-rotation signal detection operation is
automatically performed. So, the spindle automatically
makes 2 to 3 turns even if such turns are not attempted.
If both spindles are mechanically connected with each
other and one-rotation signal detection operation is
disabled, or spindle phase synchronous control is not
exercised, automatic detection can be disabled by
setting bit 3 of parameter No. 4006.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) When the velocity integral control signal is used

Speed Spindle 1
Phase matching
Synchronous
speed

Spindle 2

Spindle synchronous
control signal
SPSYC
Spindle synchronous
speed command signal
R12I-R01I

Spindle synchronous speed

control completion signal
FSPSY

Chuck close command signal

Chuck close completion signal

Velocity integral control signal

INTGA
(Note) (Note)
Spindle phase
synchronous control signal
SPPHS
Spindle synchronous speed
control completion signal
FSPPH

NOTE
Turn on (set to 1) the velocity integral control signal
INTGA only when the two spindles are seizing the
same workpiece. If the signal is turned on (set to 1)
in other cases, the velocity loop integral function is
disabled. So, an increased synchronous error can
result.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(4) When phase synchronous control is performed without automatically detecting

the one-rotation signal (Parameter No. 4006#3=1)
Acceleration/deceleration
synchronization
Phase matching
Spindle speed
(i)
0min-1

First spindle forward

rotation command
SFRA

Second spindle forward

rotation command
SFRB

Spindle synchronous speed

command signal
R12I-R01I 0min-1

Spindle synchronous command

SPSYC
(iii)
Spindle phase synchronous command
SPPHS

Spindle synchronous completion signal

FSPSY
Spindle phase synchronous
completion signal
FSPPH

Position coder one-rotation signal

detection status signal for spindle 1
PC1DTA
(ii)
Position coder one-rotation signal
detection status signal for spindle 2
PC1DTB

*1 When a spindle synchronous command is input, the one-rotation

signal detection operation is not performed, and the spindle is
stopped.
*2 During rotation at a speed of several ten min-1 or higher, the
one-rotation signal is detected automatically, and the position
coder one-rotation signal detection status signal is set to 1.
*3 Before inputting the phase synchronous command, check that the
position coder one-rotation signal detection status signals of both
spindles have been set to 1.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.5.7 Related Parameters

Parameter No.
Description
16i 30i
4800#0 - Direction of rotation of the 1st spindle motor while synchronous control is applied
4800#1 - Direction of rotation of the 2nd spindle motor while synchronous control is applied
- 4801#0 Direction of rotation of each spindle motor while synchronous control is applied
Error pulse difference between the two spindles for turning on the spindle phase
4810 4810
synchronous completion signal
Error pulse difference between the two spindles for issuing an alarm on spindle
4811 4811
synchronous control
Whether to enable the rotation direction signal (SFR/SRV) function on spindle
4002#6 4002#6
synchronous control
4006#1 4006#1 Gear ratio increment system
Setting for disabling automatic one-rotation signal detection at spindle synchronous
4006#3 4006#3
control mode switching time
Acceleration used for spindle synchronous control
4032 4032
(The same value must be set for both the 1st and 2nd spindles.)
4033 4033 Spindle synchronous speed arrival level
4034 4034 Shift amount for spindle phase synchronous control
4035 4035 Compensation data for spindle phase synchronous control
4044 4044 Velocity loop proportional gain for spindle synchronous control
4045 4045 (A parameter is selected by the CTH1A PMC input signal.)
4052 4052 Velocity loop integral gain for spindle synchronous control
4053 4053 (A parameter is selected by the CTH1A PMC input signal.)
Spindle-to-motor gear ratio data
4056 to 4059 4056 to 4059
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
Position gain for spindle synchronous control
4065 to 4068 4065 to 4068 (The same value must be specified for both the 1st and 2nd spindles.)
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
4085 4085 Motor voltage for spindle synchronous control
4171 4171 Denominator of arbitrary gear ratio between motor sensor and spindle
4173 4173 (This data is selected by spindle control input signals CTH1A.)
4172 4172 Numerator of arbitrary gear ratio between motor sensor and spindle
4174 4174 (This data is selected by spindle control input signals CTH1A.)
Magnetic flux switching point used for calculating an acceleration/deceleration time
4336 4336 constant used for spindle synchronous control
(The same value must be specified for both the 1st and 2nd spindles.)
Bell-shaped acceleration/deceleration time constant for spindle synchronous control
4340 4340
(The same value must be specified for both the first and second spindles.)
4346 4346 Incomplete integration coefficient
4515 4515 Excessive speed deviation alarm detection level on spindle synchronous control
4516 4516 Excessive positional deviation alarm detection level on spindle synchronous control

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part I.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part I.

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2.5.8 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i and 30i) among the parameters related to spindle
synchronous control. For details of other parameters, refer to the
Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.12 “SPINDLE SYNCHRONOUS
CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.13 “SPINDLE SYNCHRONOUS
CONTROL.”
(c) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.11 “SPINDLE SYNCHRONOUS
CONTROL.”

16i 30 #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT

SYCDRT Whether to enable the rotation direction signal (SFR/SRV) function

on spindle synchronous control
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW (counterclockwise)
direction when the input signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW (clockwise) direction when
the input signal SRV (bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle
rotates in the CCW (counterclockwise) direction when the input
signal SFR = 1 or SRV = 1.

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4006 4006 SYCREF GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor speed increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor speed increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.

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Parameter No.
Description
16i 30i
4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

NOTE
1 Usually, use the 1/100 unit (setting "0").
2 When the 1/100 unit is set as the gear ratio setting
resolution (with the bit set to 0), a steady-state
synchronous error may be indicated due to the
fraction of the gear ratio.
In such a case, the synchronous error can be
improved when the 1/1000 unit is set as the gear
ratio setting resolution (with the bit set to 1).

SYCREF Setting for function performing automatic detection of the

one-rotation signal on spindle synchronous control
0 : Automatic detection of the one-rotation signal carried out
1 : Automatic detection of the one-rotation signal not carried out.
(When spindle phase synchronous control is not carried out)
When the mode is switched to spindle synchronous control mode after
power-on, the two spindles automatically perform a one-rotation
signal detection operation. So, the spindles automatically make two to
three turns even if such turns are not intended.
This operation is required because the one-rotation signal must be
detected to enable spindle phase synchronous control.
If the two spindles are mechanically connected to disable each spindle
from performing a one-rotation signal detection operation, or if
spindle phase synchronous control is not exercised, the operation
above can be disabled by setting this bit to 1.
When this parameter is set to "1", check that the one-rotation signal
has been detected for both spindles (output signal PC1DTA = 1)
before applying the spindle phase synchronous control signal
(SPPHS).
If the one-rotation signal is not detected, specify a speed of several ten
min-1 or higher in spindle synchronous control mode, and wait until
the one-rotation signal is detected. (See sequence example (4).)

16i
4032 Acceleration at spindle synchronous control

Unit of data : 1min-1/sec (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1)

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets an acceleration value for linear
acceleration/deceleration when the synchronous speed command for
spindle synchronous control is changed.

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NOTE
1 Set exactly the same data for 1st spindle and 2nd
spindle. When different data is set, synchronization
between the two spindles is not guaranteed.
2 When this parameter is set to 0, motor doesn’t
accelerate/decelerate, so, be sure to set proper
value in this parameter.

16i 30i
4033 4033 Spindle synchronous speed arrival level

Unit of data : 1min-1 (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1)

Valid data range : 0 to 32767
Standard setting : 10
For the synchronous speed command at spindle synchronous control,
if the error of the respective spindle motor speeds are within the
setting level, the spindle synchronous control complete signal
(FSPSY) becomes "1".

16i 30i
4034 4034 Shift amount at spindle phase synchronous control

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4095
Standard setting : 0
Sets the shift amount from the reference position (one-rotation signal)
at spindle phase synchronous control.

16i 30i
4035 4035 Spindle phase synchronous compensation data

Unit of data : 1 pulse/2msec

Valid data range : 0 to 4095
Standard setting : 10
This parameter reduces speed fluctuations when aligning phase of
spindles in spindle phase synchronous control.
When this parameter is "0", since the phase alignment amount is only
issued once, the position error quickly becomes large, and there are
large speed changes on phase alignment.
It is possible to perform smooth phase alignments through issuing
separate commands for phase alignment amounts for the number of 2
msec pulses set in this parameter.

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16i 30i
Velocity loop proportional gain on spindle synchronous control (HIGH)
4044 4044
CTH1A=0
Velocity loop proportional gain on spindle synchronous control (LOW)
4045 4045
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop proportional gain on spindle synchronous
control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected
LOW when CTH1A=1 of input signal.

16i 30i
4052 4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
4053 4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop integral gain on spindle synchronous control. It
is selected HIGH when CTH1A=0 of input signal, and It is selected
LOW when CTH1A=1 of input signal.

16i 30i
4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor to the spindle.
When the motor rotates 2.5 times for each turn of the spindle, for
example, set 250 in the parameter.
A parameter is selected by the CTH1A and CTH2A input signals.
The gear or clutch status must correspond to the status of the CTH1A
and CTH2A input signals.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle does not stop but keeps rotating at the
time of orientation. So, be sure to set a proper gear
ratio.

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16i 30i
4065 4065 Position gain on synchronous control (HIGH) CTH1A=0, CTH2A=0
4066 4066 Position gain on synchronous control (MEDIUM HIGH) CTH1A=0, CTH2A=1
4067 4067 Position gain on synchronous control (MEDIUM LOW) CTH1A=1, CTH2A=0
4068 4068 Position gain on synchronous control (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 1000
This sets position gain in spindle synchronous control. It is selected by
CTH1A or CTH2A of input signal.

16i 30i
4085 4085 Motor voltage setting on spindle synchronous control

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : Depend on motor model.
Set a motor voltage for spindle synchronous control.

NOTE
Usually, set the same value as for the setting of a
motor voltage (No. 4083) on the velocity control
mode.

16i 30i
Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)
4171 4171
CTH1A=0
Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)
4172 4172
CTH1A=0
Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)
4173 4173
CTH1A=1
Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)
4174 4174
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
These parameters set conversion coefficients (numerator,
denominator) for using the detection arbitrary gear ratio function
(DMR function) by multiplying a motor sensor (Mi or MZi sensor)
feedback signal by a gear ratio to produce a spindle position feedback
signal.
When the spindle rotates Q times while the motor shaft rotates P times
(there is no common divisor other than 1 for P and Q), settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.

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NOTE
When using the external one-rotation signal
(proximity switch), set the detection arbitrary gear
ratio (DMR) between the motor sensor and spindle
by using this parameter.

16i 30i
4336 4336 Acceleration switch point on spindle synchronous control

Unit of data 1min-1 (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1)

Valid data range : 0 to 32767
Standard setting : 0
The acceleration for spindle synchronous control changes according to
the speed set in this parameter as follows:
• Area where the spindle speed does not exceed the speed set in
this parameter
The acceleration for spindle synchronous control is constant (as
set in parameter No. 4032).
• Area where the spindle speed exceeds the speed set in this
parameter
The acceleration for spindle synchronous control decreases in
inverse proportion to the speed.
NOTE
1 Set the same data for the first spindle and second
spindle. If different data is set, synchronization
between the two spindles is not guaranteed.
2 When this parameter is set to 0, linear
acceleration/deceleration (constant acceleration) is
performed.

16i 30i
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340 control

Unit of data : 1msec

Valid data range : 0 to 512
Standard setting : 0
This parameter sets a bell-shaped acceleration/deceleration time
constant for spindle synchronous control.
This parameter is applied to the move command after "Acceleration at
spindle synchronous control" (parameter No. 4032) is applied.
When this parameter is set, the spindle synchronous speed control
completion signal (FSPSY), output when the synchronous speed is
first reached after the spindle synchronous control mode is entered, is
delayed by the set time.
NOTE
Set the same data for the first spindle and second
spindle. If different data is set, synchronization
between the two spindles is not guaranteed.
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16i 30i
4346 4346 Incomplete integration coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set this parameter to use incomplete integration for velocity loop
integration control.

NOTE
Usually, this parameter need not be adjusted.

16i 30i
4515 4515 Excessive speed deviation alarm detection level on spindle synchronous
control

Unit of data : 1min-1 (10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to
1)
Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a level for detecting the excessive speed deviation
alarm under spindle synchronous control.
If the positional deviation (position error) or the difference between
the speed command for the spindle end calculated from the position
gain and the actual spindle speed exceeds the value set in this
parameter in the spindle synchronous control mode, the excessive
speed deviation alarm under spindle synchronous control (SPM alarm
C8) is detected. When this parameter is set to 0, alarm detection is
disabled.
If the speed integration control signal (INTG) is used, the speed
deviation increases for a cause such as acceleration/deceleration and
cutting load. The spindle speed deviation that causes torque command
saturation is indicated below. Set an alarm level by using a calculated
value as a guideline. (During spindle synchronous control, ensure that
torque command saturation does not take place.)

Spindle speed deviation [min-1] = 1024 × A / P × B / G

where
No.4006#1 No.4009#0 A B
0 0 1 100
0 1 16 100
1 0 1 1000
1 1 16 1000
P: Velocity loop proportional gain on spindle synchronous
control (No.4044, 4045)
G: Gear ratip (No.4056 to 4059)

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NOTE
This parameter is valid with 9D50 Series N (14)
edition or later and 9D70 series D (04) edition or
later.

16i 30i
Excessive positional deviation alarm detection level on spindle synchronous
4516 4516 control

Unit of data : 100 pulses (weight of 4096 pulses/rev)

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a level for detecting the excessive positional
deviation alarm under spindle synchronous control.
If the positional deviation (position error) exceeds the value set in this
parameter in the spindle synchronous control mode, the excessive
positional deviation alarm under spindle synchronous control (SPM
alarm C9) is detected. When this parameter is set to 0, alarm detection
is disabled.
As an alarm level, set a value greater than the positional deviation
(position error) equivalent to the spindle speed specified in the spindle
synchronous control mode. The positional deviation equivalent to the
spindle speed can be calculated from the following expression:

Positional deviation [pulse]

= Spindle speed [min-1] / 60 × 4096 × 100 / PG
where
PG: Position gain on synchronous control (Nos.4065 to 4068)

NOTE
This parameter is valid with 9D50 Series N (14)
edition or later and 9D70 series D (04) edition or
later.

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2.5.9 Number of Error Pulses in Spindle Synchronous Control

This subsection describes the method of calculating the number of
error pulses (position error) of each spindle on spindle synchronous
control mode, and also describes the items to be checked when a
calculated value differs from the actual number of error pulses.

(1) Calculating the number of error pulses on spindle synchronous control

When the spindle is rotating at a constant speed, the number of error
pulses is calculated as follows:
Number of errorpulses( pulse) =
−1
Spindle synchronization speed (min )
4096( pulse / rev) ×
60(sec)
1
× −1
Position gain (sec )
Example :
When spindle synchronous speed = 1000 min-1, and position gain
= 20 sec-1
1000 1
Number of error pulses = 4096 × × = Approx.3413 (pulse)
60 20

(2) Checking the number of error pulses on spindle synchronous control

If the number of error pulses on spindle synchronous control checked
by diagnosis (diagnosis screen) differs greatly from the calculated
value, check the following:
(a) Spindle speed (This can be checked using the actual rotation
speed indication of the CNC.)
(b) Motor speed indication on the spindle monitor screen or the
spindle check board
(c) Actual gear ratio between the spindle and motor found from the
spindle speed and motor speed checked by (a) and (b)
(d) Spindle-to-motor gear ratio parameters (Nos. 4056 to 4059)
(e) Position gain parameters (Nos. 4065 to 4068)
(f) How the gear selection signals (CTH1A, CTH2A) are used for
selection (This item can be checked on the spindle motor screen
or the PMC signal status screen.)
NOTE
When the 1/100 unit is set as the gear ratio setting
resolution (with bit 1 of No. 4006 set to 0), the actual
number of error pulses may differ from the
calculated value by several pulses due to the
fraction of the gear ratio.
In such a case, the difference between the actual
number of error pulses and the calculated value can
be decreased when the 1/1000 unit is set as the
gear ratio setting resolution (with bit 1 of No. 4006
set to 1).

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2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous

Control
The following describes an example of determining the shift amount
for phase synchronization in synchronous control of the spindle phase.

(1) Apply synchronous control of the spindle phase by setting the

following:
(a) SFR (or SRV)=1 for the 1st and 2nd spindles : M03 (M04)
(b) Spindle synchronous speed command = 0 min-1 : S0
(c) For the 1st and 2nd spindles, set 0 in the parameter
(No.4034) for the shift amount for spindle phase
synchronous control.
(2) After establishing spindle phase synchronization, set SFR/SRV
for the 2nd spindle to 0 (to deactivate the motor).
The motor for the 2nd spindle is placed in power-off state at this
time, so that the 2nd spindle can be rotated manually.
(3) Rotate the 2nd spindle manually from the position of (1) to the
position for spindle phase synchronization, then check the
number of error pulses between the spindles (No. 416) on the
diagnosis (diagnosis screen).
This value serves as data to be set in the parameter for the shift
amount used for spindle phase synchronous control.
(4) Set the number of pulses found by (3) as shift amount parameter
data (No. 4034) for spindle phase synchronous control of the 2nd
spindle.
In general, set 0 in the parameter for the shift amount for spindle
phase synchronous control for the 1st spindle.
(5) After canceling the spindle synchronous control command,
perform another spindle phase synchronization operation,
according to the following settings, to check that phase
synchronization has been established as expected:
(a) SFR (or SRV)=1 for the 1st and 2nd spindles : M03 (M04)
(b) Spindle synchronous speed command = 0 min-1 : S0

2.5.11 Diagnosis (Diagnosis Screen)

Address
Description
16i 30i Unit
Position error on spindle synchronous control
0414 - Pulse
mode (1st spindle)
Position error on spindle synchronous control
0415 - Pulse
mode (2nd spindle)
Absolute value of a synchronous error between
0416 - Pulse
the 1st spindle and 2nd spindle
Positional error of each spindle in spindle
- 0418 Pulse
synchronous control mode
Synchronous error of each spindle in spindle
- 0425 Pulse
synchronous control mode

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2.5.12 Alarm
This subsection provides a list of the alarms related to spindle
synchronous control only. For details of alarms, refer to the
Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.12 “SPINDLE SYNCHRONOUS
CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.13 “SPINDLE SYNCHRONOUS
CONTROL.”
(c) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.11 “SPINDLE SYNCHRONOUS
CONTROL.”

(1) Series 16i

Alarm No. Description
Cs contouring control is specified in serial spindle synchronous
194
control mode.

(2) Series 30i

Alarm No. Description
Cs contouring control is specified in serial spindle synchronous
PS194
control mode.

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2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES

2.6.1 Overview

This section describes the I/O signals (CNC ↔ PMC), parameters,

diagnosis signals, and alarms common to all operation modes.

2.6.2 List of I/O Signals (CNC ↔ PMC)

This subsection provides a list of the I/O signals related to spindle
speed control only. For details of each signal, refer to the Connection
Manual (Function) of each CNC.

(a) For Series 16i/18i/21i

“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part I.

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(1) Input signals (PMC → CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

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(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A

2nd- G272 GS4B GS2B GS1B

(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 *ESPA ARSTA

2nd- G234 G075 G075 *ESPB ARSTB

1st- G228 G073 G073 DSCNA MPOFA

2nd- G236 G077 G077 DSCNB MPOFB

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(2) Output signals (CNC → PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

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(b) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F045 SRSRDY

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B

1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

(c) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F231 F047 F047 EXOFA PC1DTA

2nd- F247 F051 F051 EXOFB PC1DTB

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.6.3 Parameters
This subsection describes those parameters that are common to all
operation modes by dividing them into several types.

NOTE
For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part I.

(1) List of parameters specific to spindle motor driving

This item provides a list of the motor parameters specific to spindle
motor driving (with no speed range switching). Usually, the settings of
these parameters need not be changed. Use the values indicated on a
parameter table for each motor model without modification.

Parameter No.
Description
15i 16i 30i
3006#2 4006#2 4006#2 Sets the unit of speed.
3008#4 4008#4 4008#4 Sets the method of output control.
3011#3 4011#3 4011#3 Sets the number of motor poles.
3011#4 4011#4 4011#4 Sets a maximum output for acceleration/deceleration.
3011#7 4011#7 4011#7 Sets the number of motor poles.
3012#2,#1,#0 4012#2,#1,#0 4012#2,#1,#0 Sets a PWM carrier frequency.
3012#7 4012#7 4012#7 Sets the spindle HRV function.
3013#6 to #2 4013#6 to #2 4013#6 to #2 Sets current dead-band data.
Sets a PWM carrier frequency in low-speed characteristics area of
3013#7 4013#7 4013#7
speed range switching.
3020 4020 4020 Maximum motor speed
3039 4039 4039 Slip compensation coefficient
3080 4080 4080 High-speed area regenerative power limit/regenerative power limit
3083 4083 4083 Motor voltage on velocity control
3084 4084 4084 Motor voltage on orientation
3085 4085 4085 Motor voltage on servo mode/spindle synchronous control
3086 4086 4086 Motor voltage on Cs contouring control
3100 4100 4100 Base speed for motor output specification
3101 4101 4101 Torque limitation value for motor output specification
3102 4102 4102 Excitation voltage saturation speed with no load
3103 4103 4103 Base speed limit ratio
3104 4104 4104 Current loop proportional gain
3106 4106 4106 Current loop integral gain
3108 4108 4108 Current loop integral gain zero speed
3109 4109 4109 Filter time constant in voltage command saturation processing
3110 4110 4110 Current conversion constant
3111 4111 4111 Secondary current coefficient

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Parameter No.
Description
15i 16i 30i
Voltage command saturation decision level/PWM command clamp
3112 4112 4112
value
3113 4113 4113 Slip constant
Slip compensation coefficient for a high-speed area/slip compensation
3114 4114 4114
coefficient at deceleration time
3115 4115 4115 PWM command clamp value at deceleration time
3116 4116 4116 Motor leakage constraint
Voltage compensation coefficient for a high-speed area in steady
3117 4117 4117
state/motor voltage coefficient in steady state
Voltage compensation coefficient for a high-speed area at deceleration
3118 4118 4118
time/motor voltage coefficient at deceleration time
Time constant for excitation current change at deceleration time/time
3119 4119 4119
constant for excitation current change
3120 4120 4120 Dead-band rectangular wave component zero voltage/dead-band data
3127 4127 4127 Load meter indication value at maximum output time
Compensation coefficient between the specification and true
3128 4128 4128
base/maximum torque curve compensation coefficient
3129 4129 4129 Secondary current coefficient on rigid tapping
Current loop proportional gain velocity coefficient/current phase delay
3130 4130 4130
compensation constant
3133 4133 4133 Motor model code
3134 4134 4134 Motor overheat level (2 words)
3169 4169 4169 Temperature monitoring time constant
3362 4362 4362 Load meter compensation 1
3363 4363 4363 Load meter compensation 2
3364 4364 4364 Load meter compensation 3

(2) List of parameters related to alarm detection

This item provides a list of the parameters related to alarm detection
conditions.

Parameter No.
Description
15i 16i 30i
Motor power turn-off method when SPM alarm 24 (serial data transfer
3009#2 4009#2 4009#2
error) is issued
3087 4087 4087 Excessive speed level
3088 4088 4088 Velocity error excess detection level when the motor is bound
3089 4089 4089 Velocity error excess detection level when the motor is rotating
3090 4090 4090 Overload detection level
3123 4123 4123 Short-time overload detection period

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(3) Other parameters

This item provides a list of the parameters common to all operation
modes except the parameters listed in Items (1) and (2) above.

Parameter No.
Description
15i 16i 30i
 3706#1,0 - Gear ratio between the spindle and position coder (cases of ×1, ×2, ×4, ×8)
Whether to indicate an alarm detected by the spindle amplifier (Usually, set 0.)
5602#3  
Enables/disables the spindle alarms (SPxxxx) of all spindles. (Usually, set 0.)
5807#0  
5842  3720 Number of position coder pulses
5850   Spindle number selected at power-on/reset time
3001#0 4001#0 4001#0 Whether to use the MRDY signal (machine ready signal)
3006#1 4006#1 4006#1 Gear ratio increment system
3006#2 4006#2 4006#2 Sets the unit of speed.
3009#0 4009#0 4009#0 Velocity loop gain increment system
Whether to output the load detection signals (LDT1, LDT2) during
3009#4 4009#4 4009#4
acceleration/deceleration
3012#7 4012#7 4012#7 Sets the spindle HRV function.
3019#2 4019#2 4019#2 Whether to perform torque clamping when the speed is zero
3019#7 4019#7 4019#7 Automatic parameter setting function
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.
3395#3 4395#3 4395#3 Sets parameter transfer from the CNC to spindle software.
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection signal
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Sets a torque limitation value.
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3056 4056 4056 Gear ratio (High)
3057 4057 4057 Gear ratio (Medium High)
3058 4058 4058 Gear ratio (Medium Low)
3059 4059 4059 Gear ratio (Low)
3095 4095 4095 Speedometer output voltage adjustment value
3096 4096 4096 Load meter output voltage adjustment value
3122 4122 4122 Speed detection filter time constant
3170 4170 4170 Overload current alarm detection level
3345 4345 4345 Detection level of the spindle motor speed command
3346 4346 4346 Incomplete integral coefficient
3351 4351 4351 Current detection offset compensation

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.6.4 Details of Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, in the four thousands for 30i, and in the three
thousands for 15i) among the parameters common to all operation
modes. For details of other parameters, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

(1) List of parameters specific to spindle motor driving

Usually, the settings of the motor parameters specific to spindle motor
driving need not be changed. Their details are omitted.

(2) List of parameters related to alarm detection

This item details the parameters related to alarm detection conditions.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 ALSP

ALSP Motor power turn-off method when SPM alarm 24 (serial data transfer
error) is issued
0 : Turns off the power after the motor is decelerated and stopped.
1 : Turns off the power to the motor immediately.
Set this parameter to 1 to turn off the power to the motor immediately
when any SPM alarm is issued

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15i 16i 30i

3087 4087 4087 Excessive speed level

Unit of data : 1%
Valid data range : 0 to 115
Standard setting value : 115
This parameter sets an excessive speed level.
When the speed exceeds [maximum motor speed (No. 4020) × setting
data (%)], the excessive speed alarm (SPM alarm 07) is issued.

WARNING
Make sure this parameter is set to the standard
setting value. Do not change the value.

15i 16i 30i

3088 4088 4088 Velocity error excess detection level when the motor is bound

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a velocity error excess (SPM alarm 31) detection
level when the motor is bound.
If a velocity error equal to or greater than [maximum motor speed (No.
4020) × setting data (%)] occurs when the motor is bound, for
example, the motor binding alarm (SPM alarm 31) is issued.

15i 16i 30i

3089 4089 4089 Velocity error excess detection level when the motor is rotating

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 200
This parameter sets a velocity error excess detection level when the
motor is rotating.
If a velocity error equal to or greater than [maximum motor speed (No.
4020) × setting data (%)] occurs, the velocity error excess alarm (SPM
alarm 02) is issued.

15i 16i 30i

3090 4090 4090 Overload detection level

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 90
This parameter sets a condition for detecting the short-time overload
alarm (spindle alarm 29).
If the state where a load equal to or greater than setting data (%)
(maximum motor output [load meter full scale] = 100%) is imposed
on the spindle motor lasts for a specified period (set in No. 4123) or
more, the short-time overload alarm (SPM alarm 29) is issued.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3123 4123 4123 Short-time overload detection period

Unit of data : 1sec

Valid data range : 0 to 500
Standard setting value : 30
This parameter sets the timing for detecting the short-time overload
alarm (SPM alarm 29).
If the state where a load equal to or greater than the value (set in No.
4090) is imposed on the spindle motor lasts for a specified period
(sec) or more, the short-time overload alarm (SPM alarm 29) is issued.

(3) Other parameters

This item details the parameters common to all operation modes
except the parameters listed in Items (1) and (2) above.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 4001 MRDY1

MRDY1 Whether to use the MRDYA signal (machine ready signal)

0 : Does not uses the MRDYA signal (MRDYA = 1 at all times).
1 : Uses the MRDYA signal.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 SPDUNT GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor speed increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor speed increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.

Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

NOTE
Usually, use the 1/100 unit (setting "0").

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

SPDUNT Sets the unit of speed.

0 : Sets the 1 min-1 unit.
1 : Sets the 10 min-1 unit.
When a type of motor whose maximum speed exceeds 32767 min-1 is
used, set this parameter to 1.
The setting of this parameter changes the increment systems of the
parameters listed in the table below.

Increment system of
Parameter No.
parameter
Description -1
15i 16i 30i 1 min unit 10 min-1 unit
3020 4020 4020 Maximum motor speed 1min-1 10min-1
Maximum spindle speed on Cs contouring
3021 4021 4021 1min-1 10min-1
control
3030 4030 4030 Soft start/stop setting time 1min-1/sec 10min-1/sec
3032 4032 4032 Acceleration on spindle synchronous control 1min-1/sec 10min-1/sec
-1
3033 4033 4033 Spindle synchronous speed arrival level 1min 10min-1
Reference position return speed on Cs
3074 4074 4074 1min-1 10min-1
contouring control/servo mode
Maximum speed for position feedback signal
3098 4098 4098 1min-1 10min-1
detection
3100 4100 4100 Base speed for motor output specification 1min-1 10min-1
3102 4102 4102 Excitation voltage saturation speed with no load 1min-1 10min-1
Low-speed characteristics parameters (when the speed range switching control function is used)
3108 4108 4108 Current loop integral gain zero speed 1min-1 10min-1
3138 4138 4138 Base speed for motor output specification 1min-1 10min-1
-1
3140 4140 4140 Excitation voltage saturation speed with no load 1min 10min-1
3144 4144 4144 Current loop integral gain zero speed 1min-1 10min-1
3160 4160 4160 Speed detection level hysteresis 1min-1 10min-1

NOTE
Usually, set the 1 min-1 unit (by setting the
parameter to 0).

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 LDTOUT VLPGAN

VLPGAN Velocity control loop gain increment system

0 : Uses ordinary setting.
1 : Divides ordinary setting data by 16 for processing.

NOTE
Usually, set this parameter to 0.

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LDTOUT Whether to output the load detection signals (LDT1, LDT2) during
acceleration/deceleration
0 : Does not output the load detection signals during acceleration/
deceleration (standard setting value).
1 : Outputs the load detection signals during acceleration/
deceleration (at all times) when the parameter-set level is
exceeded.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3012 4012 4012 SPHRV

SPHRV Sets the spindle HRV control function.

0 : Disables spindle HRV control.
1 : Enables spindle HRV control. (standard setting value)
Set this parameter to 1.

NOTE
The control method usable with the αi series spindle
is spindle HRV control only.
The conventional control method is not supported.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3019 4019 4019 PRLOAD SSTTRQ

SSTTRQ Whether to perform torque clamping when the speed is zero

0 : Performs clamping.
1 : Does not perform clamping.

NOTE
Usually, set this parameter to 1 not to perform
clamping.

PRLOAD Automatic parameter setting function

0 : Does not perform automatic parameter setting (standard setting
value).
1 : Performs automatic parameter setting.
After setting a desired motor model code in parameter No. 4133 and
setting this bit to 1, turn off the power to the CNC, then turn on the
power to the CNC again. The parameters (No. 4000 to No. 4175) for
the αi series spindle corresponding to the model code are
automatically initialized. Upon completion of automatic setting, this
bit is automatically set to 0.

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NOTE
With FS15i, the parameter address of this function is
different, namely, bit 0 of No. 5607 is used.
Moreover, note that the meanings of settings are
reversed as follows.
0: Performs automatic parameter setting.
1: Does not perform automatic parameter setting.
In this case, set a model code in parameter No.
3133.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 PKHALW

PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3395 4395 4395 PRIMED

PRIMED Sets parameter transfer from the CNC to spindle software.

0 : Regards parameters as valid one second after they are transferred
from the CNC. (Standard setting value)
1 : Regards parameters as valid as soon as they are transferred from
the CNC.

NOTE
This parameter is valid with 9D50 Series F (06)
edition or later and 9D70 series A (01) edition or
later.

15i 16i 30i

3020 4020 4020 Maximum motor speed

Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006
= 1)
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.

15i 16i 30i

3022 4022 4022 Speed arrival detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 150
This parameter sets a speed arrival signal (SARA) detection range.
When the motor speed reaches within ±(setting data/10)% of a
specified speed, the speed arrival signal (SARA) is set to 1.

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15i 16i 30i

3023 4023 4023 Speed detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 30
This parameter sets a speed detection signal (SDTA) detection range.
When the motor speed is (setting data/10)% of a maximum speed or
less, the speed detection signal (SDTA) is set to 1.

15i 16i 30i

3024 4024 4024 Speed zero detection level

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a speed zero detection signal (SSTA) detection
range.
When the motor speed is (setting data/100)% of a maximum speed or
less, the speed zero detection signal (SSTA) is set to 1.

15i 16i 30i

3025 4025 4025 Torque limitation value.

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the
torque limitation command HIGH (TLMHA) or the torque limitation
command LOW (TLMLA) is specified.
The data indicates limitation values when the maximum torque is
100%.
Torque limitation Torque limitation
command command Description
LOW(TLMLA) HIGH(TLMHA)
0 0 No torque limitation is imposed.
The torque is limited to the value
0 1
set in this parameter.
1 0 The torque is limited to a half of
1 1 the value set in this parameter.

15i 16i 30i

3026 4026 4026 Load detection level 1

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 1 (LDT1A) is set to 1.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

15i 16i 30i

3027 4027 4027 Load detection level 2

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets a load detection signal 2 (LDT2A) detection range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 2 (LDT2A) is set to 1.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) × 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation × 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.
A parameter is selected with the CTH1A and CTH2A input signals.
Set the gear or clutch status to correspond to the clutch/gear signal
(CTH1A, CTH2A) in input signals.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

15i 16i 30i

3095 4095 4095 Speedometer output voltage adjustment value

Unit of data : 0.1%

Valid data range : -1000 to +100 (-100% to +10%)
Standard setting value : 0
Set this parameter when making a fine adjustment of speedometer
output voltage.
Positive (+) data increases the output voltage.

NOTE
Usually, this parameter need not be adjusted.

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15i 16i 30i

3096 4096 4096 Load meter output voltage adjustment value

Unit of data : 0.1%

Valid data range : -1000 to +100 (-100% to +10%)
Standard setting value : 0
Set this parameter when making a fine adjustment of load meter
output voltage.
Positive (+) data increases the output voltage.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3122 4122 4122 Speed detection filter time constant

Unit of data : 0.1ms

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a time constant for a filter to be applied to the
velocity feedback signal.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3170 4170 4170 Overload current alarm detection level

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3345 4345 4345 Specified detection level of the spindle motor speed

Unit of data : 1 min-1

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets the detection level of the spindle motor speed
detection function. If the specified spindle motor speed is greater than
the set value, the level of the speed specification detection signal
output from the spindle amplifier to the CNC becomes 1.
If the set value is 0, the level of the speed specification detection
signal is always 0.

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15i 16i 30i

3346 4346 4346 Incomplete integral coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set this parameter to use incomplete integral function for velocity loop
integral control.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3351 4351 4351 Current detection offset compensation

Unit of data :
Valid data range : 0 to ±32767
Standard setting value : 0

NOTE
Usually, this parameter need not be adjusted.

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2.6.5 Diagnosis (Diagnosis Screen)

This subsection provides a list of the diagnosis (diagnosis screen)
indications common to all operation modes only. For details, refer to
the Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
MAINTENANCE MANUAL : B-63525EN
Refer to Section 1.8 “DISPLAYING DIAGNOSTIC PAGE.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
MAINTENANCE MANUAL : B-63945EN
Refer to Section 1.3 “DIAGNOSIS FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
MAINTENANCE MANUAL : B-63785EN
Refer to Section 1.3 “DIAGNOSIS FUNCTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
MAINTENANCE MANUAL : B-64115EN
Refer to Section 1.8 “DISPLAYING DIAGNOSTIC PAGE.”

(1) Series 16i

Address Description
400 Information including spindle control information
401 Serial spindle alarm state of the first spindle
402 Serial spindle alarm state of the second spindle
403 First spindle motor temperature [°C] (*1)
404 Second spindle motor temperature [°C] (*1)
408 Information related to spindle serial output interface communication errors
409 Information related to spindle serial output interface activation
410 Load meter indication for the first spindle [%]
411 Speedometer indication for the first spindle [min-1]
412 Load meter indication for the second spindle [%]
413 Speedometer indication for the second spindle [min-1]
417 Position coder feedback signal for the first spindle [pulse]
419 Position coder feedback signal for the second spindle [pulse]
445 First spindle position data
446 Second spindle position data
710 First spindle error state (*1)
711 Second spindle error state (*1)
712 First spindle warning state (*1)
713 Second spindle warning state (*1)

NOTE
*1 The indications are provided only when the MODEL
B CNC is combined with the αi spindle.

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(2) Series 30i

Address Description
400 Information including spindle control information
403 First spindle motor temperature [°C]
408 Information related to spindle serial output interface communication errors
410 Load meter indication for the spindle [%]
411 Speedometer indication for the spindle [min-1]
417 Position coder feedback signal for the spindle [pulse]
445 Spindle position data
710 Spindle error state
712 Spindle warning state

(2) Series 15i

Address Description
1500 Information about spindle serial output interface communication errors
1504 Spindle motor torque data
1505 Spindle motor speed data
1561 Spindle state error number (*1)
1562 Spindle warning number (*1)
1563 Spindle motor temperature information (*1)

NOTE
*1 The indications are provided only when the MODEL
B CNC is combined with the αi spindle.

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3 I/O SIGNALS (CNC ↔ PMC)

This chapter explains the functions of the signals directly input from
the PMC to SPM via the CNC and the signals directly output from the
SPM to PMC. For other spindle-related I/O signals, refer to the
Connection Manual (Function) of the relevant CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Chapter 11 “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 3.I/O SIGNALS (CNC ↔ PMC)

3.1 INPUT SIGNALS (PMC→CNC→SPM)

This section describes the functions of the signals directly input from
the PMC to SPM via the CNC and also describes the signal addresses
of the first spindle and second spindle. For other spindle-related input
signals, refer to the Connection Manual (Function) of the relevant
CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Chapter 11 “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”

3.1.1 List of Input Signals

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
2nd- G234 G075 G075 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB

1st- G229 G072 G072 RCHHGA MFNHGA INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 RCHHGB MFNHGB INCMDB OVRB DEFMDB NRROB ROTAB INDXB

1st- G228 G073 G073 DSCNA SORSLA MPOFA SLVA

2nd- G236 G077 G077 DSCNB SORSLB MPOFB SLVB

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3.1.2 Explanation of Input Signals

Symbol Name Description

These signals limit the output torque of the spindle motor.
Torque limitation
TLMLA, B The limit value is set in spindle parameter No. 4025.
command LOW
TLML TLMH
0 0 : Torque not limited
Torque limitation 0 1 : Limited to the parameter-set value
TLMHA, B
command HIGH 1 0 : Limited to about half of the parameter-set value
1 1 : Limited to about half of the parameter-set value
These signals set the conditions listed below according to the clutch or gear
status.
The signals can also be used for selecting spindle control parameters.
The names such as HIGH GEAR are given for convenience, and the
CTH1A, B correspondence to the actual gears is free.
Clutch/gear signal
CHT2A, B CTH1 CTH2
0 0 : HIGH GEAR
0 1 : MEDIUM HIGH GEAR
1 0 : MEDIUM LOW GEAR
1 1 : LOW GEAR
Reverse rotation These signals set the rotation direction of the spindle motor when viewed from
SRVA, B
command the shaft side.
SRV SFR
0 0 : Stopped
Forward rotation
SFRA, B 0 1 : Forward rotation (CCW: Counterclockwise direction)
command
1 0 : Reverse rotation (CW: Clockwise direction)
1 1 : Stopped
This signal is used to perform spindle orientation control.
Spindle orientation
ORCMA, B 0: Turns off the spindle orientation command.
command
1: Performs spindle orientation control.
0: Motor excitation is off.
MRDYA, B Machine ready signal
1: Ready for operation
This signal is used to reset spindle alarms.

Spindle alarm reset 32 msec min.

ARSTA, B
signal
“1” An alarm is reset when the signal status changes from "1" to
“0” "0".
0: Emergency stop
*ESPA, B Emergency stop signal
1: Normal operation
This signal is used to select a spindle motor in spindle switching control.
Spindle switching
SPSLA, B 0: Selects the main spindle motor.
request signal
1: Selects the sub-spindle motor.
This signal is used in spindle switching control.
Magnetic contactor 0: The MCC on the sub-spindle motor side is OFF (the main spindle motor is
MCFNA, B status signal for the selected).
sub-spindle motor 1: The MCC on the sub-spindle motor side is ON (the sub-spindle motor is
selected).
0: Disables the soft start/stop function.
SOCNA, B Soft start/stop signal
1: Enables the soft start/stop function.
Velocity integral control 0: Enables velocity integral control.
INTGA, B
signal 1: Disables velocity integral control.

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Symbol Name Description

This signal is used to select output characteristics in speed range switching
Speed range switching control.
RSLA, B
request signal 0: Selects the high-speed range characteristics.
1: Selects the low-speed range characteristics.
This signal is used in speed range switching control.
Magnetic contactor
0: The MCC on the low-speed characteristics side is OFF (the high-speed
status signal for the
RCHA, B characteristics are selected).
low-speed
1: The MCC on the low-speed characteristics side is ON (the low-speed
characteristics
characteristics are selected).
This signal is used in orientation with the stop position set
Orientation stop “1” external setting type. When the status of this signal changes
INDXA, B position change “0” from "1" to "0", new position stop data is input, and a
command
movement to the new position then a stop take place.
Rotation direction This signal is used in orientation with the stop position set external setting type.
ROTAA, B command at orientation 0: CCW (counterclockwise)
stop position change 1: CW (clockwise)
Shortcut command at This signal is used in orientation with the stop position set external setting type.
NRROA, B orientation stop position 0: The rotation direction depends on the ROTA signal setting.
change 1: Shortcut control (within ±180°)
Analog override 0: Disables analog override.
OVRA, B
command 1: Enables analog override.
1: Incremental command spindle orientation
INCMDA, B Incremental command
0: Ordinary orientation
Magnetic contactor
0: The MCC on the main spindle motor side is OFF.
MFNHGA, B status signal for the
1: The MCC on the main spindle motor side is ON.
main spindle motor
Magnetic contactor
status signal for the 0: The MCC on the high-speed characteristics side is OFF.
RCHHGA, B
high-speed 1: The MCC on the high-speed characteristics side is ON.
characteristics
Motor power turn-off
MPOFA, B 1: Turns off the motor power.
signal
Synchronous This signal requests a synchronous orientation operation.
SORSLA, B orientation request 0: Cancels synchronous orientation.
command 1: Requests synchronous orientation.
This signal is used to detach the feedback cable between the amplifier and motor.
Disconnection detection
DSCNA, B 0: Enables disconnection and overheat detection.
disable signal
1: Disables disconnection and overheat detection.
Differential speed mode 0: Disables differential speed mode.
DEFMDA, B
command signal 1: Enables differential speed mode.
Tandem operation 0: Disables tandem operation.
SLVA, B
command 1: Enables tandem operation.

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3.1.3 Details of Input Signals

(a) Torque limitation command signals (TLMLA, TLMHA)

(1) A torque limit is used to rotate the spindle motor by decreasing
the output torque of the spindle motor temporarily at the time of
mechanical spindle orientation and so forth.
(2) For each machine, the machine tool builder must set the output
torque and speed applied at the time of orientation so that hitting
against the machine stopper produces less impact.
(3) The output torque at orientation can be adjusted with parameter
No. 4025.
(4) If the torque limitation command signals are set to 1, the torque
limitation state is entered. (Even when 1 is specified during
motor rotation, it becomes valid immediately.) As soon as the
torque limitation state is entered, the torque limitation
in-progress signal (TLMA) is output externally.
(5) When mechanical orientation is to be performed at the time of
ATC of a machining center, the power magnetics sequence
design must take the following into consideration not to damage
the machine stopper:
<1> The output torque at orientation time must not be
excessively large.
<2> The speed at orientation time must not be excessively high.
Interlock must be provided so that, for example, when the
speed detection signal detects an excessively high speed, the
protrusion of the stopper is suppressed.
<3> When the torque limit is canceled, the stopper must have
been certainly kept in place.

Example of a mechanical orientation sequence

Torque limitation command TLMLA, TLMHA

Speed command at orientation

SFR/SRV
Command
(forward/reverse rotation command)
Torque limitation in-progress signal
TLMA
Zero speed
signal “0” “1” SSTA
Signals for Speed detection ON when the speed is not
spindle signal higher than a certain level
amplifier Rotated slowly in the torque
limitation state

Motor speed (Stopped)

(Stopped)
Stopper Protruded (Kept)
Machine (Kept)
Limit switch
(Stop confirmation signal)
ATC
(tool change)

* If the above conditions are hard to satisfy, employ purely

electrical spindle orientation (a CNC software option is required),
which does not use the stopper.
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(b) Clutch/gear signals (CTH1A, CTH2A)

(1) When there are two or more gear change stages between the
spindle and spindle motor, these signals are used to select spindle
control parameters (position gain, gear ratio, and velocity loop
gain) for each gear. These signals are also used for a motor
having an speed range switching function to select control
parameters for each winding.
(2) Make settings as listed in the table below according to the state
of the clutch or gear. The names such as HIGH GEAR are given
for convenience, and the correspondence to the actual gears is
free.
CTH1A CTH2A
0 0 HIGH GEAR
0 1 MEDIUM HIGH GEAR
1 0 MEDIUM LOW GEAR
1 1 LOW GEAR

(c) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
(1) When the following four conditions are satisfied, the spindle
motor starts forward or reverse rotation according to the speed
command (a positive value):
<1> Emergency stop signal *ESPA is set to 1.
<2> Machine ready signal MRDYA is set to 1.
<3> Forward rotation command signal SFRA or reverse rotation
command signal SRVA is 1.
<4> The contact signal between ESP and 24 V (CX4 of the
PSM) is ON (closed).
(2) While SFRA is 1, the spindle motor rotates counterclockwise as
viewed from the shaft side at a specified speed (a positive value).
While SRVA is 1, the spindle motor rotates clockwise as viewed
from the shaft side according to the speed command (a positive
value).

When SFR = 1 When SRV = 1

(3) When SFRA is set to 0 or when SRVA is set to 0, the spindle
motor is stopped by regenerative braking. After the spindle motor
is stopped, the power element excitation signal is turned off to
interrupt power supply to the spindle motor.

NOTE
If the forward rotation command signal (SFRA) and
reverse rotation command signal (SRVA) are
specified at the same time, the spindle status error
(error 14) occurs, and the spindle motor is stopped.

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(d) Spindle orientation command (ORCMA)

For details of this signal, see Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION", in Part I.

(e) Machine ready signal (MRDYA)

(1) This signal is used as follows according to the parameter settings:
Parameter setting
FS16i : 4001 #0
Mode Description
FS30i : 4001 #0
FS15i : 3001 #0
The machine ready signal is not used.
A 0 In this case, the spindle motor is made ready
only by inputting the emergency stop signal.
The machine ready signal is used so that the
spindle motor can be made ready by two signals.
B 1 When MRDYA = 0, the excitation signal for the
power element of the inverter is turned off to
interrupt power.
(2) Mode A
Mode A is used to minimize input signals.
(3) Mode B
<1> In a machine in which the spindle motor is clamped by the
tool unclamp signal during an orientation operation for
automatic tool change (ATC), a slight displacement from
the orientation stop position may increase the load meter
indication, allowing a large motor current to flow.
To prevent this, set MRDYA to 0 to release the orientation
state while the tool unclamp state is present. At the end of
the tool unclamp state, setting MRDYA to 1 can restore the
orientation state.
<2> In the application explained <1> above, if the orientation
command signal ORCMA is kept 1, setting MRDYA to 0/1
causes a movement just by the amount of the displacement
from the stop position, so another one-rotation operation
and orientation operation need not be performed.
Timing chart (mode B)
1
Orientation 0
command ORCMA 1
Orientation completion 0
signal ORARA Detach Mount
Leaving
Tool change operation Move new
Hold tool OFF
tool tool
Spindle unclamp OFF ON
Machine ready
signal MRDYA 0 1

Turn off excitation

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(f) Spindle alarm reset signal (ARSTA)

(1) After the cause of an alarm such as a motor overheat, excessively
large velocity eror, over speed, and overload is removed,
inputting this alarm reset signal releases the alarm, making the
spindle usable.
(2) When no alarm is issued, inputting this signal causes nothing.
(3) Alarms detected in the power supply module and part of spindle
alarms (such as overcurrent) cannot be released by this signal.
(The power must be turned off once.)

(g) Emergency stop signal (*ESPA)

(1) When *ESPA = 1, the spindle motor and spindle amplifier
module become ready for operation. When *ESPA = 0, the
spindle amplifier module outputs to the power supply module a
signal for turning off the MCC, and the spindle motor does not
operate.
(2) As soon as *ESPA is set to 0 during motor rotation, the spindle
motor decelerates and stops. After the spindle motor stops, a
signal for turning off the MCC is output.
(3) When *ESPA is set to 1 again, the spindle motor becomes ready
for rotation, so the spindle motor will start rotating as soon as a
rotation command is issued. Therefore, when inputting the
emergency stop signal, reset the command signals (speed
command, forward and reverse rotation commands) to the
spindle amplifier module at the same time.
(4) This signal (*ESP) and the emergency stop signal of the PSM
(connector CX4) function as signals having the same meaning for
the SPM.

(h) Spindle switching request signal (SPSLA), magnetic contactor status

signal for the sub-spindle motor (MCFNA), and magnetic contactor status
signal for the main spindle motor (MFNHGA)
For details of these signals, see Section 5.2, "SPINDLE SWITCHING
CONTROL", in Part I.

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(i) Soft start/stop signal (SOCNA)

(1) When the soft start/stop signal is set to 1, the soft start/stop
function is enabled, which allows the speed command change
rate at acceleration/deceleration to be set as shown below.
Soft start/stop enabled
1

Soft start/stop signal 0 0

External speed command

Spindle amplifier internal

speed command

(2) The soft start/stop function is valid in the velocity control mode.
(3) When emergency stop signal *ESPA or machine ready signal
MRDYA is set to 0, the soft start/stop function is disabled
automatically.
(4) The speed command change rate is set in parameter No. 4030.
When 0 is set in the parameter, the soft start/stop function is
disabled.
(5) When the rate of the change in acceleration command (parameter
No. 4508) is set, a quadratic function type speed command can
be given in the spindle amplifier (quadratic function type soft
start/stop function).
Use this function when you want to reduce the shock due to a
change in speed specified at the start of acceleration/deceleration.
In this case, the internal speed command of the spindle amplifier
changes as follows:

External speed command

Internal speed command

of spindle amplifier

NOTE
The quadratic function type soft start/stop function
can be used with 9D50 series G (07) edition or
later and 9D70 series A (01) edition or later.

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(j) Velocity integral control signal (INTGA)

(1) When spindle position control (spindle orientation control,
spindle positioning control, Cs contour control, and so on) is
performed, the spindle is sometimes clamped by the brake or the
like. If the spindle is kept clamped with a minute position error,
velocity integral control may allow an excessively large current
to flow into the motor, attempting to eliminate the position error
to zero.
In such a case, use of this signal disables velocity integral control
to prevent an excessively large current from flowing into the
motor even when a minute position error occurs.

Spindle position

Spindle clamping

Velocity integral control

signal INTGA

(2) Also when two spindles are used to hold a workpiece in spindle
synchronous control, a minute synchronous error generated at the
time of the hold operation may cause velocity integral control to
attempt to eliminate the error to zero, and as a result, an
excessively large current may flow into the motor.
In this case, this signal can be used to disable velocity integral
control and prevent an excessively large current from flowing
into the motor even when a minute synchronous error occurs.

Spindle synchronous Hold workpiece by

control two spindles

Holding workpiece by Chuck closed

two spindles (chuck
closed)
Speed integral control
signal INTGA

(k) Speed range switching request signal (RSLA), magnetic contactor status
signal for low-speed characteristics (RCHA), and magnetic contactor
status signal for high-speed characteristics (RCHHGA)
For details of these signals, see Section 5.1, "SPEED RANGE
SWITCHING CONTROL", in Part I.

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(l) Orientation stop position change command (INDXA), rotation direction

command at orientation stop position change (ROTAA), shortcut
command at orientation stop position change (NRROA), and incremental
command (INCMDA)
For details of these signals, see Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION", in Part I and Section 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION",
in Part I.

(m) Spindle analog override command (OVRA)

(1) In the velocity control mode, the speed command can be
overridden with the voltage externally applied to the spindle
amplifier directly in an analog form.
(2) The analog override function is valid when this signal is 1. The
function is valid only in the velocity control mode (including the
soft start/stop function).
(3) The upper limit (100% or 120%) of analog override is
parameter-set as follows:
Parameter No.
Description
FS15i FS16i FS30i
Sets the input range of spindle analog override.
3006 #5 4006 #5 4006 #5 0 : 0 to 100%
1 : 0 to 120%
The upper limit of analog override input voltages is +4.5 V.
When the speed command value obtained by multiplication by
the override value exceeds the parameter-set maximum speed,
the speed is clamped at the maximum speed.
(4) The override type is parameter-set as follows:
Parameter No.
Description
FS15i FS16i FS30i
Sets the override type.
3009 #6 4009 #6 4009 #6 0: Linear function type override
1: Quadratic function type override
<1> Linear function type override
The override value actually used corresponds to the input
override value on a one-to-one basis.
OVROUT = OVRIN
<2> Quadratic function type override
The override value actually used corresponds to the input
override value in the quadratic function manner.
When compared with the linear function type, the quadratic
function type has rougher speed resolution for the input
override in the high-speed region and has a finer speed
resolution in the low-speed region.
2
 OVRIN 
OVROUT = OVR MAX ×  
 OVR MAX 

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Output
override

OVROUT

Input override OVRIN

(5) The following shows the system configuration when attention is

focused on the analog override function:
Override analog
input
Machine
Override enable/ Spindle
operator's
disable signal amplifier
panel

Speed
Override
PMC
CNC
ladder Speed command value

(6) The analog override input is connected as shown in the figure

below. The input voltage equivalent to the upper override limit
(100% or 120%) to OVR2 is 4.5 V. Override values are set in
steps of 1%.

JY1
Reference voltage 1
OVR1 Variable resistor
Analog input 2
OVR2 VR
20
0V 0V
Resistor R1
Reference voltage output
value 4.75±0.25V
(Spindle amplifier module) Shield wire (Machine operator's panel)
Use resistors so that the total resistance of VR and R1 ranges from 2
KΩ to 10 KΩ.
(7) Because the hysteresis characteristic is provided to prevent
override fluctuation, an override of 0% is not set even when the
input voltage is 0 V.
(8) When a signal for enabling or disabling the status of the analog
override function is issued, or the setting of the upper override
limit parameter is changed, the motor speed may change largely.
So, before changing the status or setting, stop the motor.

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(n) Motor power turn-off signal (MPOFA)

(1) When an abnormality occurs during spindle synchronous control
or during machining with a machine such as a gear machining
tool, this signal is used to immediately turn off the power to the
spindle motor and allow the motor to run freely.
(2) This signal turns off the motor power only.
(3) The motor power can be supplied again after the motor is
stopped (zero speed signal SSTA = 1). Even when this signal is
canceled, the power cannot be supplied while the motor is
rotating (SSTA = 0).
(4) After turning off the motor power, cancel all operation modes to
ensure safety. After the motor is stopped (SSTA = 1), specify
operation modes again.
When the power is turned off during position control, the
position control operation is performed continuously, so an alarm
such as an alarm due to an excessively large position error may
be issued.
Operation mode examples:
- Forward rotation command (SFRA)
- Reverse rotation command (SRVA)
- Spindle orientation (ORCMA)
- Rigid tapping (RGTP, RGTAP)
- Spindle synchronous control (SPSYC, SPPHS)
- Spindle positioning
- Cs contour control (CON, SCNTR1, SCNTR2, and so on)
- Speed difference mode (DEFMDA)

(5) Sample sequence

Free running

Motor speed
0min–1

Motor power
ON
OFF
Zero speed detection
signal SSTA
1
0
Motor power turn-off
signal MPOFA
1
Operation mode SFRA, 0
etc.

ON
OFF

(6) If bit 2 of parameter No. 4009 is set to 1, the motor power can be
turned off immediately when SPM alarm 24 (serial transfer data
error) occurs. Normally, when SPM alarm 24 occurs, the spindle
motor is decelerated then stopped.

(o) Synchronous orientation request command (SORSLA)

For details of this signal, see Section 5.5, "SPINDLE ORIENTATION
DURING SPINDLE SYNCHRONIZATION CONTROL", in Part I.

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(p) Disconnection detection disable signal (DSCNA)

(1) This signal is used when the connection between the spindle
amplifier and spindle motor needs to be disconnected
temporarily.
Position coder
Feedback
JYA3

SPM
Feedback
JYA2 Motor

Power line

(2) When this signal is used to detach the feedback signal, motor
overheat and the issuance of a feedback signal disconnection
alarm can be prevented.
(3) A motor excitation OFF state confirmation signal (EXOFA) is
provided to confirm that the motor is not excited before the
connected power line is detached.
(4) Before setting this signal to 1 and disconnecting the feedback
signals and power line, set all the SFRA, SRVA, ORCMA,
MRDYA, and *ESPA commands to 0, and confirm that the
motor excitation OFF state confirmation signal (EXOFA) has
been set to 1. After completing re-connection, reset this signal to
0.
(5) Sample sequence
Motor speed
0 min-1

SFRA,SRVA,ORCMA, 1
MRDYA,*ESPA
0

1
SSTA
0

1
EXOFA
0

1
DSCNA
0
Disconnection
Connection Disconnected
status Connection

(q) Differential speed mode command signal (DEFMDA)

For details of this signal, see Section 5.9, "DIFFERENTIAL
SPINDLE SPEED CONTROL" in Part I.

(r) Tandem operation command (SLVA)

For details of this signal, see Section 5.11, "TORQUE TANDEM
CONTROL FUNCTION" in Part I.

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3.2 OUTPUT SIGNALS (SPM→CNC→PMC)

This section describes the functions of the signals directly input from
the PMC to SPM via the CNC and also describes the signal addresses
of the first spindle and second spindle. For other spindle-related
output signals, refer to the Connection Manual (Function) of the
relevant CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Chapter 11 “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”

3.2.1 List of Output Signals

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F228 F046 F046 SLVSA RCFNA RCHPA CFINA CHPA

2nd- F244 F050 F050 SLVSB RCFNB RCHPB CFINB CHPB

1st- F231 F047 F047 EXOFA SORENA INCSTA PC1DTA

2nd- F247 F051 F051 EXOFB SORENB INCSTB PC1DTB

1st- F230 F048 F048 CSPENA

2nd- F246 F052 F052 CSPENB

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3.2.2 Explanation of Output Signals

Symbol Name Description

This signal is output when a spindle alarm is issued.
ALMA, B Alarm signal 0: Normal state
1: Alarm state
This signal is output when the actual rotation speed of the spindle motor has
Zero speed detection decreased to the zero speed detection level or lower.
SSTA, B
signal 0: Rotating
1: Zero speed state
This signal is output when the actual rotation speed of the spindle motor has
decreased to a predetermined rotation speed or lower.
SDTA, B Speed detection signal
0: Above predetermined speed
1: Predetermined speed or lower
This signal is output when the actual rotation speed of the spindle motor has
achieved a predetermined range for a speed command.
SARA, B Speed arrival signal
0: Speed not achieved
1: Speed achieved
LDT1A, B Load detection signal 1 These signals are output when load at a set load detection level or higher is
detected. Different levels can be set for LDT1A and LDT2A.
LDT2A, B Load detection signal 2 0: Lower than the set load
1: Set load or higher
This signal is output when the torque is being limited by the TLMLA or TLMHA
Torque limitation signal.
TLMA, B
in-progress signal 0: Torque not being limited
1: Torque being limited
This signal is output when the spindle stops in the neighborhood of a
Orientation completion predetermined position after an orientation command is input.
ORARA, B
signal 0: Orientation not completed
1: Orientation completed
This signal is used in spindle switching control.
Power line switching
CHPA, B 0: Selects the MCC on the main spindle motor side.
signal
1: Selects the MCC on the sub-spindle motor side.
This signal is used in spindle switching control.
Spindle switching
CFINA, B 0: Controls the main spindle motor.
completion signal
1: Controls the sub-spindle motor.
This signal is used in speed range switching control.
Power line switching
RCHPA, B 0: Selects the MCC on the high-speed range characteristics side.
signal
1: Selects the MCC on the low-speed range characteristics side.
This signal is used in speed range switching control.
Output switching
RCFNA, B 0: Control with high-speed range characteristics
completion signal
1: Control with low-speed range characteristics
This signal is used to confirm whether the position coder one-rotation signal is
Position coder
detected or not.
PC1DTA, B one-rotation signal
0: Position coder one-rotation signal not detected
detection state signal
1: Position coder one-rotation signal detected
This signal is used to confirm whether incremental spindle orientation is being
Incremental orientation performed or not.
INCSTA, B
signal 0: Incremental spindle orientation is not in progress.
1: Incremental spindle orientation is in progress.
Synchronous This signal is used to confirm whether synchronous orientation is enabled or not.
SORENA, B orientation enable 0: Disables synchronous orientation.
signal 1: Enables synchronous orientation.

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Symbol Name Description

This signal is used to confirm whether motor excitation is off.
Motor excitation off
EXOFA, B 0: Motor excitation is in progress.
state signal
1: Motor excitation is off.
This signal is used with the spindle tandem function.
Tandem operation state
SLVSA, B 0: Tandem operation is not in progress.
signal
1: Tandem operation is in progress.
This signal is used to indicate whether Cs axis coordinate establishment
processing is possible.
Cs reference position
0: Coordinate establishment processing is impossible (with a reference position
CSPENA, B establishment state
not established).
signal
1: Coordinate establishment processing is possible (with a reference position
established).

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3.2.3 Details of Output Signals

(a) Spindle alarm signal (ALMA)

(1) When continuation of spindle motor operation becomes
impossible, the power to the spindle motor is turned off to stop
the spindle motor.
(2) At the same time, alarm signal ALMA is set to 1. For the
meaning of the alarm, check the indicator of the spindle
amplifier.
(3) Use the alarm signal output to reset the command signals sent to
the spindle amplifier (speed command, forward and reverse
rotation commands, and spindle orientation command). Unless
the reset state has been entered (the signals issued from the PMC
have been all cleared), the spindle motor may rotate when the
alarm on the spindle amplifier is released, which presents a
dangerous situation.
(4) At the same time when the alarm signal is output, the power to
the spindle motor is turned off, and the spindle motor coasts.
Therefore, it is necessary to enter the feed hold state by setting
the emergency stop state on the CNC or power magnetics
cabinet.
(5) When the alarm state is entered, ALMA is set to 1. While the
alarm signal is 1, the spindle motor is placed in the coast state
regardless of external commands.
(6) The following diagram shows the relationship between the alarm
signal and alarm reset signal:

Speed command
Forward/reverse rotation
signal
SFRA (SRVA)
Spindle control Spindle orientation
signals command ORCMA 1
ARSTA 0 0
(Alarm reset)
1
Spindle amplifier
ALMA 0
control output signal
(Alarm)
Remove cause of alarm

Motor rotation speed

Motor operation

(Stopped)
Not operated even when command
is issued Usable

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(b) Zero speed detection signal (SSTA)

(1) When the actual rotation speed of the spindle motor has
decreased to the zero speed detection level or lower for a stop
command, SSTA is set to 1.

Motor
speed
Zero speed detection
range (standard setting:
±0.75% of the
1 maximum speed)
1
SSTA 0

(2) The zero speed detection point is 0.75% (initial standard setting
in the parameter) of the maximum speed. For a motor of which
maximum speed is 6000 min-1, for example, the zero speed
detection point is 45 min-1.
(3) When the above condition is satisfied, this signal is output
regardless of the rotation command (SFR, SRV).
(4) The minimum pulse width of this signal is approximately 40 ms.

(c) Speed detection signal (SDTA)

(1) When the spindle motor speed has decreased to a parameter-set
speed level or lower, SDTA is set to 1.
(2) This signal is used to confirm that the speed has decreased to a
predetermined speed such as a clutch changeable speed or gear
changeable speed.

Motor Speed detection

speed level

SDTA
0
1 1

(3) This signal is output regardless of the rotation command (SFR,

SRV).
<Reference> Gear shift sequence
In CNC machine tools, gear shift, which is one of sequence
controls, causes a shift of the gear section of a spindle, which is
an important component of a machine. In this case, to perform
gear change safely, it is necessary to confirm that the spindle
motor is rotated at a low speed.
A sample gear shift sequence using the speed detection signal
(gear change enable signal) is given below. Please use this
sample as a reference material when designing gear shift power
magnetics sequence.

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(Sequence) (Confirmation signal)

Gear shift command

Spindle motor low-speed rotation command

Speed detection signal

Confirm speed SDTA = 1 (or zero speed
signal SSTA = 1)

Move shifter

Gear shift end

To perform a gear change safely, confirm that the spindle motor

speed is low by using the speed detection signal before moving
the shifter. When the zero speed signal is also used, duplicate
checking for safety can be made.
(Why the confirmation is required) If the shifter moves while the
spindle motor rotates, the gear is damaged.
Spindle motor Motor speed
speed range allowing
gear change

0min-1
Spindle motor
speed (low
Shifter speed) at gear
movement shift
Gear shift
completed

1
0 1
Speed detection signal
SDTA (gear change enable
signal)
Zero speed detection signal SSTA

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(d) Speed arrival signal (SARA)

(1) When the actual rotation speed of the spindle motor has reached
a predetermined range for a speed command, SARA is set to 1.

Detection range (see (2) and (3))

Specified
speed

Motor 0
speed
1
SARA 0

Specified
speed 2

Specified
Detection range
speed 1
(see (2) and (3))
Motor
speed
1 0 1
SARA

(2) The setting range is ±1 to 100% of a specified speed. When a

speed not higher than 10% of the maximum rotation speed is
specified, however, the detection range is wider than the set
range.
(3) The standard setting is ±15%. The detection range of this speed
arrival signal widens for low speeds as shown below.

177%(at 80min–1)
Detection range (%) of speed

–1
23%(at 80min )
(%)

333 1000 min–1

Speed command

(4) This signal is output when SFRA or SRVA is set to 1.

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(5) This signal can be used to control reverse rotation in a tapping

cycle as follows:
SFRA (forward command) FIN
1 0
SRVA (reverse command)
0 1
40 ms

1
SSTA (zero speed detection) Approx. 0
SARA (speed arrival)
40 ms Minimum
pulse
ON τ1 width Note) There is a delay
τ1 = 40ms of τ1 until the
OFF SARA signal is
set to 0.
Forward rotation
Motor
speed
0 Zero speed detection range

Reverse rotation
Speed arrival
detection

When a reserve rotation command is issued, the spindle motor

starts decelerating, and 40 ms later the arrival signal is set to 0.
Then, after the speed reaches zero, the speed arrival signal being
set to 1 is detected. This completes the reverse spindle rotation
command.
(6) This signal is used as a confirmation signal (FIN signal) for
forward rotation (M03) and reverse rotation (M04) commands.

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(e) Load detection signals (LDT1A, LDT2A)

(1) When the maximum output level (10 V) of the load meter (LM)
is assumed to be 100%, the load detection signal is set to 1 if the
load meter output indicates a parameter-set value (%) or greater.
(2) Two different levels (LDT1A and LDT2A) can be set.
(3) These signals are used in PMC control. For example, to prevent
the spindle from stopping when a cutting overload is applied to
the spindle during cutting, these signals are used to decrease the
feedrate or stop the feedrate.
(4) An application example is given below.
In the following example, two load detection levels are set for
control:

LDT2A level
LDT1A level

Load meter output

Cutting started Spindle stopped

LDT1A

Decrease feedrate here

LDT2A

Stop feed motor here

(5) The above shows an example of control using two levels. When
the feed motor is to be stopped immediately by using just one
level, control must be provided according to the machine
specification.
(6) These signals are not output in 10 seconds (set in parameter No.
4082) after the status of the speed command signal changes.

(f) Torque limitation in-progress signal (TLMA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(g) Orientation completion signal (ORARA)

For details of this signal, see Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION", in Part I.

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(h) Power line switching signal (CHPA) and spindle switching completion
signal (CFINA)
For details of these signals, see Section 5.2, "SPINDLE SWITCHING
CONTROL", in Part I.

(i) Power line switching signal (RCHPA) and output switching completion
signal (RCFNA)
For details of these signals, see Section 5.1, "SPEED RANGE
SWITCHING CONTROL", in Part I.

(j) Position coder one-rotation signal detection state signal (PC1DTA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(k) Incremental orientation signal (INCSTA)

For details of this signal, see Section 5.3, "INCREMENTAL
COMMAND TYPE SPINDLE ORIENTATION", in Part I.

(l) Synchronous orientation enable signal (SORENA)

For details of this signal, see Section 5.5, "SPINDLE ORIENTATION
DURING SPINDLE SYNCHRONIZATION CONTROL", in Part I.

(m) Motor excitation off state signal (EXOFA)

For details of this signal, see (p), "Disconnection detection disable
signal", in Subsection 3.1.3 in Part I.

(n) Tandem operation state signal (SLVSA)

For details of this signal, see Section 5.11, "TORQUE TANDEM
CONTROL FUNCTION", in Part I.

(o) Cs reference position establishment state signal (CSPENA)

This signal indicates whether coordinate establishment processing is
possible when the Cs axis coordinate establishment function is used
with Series 16i-MODEL B/Series 30i-MODEL A.
If reference position return operation is performed in the Cs mode
when bit 5 of parameter No. 4353 is set to 1, this signal is set to 1
from 0 to enable coordinate establishment processing.
This signal is set to 0 when the power is turned off or a spindle alarm
is issued.

NOTE
This signal can be used with 9D50 series G (07)
edition or later and 9D70 series A (01) edition or
later.

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4 ADJUSTMENT

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 4.ADJUSTMENT

4.1 VELOCITY LOOP GAIN ADJUSTMENT

4.1.1 Overview
Optimum adjustment of the velocity loop gain increases the position
loop gain, therefore significantly enhancing disturbance suppression
performance, positioning speed and accuracy. So, the adjustment of
the velocity loop gain is very important in servo adjustments, and it
should be performed first. This section explains the parameters for
velocity loop gain adjustment and the adjustment procedure.

4.1.2 Parameters
There are five operation modes in spindle control: velocity control
mode, orientation, servo mode (rigid tapping and spindle positioning),
spindle synchronous control, and Cs contour control. There are
parameters corresponding to each operation mode and to the
clutch/gear signals (CTH1A and CTH2A). The following shows the
parameters for each operation mode.

(1) Velocity control mode

15i 16i 30i
3040 4040 4040 Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0
3041 4041 4041 Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

15i 16i 30i

3048 4048 4048 Velocity loop integral gain on velocity control mode (HIGH) CTH1A=0
3049 4049 4049 Velocity loop integral gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

(2) Orientation
15i 16i 30i
3042 4042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

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15i 16i 30i

3050 4050 4050 Velocity loop integral gain on normal mode (HIGH) CTH1A=0
3051 4051 4051 Velocity loop integral gain on normal mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

(3) Servo mode (Rigid tapping and spindle positioning)

15i 16i 30i
3044 4044 4044 Velocity loop proportional gain on servo mode (HIGH) CTH1A=0
3045 4045 4045 Velocity loop proportional gain on servo mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

15i 16i 30i

3052 4052 4052 Velocity loop integral gain on servo mode (HIGH) CTH1A=0
3052 4052 4052 Velocity loop integral gain on servo mode (LOW) CTH1A=1

Unit of data :
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

(4) Spindle synchronous control

16i 30i
4044 4044 Velocity loop proportional gain on spindle synchronous control (HIGH)CTH1A=0
4045 4045 Velocity loop proportional gain on spindle synchronous control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

16i 30i
4052 4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
4053 4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10

NOTE
For the velocity loop gain on spindle synchronous
control and on the servo mode, common parameters
are used.

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(5) Cs contour control

15i 16i 30i
3046 4046 4046 Velocity loop proportional gain on Cs contouring control (HIGH) CTH1A=0
3047 4047 4047 Velocity loop proportional gain on Cs contouring control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 30

15i 16i 30i

3054 4054 4054 Velocity loop integral gain in Cs contouring control (HIGH) CTH1A=0
3055 4055 4055 Velocity loop integral gain in Cs contouring control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 50

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4.1.3 Adjustment Procedure

(1) Start of each operation mode

In preparation for the adjustment, settings must be made so that a
stable operation takes place in each mode without overshoot or
oscillation.
See Chapter 2, "EXPLANATION OF OPERATION MODES",
temporarily set parameters (acceleration/deceleration time constant,
position gain, and so on) to make operations stable in each operation
mode, and confirm operations.

NOTE
When a motor with a large torque-to-inertia ratio (for
example, low-speed winding of a motor with an
speed range switching function) is used, or when the
rigidity of the spindle is low, the standard setting of
the velocity loop gain may be so high that oscillation
can occur. In such a case, decrease the velocity loop
gain.

(2) Adjustment
When adjusting the velocity loop gain, check the operation mode and
clutch/gear signal, and modify corresponding parameters. Follow the
steps below to adjust the parameters:

<1> Determining the oscillation limit

Basically, determine the oscillation limit based on torque
commands, position errors, vibration, sound, and so on when the
motor is stopped (for orientation, after completion of the
operation) or when the motor rotates at a certain speed not higher
than the base speed. Normally, increase the proportional gain and
integral gain settings in steps of about 5; for a motor with a large
torque-to-inertia ratio, increase these settings in steps of about 2.
As the settings are increased gradually, the symptoms below start
to appear at a certain setting level. The settings at this level are
determined to be the oscillation limit:
- The machine vibrates or produces large sound.
- Vibration of a torque command becomes large.
- Position errors at stop time vary largely.

NOTE
The oscillation limit varies with the spindle inertia. In
a machine in which the inertia varies largely
according to the tool and workpiece used,
adjustment must be made in the smallest inertia
state.

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<2> Final settings

Set proportional gain of approximately 70% of the oscillation
limit. As the integral gain, the same value as the proportional
gain is basically set. When increasing the setting, however, make
an adjustment so that the integral gain is typically about twice or
five times as high as the proportional gain.
<3> Elimination of machine resonance
At the time of velocity loop gain adjustment, the gain cannot
sometimes be increased because of machine resonance. In such a
case, the machine resonance elimination function (a torque
command filter and HRV filter) described in the next section can
be adjusted to increase the velocity loop gain while avoiding
machine resonance. See Section 4.2, "MACHINE RESONANCE
ELIMINATION", and make adjustments as necessary.

4.1.4 Additional Information (Position Gain Adjustment)

Although the limit value of the position gain is determined basically

depending on the velocity loop characteristics, the setting standards
may vary depending on the operation mode. See Chapter 2,
"EXPLANATION OF OPERATION MODES", and make
adjustments accordingly.

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4.2 MACHINE RESONANCE ELIMINATION

4.2.1 TCMD Filter

(1) Overview
The torque command filter applies a primary low-pass filter to torque
commands. When the machine system resonates at frequencies as high
as several hundreds Hz or higher, this function can avoid such
high-frequency resonance.

(2) Series and editions of applicable spindle software

Series 9D50/A(01) and subsequent editions
Series 9D70/A(01) and subsequent editions

(3) Details
Fig. 4.2.1 shows a velocity loop configuration including the torque
command filter.
When the machine system has a high resonance frequency, the speed
feedback may include a resonance component, and this component
may be amplified by the proportional gain (Kp).
The torque command filter prevents machine resonance by applying a
primary low-path filter to the proportional of the torque command to
remove high-frequency components of the torque command.
Velocity
command + +
KP Kt/Jm⋅s
- +
Motor
Torque command filter
KI/s

Velocity feedback

Fig. 4.2.1 velocity loop configuration including the torque command filter

(4) Setting parameters

15i 16i 30i
3121 4121 4121 Torque command filter time constant
3157 4157 4157 Torque command filter time constant: for low-speed characteristics

Unit of data : 0.5msec

Valid data range : 0 to 32767
Standard setting value : 5
Basically, use the standard setting value 5 (time constant: 2.5 ms).
When a value greater than the standard setting value needs to be set,
make an adjustment and typically set a value not greater than 15.
When a value greater than 15 needs to be set, decrease the velocity
loop gain.

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4.2.2 HRV Filter

(1) Overview
The HRV filter can attenuate signals which are in certain frequency
band. When a strong resonance point is present in an area not lower
than 100 Hz, and it is impossible to increase the velocity loop gain,
the velocity loop gain can be increased by using this filter.

NOTE
For machines in which the rigidity of the part
connecting the spindle and motor is considered to
change with time, or for machines whose spindle
inertia changes largely depending on the tool or
workpiece used, do not use the HRV filter.

(2) Series and editions of applicable spindle software

Series 9D50/E(05) and subsequent editions
Series 9D70/A(01) and subsequent editions

(3) Details
Fig. 4.2.2 shows the HRV filter configuration.
The HRV filter is applied to the proportional (the value immediately
after the torque command filter in Fig. 4.2.1) of the torque command
after the command is passed through the torque command filter. The
HRV filter attenuates signals in a set frequency band to avoid machine
resonance.
Four filter stages in total can be applied. For each stage, filter
characteristics are set by using three parameters including the center
frequency, band width, and damping.

Torque command
(proportional) + To motor

Torque
command
HRV filter (integral term)

Fig.4.2.2 HRV filter configuration

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(4) Setting parameters

15i 16i 30i
3391 4391 4391 HRV filter 1 - attenuation center frequency
3392 4392 4392 HRV filter 1 - attenuation bandwidth
3393 4393 4393 HRV filter 1 - damping

15i 16i 30i

3416 4416 4416 HRV filter 2 - attenuation center frequency
3417 4417 4417 HRV filter 2 - attenuation bandwidth
3418 4418 4418 HRV filter 2 - damping

15i 16i 30i

3419 4419 4419 HRV filter 3 - attenuation center frequency
3420 4420 4420 HRV filter 3 - attenuation bandwidth
3421 4421 4421 HRV filter 3 - damping

15i 16i 30i

3422 4422 4422 HRV filter 4 - attenuation center frequency
3423 4423 4423 HRV filter 4 - attenuation bandwidth
3424 4424 4424 HRV filter 4 - damping

Attenuation center frequency :

Unit of data : 1Hz
Valid data range : 96 to 3000
Standard setting value : 0

Attenuation bandwidth :
Unit of data : 1Hz
Valid data range : 10 to 3000
Standard setting value : 0

Damping :
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
For each filter stage, set three parameters including the attenuation
center frequency, attenuation bandwidth, and damping. When a filter
stage is not to be used, set 0 (standard setting) in all the three
parameters.

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(5) Adjustment
The disturbance input function (see Subsection 4.2.3) is used for
adjustment. After increasing the velocity loop gain until oscillation
disappears, use the disturbance input function to observe the
frequency (FNCFRQ) and gain (TFUNCG: ratio of the amplitude of
the torque command before disturbance application to the amplitude
of the disturbance torque command). When there is strong resonance,
the gain near the resonance point increases abruptly. So, set the
frequency around the peak as the attenuation center frequency, and
adjust the attenuation bandwidth and damping. To minimize
influences on other bands, make adjustments and set an attenuation
bandwidth value as small as possible and a damping value as large as
possible.
An example for adjusting the HRV filter using the disturbance input
function is given below.
A spindle check board and oscilloscope are required for the
adjustment.

CH1: Frequency of a disturbance

torque command
2.5V (167.0.0.1, 64Hz/div)

Resonance point : 550Hz

1sec

CH2:Gain
625mV (168.7.0.1, 50%/div)

Fig.4.2.3 Before application of the HRV filter

CH1: Frequency of a disturbance

torque command
2.5V (167.0.0.1,64Hz/div)

1sec

CH2:Gain
625mV (168.7.0.1,50%/div)

Fig.4.2.4 After application of the HRV filter

(Attenuation center frequency = 550Hz, attenuation bandwidth = 40Hz, damping = 0%)

* Adjustment without the disturbance input function

When adjusting the HRV filter without the disturbance input
function, increase the velocity loop gain until oscillation occurs,
observe the vibration of a torque command, set its frequency as
the attenuation center frequency, and adjust the attenuation
bandwidth and damping.

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4.2.3 Disturbance Input Function

(1) Overview
This function is used to measure the gain of the frequency response of
a torque command to a disturbance torque command by applying the
disturbance torque command in form of a sine wave to the torque
command.
With this function, the HRV filter can be adjusted easily.

(2) Series and editions of applicable spindle software

Series 9D50/E(05) and subsequent editions
Series 9D70/A(01) and subsequent editions

(3) Details
Fig. 4.2.5 shows the configuration of the disturbance input function.
A disturbance torque command (DTQCMD) in form of a sine wave is
applied to the torque command (TQCMDB), which is the output of the
velocity loop controller (including filtering), and the input frequency
is increased step by step. While the frequency of the disturbance
torque command is being increased, the frequency and the ratio of the
amplitude of the torque command to the amplitude of the disturbance
torque command (TQCMDB/DTQCMD) (the gain) are observed
simultaneously. By doing this, the gain of the frequency response of
the torque command to the disturbance torque command can be
measured.
If there is strong resonance, an abrupt increase in the gain is observed
near the resonance frequency. So, by observing this phenomenon, the
HRV filter can be adjusted easily.
Disturbance

DTQCMD
Velocity Velocity loop + -
command + controller
Kt/Jm⋅s
Torque
- command TQCMDF
Motor
TQCMDB

Speed feedback

Fig.4.2.5 Configuration of the disturbance input function

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 4.ADJUSTMENT

(4) Setting parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3395 4395 4395 DTQFNC DTQTRG

DTQFNC Disturbance input function bit

0: Disables the disturbance input function.
1: Enables the disturbance input function.
This bit is valid only when S0 is specified in the velocity control mode.
If this bit is set to 1 under conditions other than the above, the spindle
amplifier results in a status error (error No. 32), and the excitation of
the spindle motor is turned off.

DTQTRG Disturbance input function bit

When this bit is set to ON (0 → 1) while excitation is ON (SFR = 1 or
SRV = 1), a measurement starts. When this bit is set to OFF during
measurement, the measurement is stopped in the middle.

15i 16i 30i

3410 4410 4410 Measurement start frequency

Unit of data : 1Hz

Valid data range : 0 to 2000
Standard setting value : 0
Set the frequency at which measurements are to start.
When 0 is set, 10 Hz is assumed.

15i 16i 30i

3411 4411 4411 Measurement end frequency

Unit of data : 1Hz

Valid data range : 0 to 2000
Standard setting value : 0
Set the frequency at which measurements are to end.
When 0 is set, 500 Hz is assumed.

15i 16i 30i

3412 4412 4412 Measurement frequency interval

Unit of data : 1Hz

Valid data range : 0 to 20
Standard setting value : 0
Set the interval of measurement frequencies.
When 0 is set, 5 Hz is assumed.

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3413 4413 4413 Number of measurement times per frequency

Unit of data : 1 time

Valid data range : 0 to 1000
Standard setting value : 0
Set the number of times a measurement is made per frequency.
When 0 is set, five times are assumed.
Normally, set 0.

15i 16i 30i

3414 4414 4414 Disturbance torque command amplitude

Unit of data : 1% (100% = maximum torque command)

Valid data range : 0 to 50
Standard setting value : 0
Set the amplitude of the disturbance torque command.
When 0 is set, 5% is assumed.
Normally, set 0.

15i 16i 30i

3415 4415 4415 Motor speed command at measurement time

Unit of data : 1min-1 (Unit of 10min-1 when bit 2 (SPDUNT) of parameter No. 4006
= 1)
Valid data range : -32768 to +32767
Standard setting value : 0
Set the motor speed command at measurement time.
The speed is clamped at the maximum speed of the motor.

15i 16i 30i

3030 4030 4030 Change rate of motor speed command at measurement

Unit of data : 1min-1/sec (Unit of 10min-1/sec when bit 2 (SPDUNT) of parameter

No. 4006 = 1)
Valid data range : 0 to +32767
Standard setting value : 0
When a non-zero value is to be set as the motor speed command at
measurement time, set the change rate of the motor speed command to
prevent abrupt acceleration/deceleration.
When the disturbance input function is disabled (DTQFNC = 0), this
parameter is used as the soft start/stop setting time. So, after the
measurements, restore the original value.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 4.ADJUSTMENT

(5) Measurement procedure

Follow the steps below to make measurements:
As the operation mode, set the velocity control mode.
<1> Parameter setting (preparation for measurements)
Basically, only bit setting in parameter No. 4395 needs to be
performed.
→ Bit 7 (DTQFNC) of parameter No. 4395 = 1, bit 6
(DTQTRG) = 0
For other parameters, although default settings may be used, set
appropriate value as necessary. (When the frequency of the
resonance point is high, the setting of the measurement end
frequency must be increased.)
<2> Issue the S0 command and turn on excitation (SFR = 1 or SRV =
1).
<3> Setting measurement start trigger DTQTRG to 1 starts
measurements.
When a non-zero value is set in the motor speed command at the
measurement time (parameter No. 4415), the motor accelerates to
the set speed before measurements start. When measurements
end, the motor decelerates then stops.
If one of the following conditions is satisfied during
measurements, measurements are interrupted, and the motor
decelerates then stops:
- The measurement start trigger is turned off. (DTQTRG = 0)
- Spindle motor excitation is turned off. (SFR = 0, SRV = 0)
- An emergency stop is applied.
<4> To restart measurements, set measurement start trigger DTQTRG
to ON (0 → 1).
In HRV filter adjustment, a measurement and parameter change
must be repeated. So adjust the filter by repeating the following
steps: starting measurement (DTQTRG = 1) → end of
measurement → DTQTRG = 0 → changing the HRV filter
parameters → starting measurement (DTQTRG = 1) and so on.
<5> After completing measurements (adjustment), turn off motor
excitation, and reset all the parameters for the disturbance input
function to 0.

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(6) Observing data

The table below shows the setting method for observing measurement
data on the spindle check board and descriptions of observation data.
At the time of measurement (adjustment), observe data listed in the
table by using measuring devices such as the spindle check board and
an oscilloscope. Fig. 4.2.6 shows an example of data observation at
the time of measurement.

Channel Setting address Settings Descriptions

d-05 (data number) 167 FNCFRQ : Frequency of disturbance torque command
d-06 (shift amount) 0 or 1
CH1 ±128 Hz/±5 V with shift amount 0
d-07 (shift direction) 0
±256 Hz/±5 V with shift amount 1
d-08 (offset) 1
d-09 (data number) 168 TFUNCG : Ratio of amplitude of TQCMDB to amplitude of DTQCMD (gain)
d-10 (Shift amount) 6 or 7
CH2 ±200 %/±5 V with shift amount 6
d-11 (shift direction) 0
±400 %/±5 V with shift amount 7
d-12 (offset) 1

CH1:FNCFRQ
(167.0.0.1, 64Hz/div)
2.5V

Resonance point :
600Hz
1sec
Resonance

CH2:TFUNCG
625mV
(168.7.0.1, 50%/div)

Fig. 4.2.6 Example for observing disturbance input function data

* The data shows that strong resonance is present at about 600 Hz.

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4.3 AMPLITUDE RATIO/PHASE DIFFERENCE

COMPENSATION FUNCTION

(1) Overview
This function compensates for errors in speed and position detection
due to the amplitude ratio and phase difference of phase A/B of speed
and position detection sensors.
By using this function, improvements in positioning and feed accuracy
at the time of Cs contour control can be expected.

(2) Series and editions of applicable spindle software

Series 9D50/C(03) and subsequent editions
Series 9D70/A(01) and subsequent editions

(3) Details
The feedback signals from the Mi, MZi, BZi , and CZi sensors are
used for speed or position detection in the spindle amplifier, and they
are two sine wave signals (phase A/B) having the same amplitude and
a phase difference of 90°. Based on these phase A/B signals, the
detection circuit of the spindle amplifier generates feedback data used
for speed and position detection. If the feedback signals are in the
ideal state (having the same amplitude and a phase difference of 90°),
accurate feedback data is generated. Actually, however, the amplitude
and phase difference are slightly deviated from the ideal state. This
deviation causes a feedback data error, which lowers the accuracy of
speed and position detection.
When the feedback data has an error due to the deviation in amplitude
and phase difference of the feedback signals as described above, this
function performs compensation of feedback data generation
processing (interpolation processing) of the detection circuit by setting
compensation data for the detection circuit to minimize the error.
Use of this function improves the accuracy in speed and position
detection. As a result, positioning and feed accuracy can be improved,
and also improvement in rigidity can be expected because of the
increase in velocity loop gain and position loop gain.

NOTE
This function does not simplify sensor installation
work by directly performing compensation of the
feedback signals. The sensor signals must satisfy
the specification. So, before using this function,
check that the feedback signals satisfy the
specification.

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(4) Setting parameters

15i 16i 30i
3355 4355 4355 Compensation of motor sensor signal amplitude ratio

Unit of data : 1%
Valid data range : -8 to +8
Standard setting value : 0

15i 16i 30i

3356 4356 4356 Compensation of motor sensor signal phase difference

Unit of data : 1°
Valid data range : -4 to +4
Standard setting value : 0

15i 16i 30i

3357 4357 4357 Compensation of spindle sensor signal amplitude ratio

Unit of data : 1%
Valid data range : -8 to +8
Standard setting value : 0

15i 16i 30i

3358 4358 4358 Compensation of spindle sensor signal phase difference

Unit of data : 1°
Valid data range : -4 to +4
Standard setting value : 0
When compensation of the feedback signal of the motor sensor
connected to spindle amplifier JYA2 is performed, the settings of
parameter Nos. 4355 and 4356 are adjusted. When compensation of
the feedback signal of the spindle sensor connected to JYA4 is
performed, the settings of parameter Nos. 4357 and 4358 are adjusted.
When as with a built-in motor the speed sensor and position sensor are
the same (the feedback signal of JYA2 is used for speed detection and
position detection), compensation is performed for JYA2 only. When
the speed sensor and position sensor are provided separately (the
feedback signal of JYA2 is used for speed detection, and the feedback
signal of JYA4 is used for position detection), compensation is
performed for both JYA2 and JYA4.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 4.ADJUSTMENT

(5) Preparation for adjustment

With this function, parameters are adjusted by rotating the spindle at a
certain speed in the velocity control mode and observing feedback
data. The measuring devices required for the adjustment and the
settings made at the time of adjustment are explained below.
<1> Measuring devices required for adjustment
For the adjustment by this function, a spindle check board
(A06B-6078-H001) and a digital oscilloscope having an
averaging function are required.
<2> Speed and rotation direction at adjustment time
For adjustment on the motor sensor side, issue a speed command
and rotation direction command (SFR or SRV) so that the motor
rotates in the forward direction (counterclockwise) at speed N
(see the equation below). For adjustment on the spindle sensor
side, issue the commands so that the spindle rotates in the
forward direction (counterclockwise) at speed N.
N [min-1] = 4685/Number of sensor gear teeth [λ/rev]
Example: When the number of sensor gear teeth = 256 [λ/rev]
N = 4685/256 = approx.18 [min-1]
<3> Setting observation data
The table given below lists the data items to be observed at the
time of adjustment and the settings for output on the spindle
check board. For adjustment on the motor sensor (JYA2) side,
observe data with data Nos. 313 and 231. For adjustment on the
spindle sensor (JYA4) side, observe data with data Nos. 314 and
232.

Channel Setting address Setting data Description

313 Motor sensor feedback incremental data
d-05 (data number)
314 Spindle sensor feedback incremental data
CH1 d-06 (shift amount) 3 to 5 Incremental data sent every 2 ms for feedback data (data Nos. 231
d-07 (shift direction) 0 and 232)
d-08 (offset) 0 or 1 The data weights 1/24λ/10V for a shift amount of 4
231 Motor sensor feedback data
d-09 (data number)
232 Spindle sensor feedback data
CH2 d-10 (Shift amount) 8 The data weights 1λ/10V.
d-11 (shift direction) 0 During rotation, a saw tooth wave form is observed, and the edge
d-12 (offset) 0 interval is equivalent to data for 1λ of the sensor gear.

<4> Setting the oscilloscope

Connect and set the oscilloscope as shown below to observe data.
Use a falling edge of feedback data as a trigger, observe a
waveform which averages incremental data, and adjust
parameters so that the amplitude of this waveform is minimized.
Channel 1: Connected to the CH1 pin of the check board (0.5 to
1 V/div)
Channel 2: Connected to the CH2 pin of the check board (5
V/div)
Measurement time range: 5 to 10 ms/div
Trigger setting: Falling edge of channel 2
Number of averaging times: About 16 to 64 times

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(6) Adjustment procedure

After completing the preparation for adjustment mentioned previously,
follow the steps below to adjust parameter settings in the MDI mode.

NOTE
Note that the αi series does not have the adjustment
function using the spindle check board.

<1> Rotation in the velocity control mode

Set all the amplitude ratio and phase difference compensation
parameters to 0, and rotate the spindle (motor) in the previously
mentioned direction and at speed N in the velocity control mode.
<2> Setting and adjusting the check board and oscilloscope
After disabling the averaging function of the oscilloscope, adjust
the settings regarding the shift amount and the presence/absence
of an offset for CH1, and the display setting of the oscilloscope
so that incremental data does not overflow the check board
output range (±5 V) and oscilloscope display range (see Fig.
4.3.1).
After completing the adjustment of the check board and
oscilloscope, enable the averaging function (See Fig. 4.3.2).
Time range:5ms/div
Without averaging

CH1:(313.4.0.1)
Feedback increment
0.5V/div

CH2:(231.8.0.0)
Feedback data
5V/div

Fig.4.3.1 Without averaging

Time range:5ms/div
32 averaging times

CH1:(313.4.0.1)
Feedback increment
0.5V/div
1.05V

CH2:(231.8.0.0)
Feedback data
5V/div

Fig. 4.3.2 When averaging is performed 32 times

* Sensor: 256 λ/rev, speed 18 min-1

<3> Adjusting the phase difference compensation parameter
Set the parameter for amplitude ratio compensation (parameter
No. 4355 or 4357) to 0, and adjust the phase difference

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 4.ADJUSTMENT

compensation parameter (parameter No. 4356 or 4358).

Typically, set a value with which the amplitude of averaged
incremental data is minimized. First, check the amplitude by
entering (+)1 as the parameter value and the amplitude by
entering -1. In the direction in which the amplitude becomes
smaller, change the parameter value in steps of 1. Then, you can
find the optimum value easily. Fig. 4.3.3 shows the waveform
obtained after phase difference compensation adjustment.
Time range:5ms/div
32 averaging times

CH1:(313.4.0.1)

0.57V Feedback increment

0.5V/div

CH2:(231.8.0.0)
Feedback data
5V/div

Fig. 4.3.3 After phase difference compensation

<4> Adjusting the amplitude ratio compensation parameter

After adjusting phase difference compensation to an optimum
value, adjust amplitude ratio compensation. The adjustment
method and the guideline for adjustment are the same as for
phase difference compensation. Perform adjustment so that the
amplitude of feedback incremental data becomes smaller. Fig.
4.3.4 shows the waveform obtained after adjustment of amplitude
ratio compensation (and phase difference compensation).
Time range:5ms/div
32 averaging times

CH1:(313.4.0.1)

0.42V Feedback increment

0.5V/div

CH2:(231.8.0.0)
Feedback data
5V/div

Fig. 4.3.4 After amplitude ratio (and phase difference) compensation

NOTE
Whichever compensation, amplitude ratio
compensation or phase difference compensation,
may be adjusted first, the same adjustment result
can be obtained. So, steps <3> and <4> may be
performed in reverse order.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5 FUNCTION DESCRIPTIONS

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.1 SPEED RANGE SWITCHING CONTROL Optional function

5.1.1 Overview
Speed range switching control switches the output characteristic
(winding) of a spindle motor (motor designed for speed range
switching control) that has two types of windings (winding with
low-speed output characteristic and winding with high-speed output
characteristic).

NOTE
Using this function requires the CNC software
option.

5.1.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition A(01) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

5.1.3 Configuration
Shown below is a machine configuration for using speed range
switching control.
This function requires the following items in addition to an SPM.
• Switching unit (a magnetic contactor and a relay for driving it are
included)
• Signals between the PMC and switching unit
Refer to "FANUC SERVO AMPLIFIER αi series Descriptions"
(B-65282EN) for the specification of the switching unit and detailed
descriptions about their connection.

Switching request signal

Status confirmation signal

Spindle motor
PMC CNC SPM with speed range
Power line switching control

Switching unit

Feedback signal

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.1.4 I/O Signals (CNC ↔ PMC)

(1) Address list of input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 CTH1A CTH2A
2nd- G235 G074 G074 CTH1B CTH2B

1st- G226 G071 G071 RCHA RSLA

2nd- G234 G075 G075 RCHB RSLB

1st- G229 G072 G072 RCHHGA

2nd- G237 G076 G076 RCHHGB

(2) Details of input signals (PMC → CNC)

(a) Speed range switching request signal (RSLA)
(1) The RSLA signal is used as a command signal for selecting an
output characteristic.
0: The high-speed characteristic is selected.
1: The low-speed characteristic is selected.
(2) Method of specifying the RSLA signal according to the speed
command (S command)
Input the RSLA signal in such a way that, if the specified speed
is lower than or equal to the switching speed, the low-speed
characteristic is selected and, if the specified speed is higher than
or equal to the switching speed, the high-speed characteristic is
selected. When this signal changes from 0 to 1 in a rotation speed
range that is higher than or equal to the switching speed, the
low-speed characteristic is selected immediately. To avoid this
symptom, set, to 1, a parameter (bit 4 of parameter No. 4019) for
selecting the low-speed characteristic after the speed detection
signal (SDTA) has changed to 1. This method requires that the
detection level of the SDTA signal be set to the switching speed.
(3) Method of using the speed-detected signal (SDTA)
Input the speed range switching request signal according to the
output of the SDTA signal. This method requires that the
detection level of the SDTA signal be set to the switching speed.
Note that the SDTA signal changes in the following cases:
• If the motor speed crosses the speed detection level during
constant surface speed control
When the motor is used with the low-speed characteristic,
clamping the maximum rotation speed of the spindle under
constant surface speed control to the switching speed (using
the G50 and G92 commands) prevents speed range
switching.
• If the motor speed crosses the speed detection level when
the speed is changed under spindle override

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(4) Because the motor is switched off during speed range switching,
select an output characteristic, whichever is necessary, before
entering any of the following control modes. Do not change the
speed range switching request signal during operation.
• Rigid tapping
• Cs contouring control
• Spindle synchronous control
• Spindle positioning
• Spindle orientation (lower than or equal to the orientation
speed)

(b) Low-speed characteristic magnetic contactor status signal (RCHA)

(1) Input an open/closed status signal for the magnetic contactor
(MCC) used for the low-speed characteristic of the spindle
motor.
0: The low-speed characteristic magnetic contactor is open
(off).
1: The low-speed characteristic magnetic contactor is closed
(on).
(2) Usually, specify the status of the auxiliary contact (contact A) of
the low-speed characteristic magnetic contactor without
modifying it.
(3) If bit 3 of parameter No. 4014 = 0, the RCHA signal is used as a
confirmation signal for the status of the power line. So, specify
the selected status of the magnetic contactor for switching the
output characteristic of the spindle motor.
0: The high-speed characteristic is selected.
1: The low-speed characteristic is selected.
To switch from low-speed characteristic to high-speed
characteristic, after making sure that the low-speed characteristic
magnetic contactor is switched off and the high-speed
characteristic magnetic contactor is switched on, change this
signal from 1 to 0. Similarly, to switch from high-speed
characteristic to low-speed characteristic, after making sure that
the high-speed characteristic magnetic contactor is switched off
and the low-speed characteristic magnetic contactor is switched
on, change this signal from 0 to 1.

(c) High-speed characteristic magnetic contactor status signal (RCHHGA)

(1) Input an open/closed status signal for the magnetic contactor
(MCC) used for the high-speed characteristic of the spindle
motor.
0: The high-speed characteristic magnetic contactor is open
(off).
1: The high-speed characteristic magnetic contactor is closed
(on).
(2) Usually, specify the status of the auxiliary contact (contact A) of
the high-speed characteristic magnetic contactor without
modifying it.
(3) The RCHHGA signal is valid if bit 3 of parameter No. 4014 = 1.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Address list of output signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 SDTA
2nd- F245 F049 F049 SDTB

1st- F228 F046 F046 RCFNA RCHPA

2nd- F244 F050 F050 RCFNB RCHPB

(4) Details of output signals (CNC → PMC)

(a) Power line switching signal (RCHPA)
(1) The RCHPA signal is a command signal for selecting a magnetic
contactor used to switch the output characteristic of the spindle
motor.
0: The high-speed characteristic magnetic contactor is
selected.
1: The low-speed characteristic magnetic contactor is selected.
(2) The RCHPA signal is output in response to an incoming speed
range switching request signal (RSLA). Switch the magnetic
contactor according to the RCHPA signal.
(3) When the speed range is switched from low speed to high speed,
the RCHPA signal changes from 1 to 0 in response to an
incoming speed range switching request signal (RSLA). When
the speed range switching request signal is received, the motor
power is automatically switched off. So, first switch off the
low-speed magnetic contactor. After making sure that the
low-speed magnetic contactor has been switched off, switch on
the high-speed magnetic contactor.
(4) When the speed range is switched from high speed to low speed,
the RCHPA signal changes from 0 to 1 in response to an
incoming speed range switching request signal (RSLA). When
the speed range switching request signal is received, the motor
power is automatically switched off. So, first switch off the
high-speed magnetic contactor. After making sure that the
high-speed magnetic contactor has been switched off, switch on
the low-speed magnetic contactor.

(b) Power line switching completion signal (RCFNA)

(1) After spindle motor speed range switching is completed, indicate
which speed range is selected.
0: The spindle is running with the high-speed characteristic.
1: The spindle is running with the low-speed characteristic.
(2) After making sure that the speed range switching request signal
(RSLA) has changed and the RCFNA signal matches the RSLA,
go to the next operation.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(c) Speed detection signal (SDTA)

(1) Output a signal for indicating whether the motor speed is not
lower than or not higher than the speed level specified in
parameter No. 4023.
0: The motor is rotating at or faster than the specified speed
level.
1: The motor is rotating at or lower than the specified speed
level.
(2) The SDTA signal can be used to detect the speed for speed range
switching by setting the speed detection level to the switching
speed.
(3) Be careful when using the SDTA signal for speed range
switching, because the signal may change because of speed
fluctuations when the machine runs at or near the switching
speed.
(4) The SDTA signal has hysteresis. The hysteresis width is initially
set to 20 min-1. The setting can be changed, using parameter No.
4160. See Subsection 5.1.7, "Details of Related Parameters," for
the setting.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.1.5 Sequence

(1)Performing speed range switching by checking the status of both contacts

of the low-speed characteristic magnetic contactor status signal (RCHA)
and high-speed characteristic magnetic contactor status signal (RCHHGA)
(bit 3 of parameter No. 4014 = 1)
(a) Switching from low-speed characteristic to high-speed characteristic
Speed range switching request
signal (RSLA) Low speed (= 1) High speed (= 0)
PMC→CNC
Power line switching signal
(RCHPA) Low speed (= 1) High speed (= 0)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC Low speed (= 1) High speed (= 0)

Low-speed characteristic
magnetic contactor Closed Open

Low-speed characteristic
magnetic contactor status signal Closed (=1) Open (=0)
(RCHA) PMC→CNC

High-speed characteristic Open Closed

magnetic contactor
High-speed characteristic
Open (=0) Closed (=1)
magnetic contactor status signal
(RCHHGA) PMC→CNC
Speed range switching
Low speed (=1) High speed (=0)
completion signal (RCFNA)
CNC→PMC

(b) Switching from high-speed characteristic to low-speed characteristic

Speed range switching request
signal (RSLA) High speed (= 0) Low speed (= 1)
PMC→CNC
Power line switching signal
(RCHPA) High speed (= 0) Low speed (= 1)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC High speed (= 0) Low speed (= 1)

Low-speed characteristic
magnetic contactor Open Closed

Low-speed characteristic
magnetic contactor status signal Open (=0) Closed (=1)
(RCHA) PMC→CNC
High-speed characteristic Open
Closed
magnetic contactor
High-speed characteristic
magnetic contactor status signal Closed (=1) Open (=0)
(RCHHGA) PMC→CNC
Speed range switching
High speed (=0) Low speed (=1)
completion signal (RCFNA)
CNC→PMC

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(2)Performing speed range switching by checking only the power line status
confirmation signal (RCHA) (bit 3 of parameter No. 4014 = 0)
(a) Switching from low-speed characteristic to high-speed characteristic
Speed range switching request
signal (RSLA) Low speed (= 1) High speed (= 0)
PMC→CNC
Power line switching signal
(RCHPA) Low speed (= 1) High speed (= 0)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC Low speed (= 1) High speed (= 0)

Low-speed characteristic
magnetic contactor Closed Open

High-speed characteristic
Open Closed
magnetic contactor

Power line status confirmation

Low speed (= 1) High speed (= 0)
signal (RCHA) PMC→CNC

Speed range switching

Low speed (=1) High speed (=0)
completion signal (RCFNA)
CNC→PMC

(b) Switching from high-speed characteristic to low-speed characteristic

Speed range switching request
signal (RSLA) High speed (= 0) Low speed (= 1)
PMC→CNC
Power line switching signal
(RCHPA) High speed (= 0) Low speed (= 1)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC High speed (= 0) Low speed (= 1)

Low-speed characteristic
magnetic contactor Open Closed

High-speed characteristic
Closed Open
magnetic contactor

Power line status confirmation

High speed (= 0) Low speed (=1)
signal (RCHA) PMC→CNC

Speed range switching

High speed (=0) Low speed (=1)
completion signal (RCFNA)
CNC→PMC

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

NOTE
1 A parameter can specify that switching from high-speed output characteristic to
low-speed output characteristic be not performed at a speed higher than or equal to
the switching speed (speed detection signal SDTA = 0) even if a switching request is
issued.
2 Switch the clutch/gear signals (CTH1A and CTH2A) in such a way that the velocity
loop gain can be specified for low- and high-speed characteristics separately.
3 SPM alarm 15 is issued unless the magnetic contactor status signal is input within
one second after the power line switching signal is output. So, input the magnetic
contactor status signal within one second after the power line switching signal is
output.
4 If you want to check the selection status of magnetic contactors MCC1 and MCC2
only with the auxiliary contact of magnetic contactor MCC1, allow a delay time of at
least 50 ms between the instant when switching between MCC1 and MCC2 is
performed with the power line switching signal (RCHPA) and the instant when the
power line status confirmation signal (RCHA) changes, because a delay occurs in
the operation of the magnetic contactors.

5.1.6 List of Related Parameters

Parameter No. Description

15i 16i 30i
Whether the speed range switching control function is available (to be
3015 #2 4015 #2 4015 #2 set to "1")
(The CNC software option is required.)
Function of checking the both magnetic contactor contacts for
3014 #3 4014 #3 4014 #3
high-/low-speed characteristics in speed range switching
Function of checking the speed detection signal when switching is
3019 #4 4019 #4 4019 #4
performed from high-speed characteristic to low-speed characteristic
3023 4023 4023 Speed detecting level
3160 4160 4160 Speed detection level hysteresis

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.1.7 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3015 4015 4015 SPDSW

SPDSW Presence of speed range switching function (To use this function, the
CNC software option is required.)
0 : Without speed range switching function
1 : With speed range switching function (To be set to "1")

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3014 4014 4014 CHGSLT

CHGSLT Function of checking the both magnetic contactor contacts for

high-/low-speed characteristics in speed range switching
0: A check is made, using the power line status confirmation signal
(RCH).
1: The contacts of both high- and low-speed characteristic magnetic
contactors are checked.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3019 4019 4019 SDTCHG

SDTCHG Specifies whether to switch from high-speed range to low-speed range,

upon the speed detection signal (SDT) being set to “1”, when speed
range switching is used.
0 : Switches from the high-speed to low-speed range regardless of
the speed detection signal (SDT).
1 : Switches from the high-speed to low-speed range after the SDT
signal has changed to "1".
If this data is "0", switching from high-speed characteristic to
low-speed characteristic occurs no matter what the status of the speed
detection signal (SDT) is.
If this data is "1", switching from high-speed characteristic to
low-speed characteristic does not occur when the speed detected
signal (SDT) is "0". The switching occurs only after the SDT signal
has changed to "1".
To make switching to low-speed characteristic occur securely at or
near the switching speed, set the speed detection level (parameter No.
4023) to a level slightly higher than the switching speed level.

15i 16i 30i

3023 4023 4023 Speed detecting level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 0
This data is used to set the detecting level of speed detecting signal
(SDT).
When the motor speed reaches (setting data/10) % or less of maximum
speed, the speed arrival signal (SDT) is set to "1".

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3160 4160 4160 Speed detection level hysteresis

Unit of data : 1min-1 (When parameter No. 4006 #2 (SPDUNT)=1, 10 min-1)

Valid data range : 0 to 32767
Standard setting value : 0
Specify the hysteresis of the detection level of the speed detection
signal (SDT).
The speed detection signal (SDT) changes from 1 to 0 with the set
speed detection level + hysteresis motor speed, and changes from 0 to
1 with the set speed detection level motor speed. If this data is set to
20 min-1 or less, the hysteresis is automatically set to 20 min-1.
If the speed detection signal (SDT) is used in speed range switching
control, increase the data setting in situations where the switching
circuit is likely to cause chattering close to the motor speed for the
speed detection level.
Set the hysteresis width to a speed change measured during switching
with a margin (about twice the measured speed change).
A rough estimate of the hysteresis width can be obtained from the
following expression (on the assumption that the motor load torque at
switching is 20% of the maximum output torque):
Speed range switching time
Hysteresis width[min −1 ] = × Maximum rotation speed × 0.2
Acceleration time until the maximum rotation speed is reached

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.1.8 Parameter-specified Switching between High- and Low-speed

Characteristics
(1) Clutch/gear signals (CTH1A and CTH2A)
In speed range switching control, clutch/gear signals (CTH1A
and CTH2A) are input to switch high- and low-speed velocity
loop gain, position gain, and gear ratio data.
Usually, the clutch/gear signals are intended to select spindle
parameters (velocity loop gain, position gain, and gear ratio) that
correspond to the selected clutch/gears.
In speed range switching control, switching must be done in
conjunction with winding selection.

Selection status of Selection status of

CTH1A CTH2A
clutch/gears winding
High-speed output
0 0 HIGH GEAR (HIGH)
characteristic winding
0 1 MEDIUM HIGH GEAR (HIGH) -
1 0 MEDIUM LOW GEAR (LOW) -
Low-speed output
1 1 LOW GEAR (LOW)
characteristic winding

(2) Relationships between the clutch/gear signals and spindle

parameters
(a) When the high-speed output characteristic winding is
selected (CTH1A = 0 and CTH2A = 0)

15i 16i 30i

3040 4040 4040 Velocity loop proportional gain on the velocity control mode (HIGH)

3042 4042 4042 Velocity loop proportional gain on orientation (HIGH)

3044 4044 4044 Velocity loop proportional gain on servo mode (HIGH)

3046 4046 4046 Velocity loop proportional gain on Cs contouring control (HIGH)

3048 4048 4048 Velocity loop integral gain on the velocity control mode (HIGH)

3050 4050 4050 Velocity loop integral gain on orientation (HIGH)

3052 4052 4052 Velocity loop integral gain on servo mode (HIGH)

3054 4054 4054 Velocity loop integral gain on Cs contouring control (HIGH)

3060 4060 4060 Position gain on orientation (HIGH)

3065 4065 4065 Position gain on servo mode (HIGH)

3069 4069 4069 Position gain on Cs contouring control (HIGH)

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(b) When the low-speed output characteristic winding is selected

(CTH1A = 1 and CTH2A = 1)

15i 16i 30i

3041 4041 4041 Velocity loop proportional gain on the velocity control mode (LOW)

3043 4043 4043 Velocity loop proportional gain on orientation (LOW)

3045 4045 4045 Velocity loop proportional gain on servo mode (LOW)

304 4047 4047 Velocity loop proportional gain on Cs contouring control (LOW)

3049 4049 4049 Velocity loop integral gain on the velocity control mode (LOW)

3051 4051 4051 Velocity loop integral gain on orientation (LOW)

3053 4053 4053 Velocity loop integral gain on servo mode (LOW)

3055 4055 4055 Velocity loop integral gain on Cs contouring control (LOW)

3063 4063 4063 Position gain on spindle orientation (LOW)

3068 4068 4068 Position gain on servo mode (LOW)

3072 4072 4072 Position gain on Cs contouring control (LOW)

(3) Cautions
Keep in mind that the clutch/gear signals (CTH1A and CTH2A)
are used to select also parameters for rigid tapping, feed axis
position gain under Cs contouring control, the number of teeth of
arbitrary gears, time constants, and backlash in the Series 15i.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.2 SPINDLE SWITCHING CONTROL

5.2.1 Overview
Spindle switching control is a function that drives two spindle motors
with a single SPM, one at a time by switching them. The function is
suitable for a machine in which two spindle motors are not driven
simultaneously.

5.2.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition E(05) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

5.2.3 Configuration
Shown below is a machine configuration for using spindle switching
control.
Spindle switching control requires the following items in addition to
two SPMs.
• Sub module SW (SSW)
• Switching unit (a magnetic contactor and a relay for driving it are
included)
• Signals between the PMC and switching unit
Refer to "FANUC SERVO AMPLIFIER αi series Descriptions"
(B-65282EN) for the specification of the submodule SW (hereafter
SSW), switching unit, and detailed descriptions about their
connection.

PMC CNC SPM SSW MAIN

Feedback signal Spindle motor

Feedback signal

Switching unit SUB

Power line Spindle motor
Switching request signal and
status confirmation signal Power line

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.2.4 Details of Specifications

(1) The SPM and SSW are used to select one of two spindle motors
and drive the selected spindle motor. They cannot be used to
drive two spindle motors simultaneously or switch between a
motor with a 200 V input and a motor with a 400 V input (HV).
They cannot be used to drive αCi series spindle motors either.
(2) Any spindle motors that can be driven with the SPM can be
combined as a main spindle or sub-spindle.
The capacity of the spindle amplifier module used for two
spindle motors must be large enough for the larger of the two.
The required parameters may have to be re-set depending on the
combination of the motors and amplifier.
(3) The SSW switches the feedback signal according to the
switching command from the SPM. The detectors that can be
used are as follows:
Detectors incorporated in the motor (speed detectors): Mi sensor,
MZi sensor, BZi sensor (for built-in motors), and CZi sensor (for
built-in motors)
Detectors mounted on the spindle (position detectors): Position
coder, BZi sensor (when SPM Type B is used), CZi sensor (when
SPM Type B is used), and proximity switch
(4) Speed range switch control can be used for both the main spindle
and sub-spindle.
(5) Rigid tapping can be used for both the main spindle and
sub-spindle.
(6) Position coder-based spindle orientation can be used for both the
main spindle and sub-spindle as long as it uses a method of
specifying a stop position with a parameter.
(7) The status information about the magnetic contactors of both the
main spindle and sub-spindle can be input so that the status of the
power line can be checked securely. This function is enabled by
setting the following parameters.
FS16i: Bit 2 of parameter No. 4014 = 1
FS30i: Bit 2 of parameter No. 4014 = 1
FS15i: Bit 2 of parameter No. 3014 = 1
(8) A switching error is detected and SPM alarm 15 is issued unless
the magnetic contactor status signal (MCFNA or MFNHGA) is
not input within one second after the power line switching signal
(CHPA) is output.

5.2.5 Restrictions
(1) Stop position external setting type orientation can be used only
for the main spindle.
(2) Spindle synchronous control can be used only for the main
spindle.
(3) Spindle positioning can be used only for the main spindle.
(4) Cs contouring control can be used only for the main spindle.
(5) For the sub-spindle motor, up to two gear switching stages can be
specified using a parameter.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(6) The dual position feedback function can be used on the main side
only.

5.2.6 I/O Signals (CNC↔PMC)

(1) Address list of input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G226 G071 G071 MCFNA SPSLA
2nd- G234 G075 G075 MCFNB SPSLB

1st- G229 G072 G072 MFNHGA

2nd- G237 G076 G076 MFNHGB

(2) Details of input signals (PMC → CNC)

(a) Spindle switching request signal (SPSLA)
(1) The SPSLA signal is used as a command signal to select a
spindle motor.
0: The main spindle motor is selected.
1: The sub-spindle motor is selected.
(2) After stopping the spindle motors, change the SPSLA signal.
The zero-speed signal (SSTA) can be used as an output signal to
check that the spindle motors are at a halt.
(3) Reset the rotation commands (SFRA and SRVA) and spindle
orientation command (ORMCA) to 0, because switching requires
that the motor power be off.

(b) Sub-spindle motor magnetic contactor status signal (MCFNA)

(1) Input the open/closed status of the sub-spindle motor magnetic
contactor (MCC).
0: The sub-spindle motor magnetic contactor is open (off).
1: The sub-spindle motor magnetic contactor is closed (on).
(2) Usually, specify the status of the auxiliary contact (contact A) of
the sub-spindle motor magnetic contactor without modifying it.
(3) If bit 2 of parameter No. 4014 = 0, the MCFNA signal is used as
a confirmation signal for the status of the power line. So, specify
the selection status of the magnetic contactor for switching the
power line of the spindle motor.
0: The main spindle motor is selected.
1: The sub-spindle motor is selected.
To switch from the sub-motor to the main motor, after making
sure that the sub-motor magnetic contactor is switched off and
the main motor magnetic contactor is switched on, change this
signal from 1 to 0. Similarly, to switch from the main motor to
the sub-motor, after making sure that the main motor magnetic
contactor is switched off and the sub-motor magnetic contactor is
switched on, change this signal from 0 to 1.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(c) Main spindle motor magnetic contactor status signal (MFNHGA)

(1) Input the open/closed status of the main spindle motor magnetic
contactor (MCC).
0: The main spindle motor magnetic contactor is open (off).
1: The main spindle motor magnetic contactor is closed (on).
(2) Usually, specify the status of the auxiliary contact (contact A) of
the main spindle motor magnetic contactor without modifying it.
(3) The MFNHGA signal is valid if bit 2 of parameter No. 4014 = 1.

(3) Address list of output signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 SSTA
2nd- F245 F049 F049 SSTB

1st- F228 F046 F046 CFINA CHPA

2nd- F244 F050 F050 CFINB CHPB

(4) Details of output signals (CNC → PMC)

(a) Power line switching signal (CHPA)
(1) The CHPA signal is a command signal for selecting a magnetic
contactor used to switch the power line of the spindle motor.
0: The main spindle motor magnetic contactor is selected.
1: The sub-spindle motor magnetic contactor is selected.
(2) When the spindle switching request signal (SPSLA) is input, a
check is made to see if the motors are at a stop and their power is
off. Once it has been confirmed that the motors are at a stop and
their power is off, the CHPA signal is output. Switch the
magnetic contactor according to the CHPA signal.
(3) When switching from the sub-motor to the main motor occurs,
the CHPA signal changes from 1 to 0 in response to an incoming
spindle switching request signal (SPSLA) provided that the
sub-motor is at a stop and its power is off. After this signal
change has occurred, first switch off the sub-motor magnetic
contactor. After making sure that the sub-motor magnetic
contactor has been switched off, switch on the main motor
magnetic contactor.
(4) When switching from the main motor to the sub-motor occurs,
the CHPA signal changes from 0 to 1 in response to an incoming
spindle switching request signal (SPSLA) provided that the main
motor is at a stop and its power is off. After this signal change
has occurred, first switch off the main motor magnetic contactor.
After making sure that the main motor magnetic contactor has
been switched off, switch on the sub-motor magnetic contactor.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(b) Spindle switching completion signal (CFINA)

(1) After spindle switching is completed, it is indicated which
spindle motor is currently under control.
0: The main spindle motor is currently under control.
1: The sub-spindle motor is currently under control.
(2) After making sure that the spindle switching request signal
(SPSLA) has changed and the CFINA signal matches the SPSLA,
go to the next operation.
(3) Keep the rotation commands (SFRA and SRVA) and spindle
orientation command (ORCMA) turned off during switching,
because switching requires that the motor power be off.

(c) Zero-speed signal (SSTA)

(1) It is indicated whether the spindle motor speed is not lower or not
higher than the zero-speed detection level (parameter-specified
speed level).
0: The motor is rotating at or faster than the speed detection
level.
1: The motor is rotating at or slower than the speed detection
level.
(2) The motor must be at a halt during spindle switching. Use the
SSTA signal to check that that the motor is at a halt.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.2.7 Sequence

(1)Performing spindle switching by checking the status of both contacts of

the sub-spindle motor magnetic contactor status signal (MCFNA) and main
spindle motor magnetic contactor status signal (MFNHGA) (bit 2 of
parameter No. 4014 = 1)

Main spindle motor Sub-spindle motor Main spindle motor

Rotation commands (SFRA and

SRVA) ON(=1) OFF(=0) ON(=1) OFF(=0) ON(=1)
Spindle orientation command
(ORCMA) PMC→CNC Rotation
Spindle motor speed Stop

Zero-speed signal (SSTA) OFF(=1) ON(=1) OFF(=0) ON(=1) OFF(=0)

CNC→CNC
Spindle switching request signal MAIN(=0) SUB(=1) MAIN(=0)
(SPSLA) PMC→CNC
Power line switching signal MAIN(=0)
MAIN(=0) SUB(=1)
(CHPA) CNC→PMC
Main spindle motor magnetic
contactor Closed Open Closed

Main spindle motor magnetic

contactor status signal Closed(=1) Open(=0) Closed(=1)
(MFNHGA) PMC→CNC
Sub-spindle motor magnetic Open Closed Open
contactor
Sub-spindle motor magnetic
contactor status signal Open(=0) Closed(=1) Open(=0)
(MCFNA) PMC→CNC
Spindle switching completion MAIN(=0) SUB(=1) MAIN(=0)
signal (RCFNA)
CNC→PMC
t1 t1’
t1<1sec, t2<1sec t1’<1sec, t2’<1sec
t2 t2’

NOTE
SPM alarm 15 is issued unless the main spindle
motor status signal (MFNHGA) and sub-spindle
motor status signal (MCFNA) change within one
second after the switching request signal (SPSLA)
signal has changed.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(2)Performing spindle switching by checking only with the power line status
signal (MCFNA) (bit 2 of parameter No. 4014 = 0)

Main spindle motor Sub-spindle motor Main spindle motor

Rotation commands (SFRA and

SRVA) ON(=1) OFF(=0) ON(=1) OFF(=0) ON(=1)
Spindle orientation command
(ORCMA) PMC→CNC Rotation
Spindle motor speed Stop

Zero-speed signal (SSTA) OFF(=1) ON(=1) OFF(=0) ON(=1) OFF(=0)

CNC→CNC
Spindle switching request signal MAIN(=0) SUB(=1) MAIN(=0)
(SPSLA) PMC→CNC
Power line switching signal MAIN(=0)
MAIN(=0) SUB(=1)
(CHPA) CNC→PMC
Main spindle motor magnetic
contactor Closed Open Closed

Sub-spindle motor magnetic Open Closed Open

contactor
Sub-spindle motor magnetic Open (=0) Closed (=1) Open (=0)
contactor status signal
(MCFNA) PMC→CNC
MAIN(=0) SUB(=1) MAIN(=0)
Spindle switching completion
signal (RCFNA)
CNC→PMC t1 t1’
t1<1sec t1’<1sec

NOTE
1 When checking the selection status of magnetic
contactors MCC1 and MCC2 only with the auxiliary
contact of magnetic contactor MCC1, allow a delay
time of at least 50 ms between the instant when
switching between MCC1 and MCC2 is performed
with the power line switching signal (CHPA) and the
instant when the power line status confirmation
signal (MCFN) changes, because a delay occurs in
the operation of the magnetic contactors.
2 SPM alarm 15 is issued unless the power line
magnetic contactor status signal (MCFNA) changes
within one second after the switching request signal
(SPSLA) has changed.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.2.8 List of Related Parameters

Parameter No.
Description
15i 16i 30i
5607#0 4019#7 4019#7 Parameter automatic setting function (MAIN)
3133 4133 4133 Motor model code (MAIN)
5607#0 4195#7 4195#7 Parameter automatic setting function (SUB)
3309 4309 4309 Motor model code (SUB)
Whether the spindle switching function is available (to be set to
3014#0 4014#0 4014#0
"1")
Function of checking the both magnetic contactor contacts for
3014#2 4014#2 4014#2
main spindle and sub-spindle motors in spindle switching
3013 4013 4013
Current dead-band data (MAIN)
#6 to #2 #6 to #2 #6 to #2
3024 4024 4024 Speed zero detecting level (MAIN)
3110 4110 4110 Current conversion constant (MAIN/high-speed characteristic)
3146 4146 4146 Current conversion constant (MAIN/low-speed characteristic)
3189 4189 4189
Current dead-band data (SUB)
#6 to #2 #6 to #2 #6 to #2
3199 4199 4199 Zero-speed detection level (SUB)
3264 4264 4264 Current conversion constant (SUB/high-speed characteristic)
3294 4294 4294 Current conversion constant (SUB/low-speed characteristic)

NOTE
In the FS15i, the parameter automatic setting
function is common to the main and sub-spindle
motors.

5.2.9 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3014 4014 4014 AXSLCT AXISSL

AXISSL Whether the spindle switching control function is available

0: No spindle switching function is available.
1: The spindle switching function is available (to be set to "1").

AXSLCT Function of checking the contents of both the main spindle and
sub-spindle motor magnetic contactor contacts in spindle switching
0: The check is based on the power line status signal (MCFN)
1: The check is made on the contacts (MCFN and MFNHG) of both
the main and sub-spindle motor magnetic contactors.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

MAIN: 3013 4013 4013 DS5 DS4 DS3 DS2 DS1
SUB: 3189 4189 4189 DS5 DS4 DS3 DS2 DS1

DS5 to DS1 Current dead-band data

This parameter is determined according to the SPM model to be used.
In spindle switching control, the amplifier model to be used may differ
from the amplifier that supports the motor. In this case, change the
parameter setting according to the amplifier to be used, while
referencing the following table.

Amplifier model Parameter setting

200V-input 400V-input (HV) DS5 DS4 DS3 DS2 DS1
SPM-2.2i to 15i SPM-5.5HVi to 15HVi 0 0 0 1 1
SPM-22i to 37i SPM-30HVi to 45HVi 1 0 1 0 0
SPM-45i to 55i SPM-75HVi to 100HVi 0 0 1 1 0

NOTE
Be careful when no correct data is specified,
because it is likely that switching elements in the
power circuit may break down.

15i 16i 30i

3024 4024 4024 Speed zero detecting level (MAIN side)
3199 4199 4199 Speed zero detecting level (SUB side)

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This data is used to set the detecting level of speed zero detection
signal (SSTA).
When the motor speed reaches (setting data/100)% or less of
maximum speed, the speed zero detection signal (SSTA) is set to "1".

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3110 4110 4110 Current conversion constant (MAIN side, high-speed characteristic)
3146 4146 4146 Current conversion constant (MAIN side, low-speed characteristic)
3264 4264 4264 Current conversion constant (SUB side, high-speed characteristic)
3294 4294 4294 Current conversion constant (SUB side, low-speed characteristic)

Unit of data :
Valid data range : 0 to 32767
Standard setting value : This parameter is intended to specify a current detection weight that
varies depending on the motor model to be used.
If a motor and an SPM are in a combination that is not originally
intended, it is necessary to change the setting according to the SPM to
be used. Use the following conversion formula to determine a value to
be specified in the parameter.
G1
ICONV 2 = ICONV 1×
G2
ICONV1 : Current conversion constant before change
ICONV2 : Current conversion constant after change
G1 : Current detection gain for the SPM initially intended for the
motor
G2 : Current detection gain for the SPM to be used in spindle
switching

The current detection gains (G1 and G2) vary from one amplifier
model to another. The following table lists the current detection gains
that correspond to each amplifier model.

Amplifier model Current detection gain

200V-input 400V-input (HV) (G1,G2)
SPM-2.2i, 5.5i SPM-5.5HVi, 11HVi 60
SPM-11i SPM-15HVi 30
SPM-15i SPM-30HVi 20
SPM-22i SPM-45HVi 15
SPM-26i 10
SPM-30i, 37i SPM-75HVi 7.5
SPM-45i SPM-100HVi 6.67
SPM-55i 4.29

NOTE
If no correct data is specified, the motor fails to
deliver the rated power, and it is likely that switching
elements in the power circuit may break down.

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5.2.10 Parameter Setting Procedure

(1) Motor-specific parameter setting
<1> Motor model code setting
Specify the model code of a motor to be subjected to
automatic setting. If the motor has no model code, specify
"300" (for a motor with no speed range switching function)
or "400" (for a motor with a speed range switching
function).
Parameter No.
CNC Setting value
MAIN side SUB side
15i No.3133 No.3309
16i No.4133 No.4309 Model code
30i No.4133 No.4309

<2> Parameter automatic setting

After the following parameters are specified, switch the
CNC power off and on again. The spindle parameter
specified with a model code is automatically set up. Once
automatic setting is completed, the following parameters are
re-set to their previous values.
Parameter No.
CNC Setting value
MAIN side SUB side
15i No.5607#0 0
16i No.4019#7 No.4195#7 1
30i No.4019#7 No.4195#7 1

NOTE
In the FS15i, a parameter for the parameter
automatic setting function is common to the main
and sub-spindle motors. Keep in mind that
parameter automatic setting occurs for the main
and sub-spindle motors simultaneously.

<3> Motor-specific parameter setting (for motors with no model

code)
If the motor has no model code, once automatic setting is
completed, specify motor-specific parameters by entering
values manually according to the parameter tables for
individual motor models.

(2) Parameter re-setting for spindle switching

If the motor and SPM are not in a standard combination, change
the current dead-band data and current conversion constant as
described in the previous item.

(3) Parameter setting related to detectors

Specify parameters related to detectors according to the system
configuration of the spindle.
See Section 1.3 for explanations about how to specify parameters
related to detectors.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.2.11 Supplementary Descriptions about Parameters

(1) The following parameters are common to the main and
sub-spindle motors. They cannot be specified separately for these
motors.
Parameter No.
Description
15i 16i 30i
3027 4027 4027 Load detecting level 2
3030 4030 4030 Soft start/stop setting time
3087 4087 4087 Overspeed level
Velocity error excess detecting level on motor shaft
3088 4088 4088
lock condition
3089 4089 4089 Velocity error excess detecting level on motor rotation
3090 4090 4090 Overload detecting level
3095 4095 4095 Adjustment of speedometer output voltage
3096 4096 4096 The adjustment of load meter output voltage
3098 4098 4098 Maximum speed of position feedback signal detection
3099 4099 4099 Delay time for motor excitation
3123 4123 4123 Setting the overload detection time
3260 4260 4260 Speed detection level hysteresis
3341 4341 4341 Unexpected disturbance torque detection level
3344 4344 4344 Advanced feed-forward coefficient
3346 4346 4346 Incomplete integration coefficient

(2) For the sub-spindle motor, up to two gear switching stages can be
specified. The input signal CTH1A is used to select one of the
gear stages. (For the main spindle motor, up to four gear
switching stages can be specified, using CTH1A and CTH2A.)
Parameter No.
Description CTH1A
15i 16i 30i
3216 4216 4216 Gear ratio(SUB side/HIGH) 0
3217 4217 4217 Gear ratio(SUB side /LOW) 1
3218 4218 4218 Position gain on orientation(SUB side/HIGH) 0
3219 4219 4219 Position gain on orientation(SUB side/LOW) 1
3221 4221 4221 Position gain on servo mode(SUB side/HIGH) 0
3222 4222 4222 Position gain on servo mode(SUB side/LOW) 1

(3) For the sub-spindle motor, only one velocity integral gain stage
can be specified. The CTH1A signal cannot be used for
switching.
Parameter No.
Description
15i 16i 30i
Velocity loop integral gain on the velocity control mode
3212 4212 4212
(SUB side)
3213 4213 4213 Velocity loop integral gain on orientation (SUB side)
3214 4214 4214 Velocity loop integral gain on servo mode (SUB side)

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION

(SPINDLE ROTATION SPEED CONTROL) Optional function

5.3.1 Overview
Incremental command type spindle orientation is a function that
expands the spindle orientation in which a stop position is specified
externally using a position coder.
This function is intended to move the spindle from the position where
it was when a spindle orientation command was input to a position
specified incrementally. It positions the spindle as follows:
The spindle rotates from the position where it was when a spindle
orientation command was input through an incremental angle
specified from the PMC via the CNC. When the spindle orientation is
completed, a completion signal is sent to the PMC via the CNC.
Using the function enables:
(i) Spindle motor-based turret indexing
(ii) Spindle rotation speed control if a command multiplier value
(parameter-specified value) is set to "4096"

NOTE
1 Using this function requires the spindle orientation
CNC software option.
2 Up to about 120 revolutions can be specified as the
maximum allowable spindle speed.

5.3.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition A(01) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.3.3 System Configuration

The incremental command type spindle orientation function can be
used in the following system configuration.

(1) When the α position coder is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SPM
TYPE A

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the α position coder S is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder S
SPM
TYPE B

JYA4
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(3) When the built-in motor is used

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(4) When the spindle motor with built-in MZi sensor is used
Spindle motor with built-in MZi sensor

JYA2 Spindle

SPM
TYPE A
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(5) When the separate type BZi sensor or the separate type CZi sensor is
used
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

BZi sensor or CZi sensor

(6) When the external one-rotation signal (proximity switch) is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

External one-rotation
signal switch (proximity
switch)

Gear or timing belt

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

NOTE
1 To detect the one-rotation signal securely, fix the
direction (bits 3 and 2 of parameter No. 4003) in
which the spindle rotates during spindle orientation
to one direction.
2 Specify the type (bits 3 and 2 of parameter No.
4004) of an external one-rotation signal (proximity
switch).
3 To detect the one-rotation signal securely, set the
spindle orientation speed (parameter No. 4038) to a
value between 50 and 100 min-1 according to the
specification of the external one-rotation signal
(proximity switch).
4 A sequence for detecting the one-rotation signal is
started after the orientation speed has been
reached.
5 Specify the denominator/numerator parameters
(Nos. 4171 to 4174) of an arbitrary gear ratio
between the motor sensor and spindle.

(7)System in which the turret and the motor with a built-in MZi sensor are linked
with gears and a clutch (for turret indexing)
Spindle motor with built-in MZi sensor

Spindle
Turret (tool post)

JYA2

SPM
TYPE A

Link with gears and a clutch

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.3.4 I/O Signals(CNC↔PMC)

(1) Address list of input signals (PMC→CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 ORCMA CTH1A CTH2A
2nd- G235 G074 G074 ORCMB CTH1B CTH2B

1st- G229 G072 G072 INCMDA NRROA ROTAA INDXA

2nd- G237 G076 G076 INCMDB NRROB ROTAB INDXB

1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G231 G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G239 G081 G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC→CNC)

(a) Incremental command data selection signal (INCMDA)
The INCMDA signal is for selecting the data type (stop position data
or incremental command data) of externally specified data (SHA00 to
SHA11).
0: Stop position data
1: Incremental command data

(b) Short-cut command for spindle orientation stop position change (NRROA)
The NRROA signal is disabled if incremental command type spindle
orientation is enabled (INCMDA = 1).

(c) Spindle orientation command (ORCMA)

(d) Clutch/gear signals (CT1HA and CTH2A)
(e) Spindle orientation stop position change command (INDXA)
(f) Rotation direction command for spindle orientation stop position change
(ROTAA)
The functions of the input signals ORCMA, CTH1A, CTH2A,
INDXA, and ROTAA are the same as for position coder-method
spindle orientation. See Section 2.2, "POSITION CODER METHOD
SPINDLE ORIENTATION" in Part I.

(g) Spindle orientation external stop position commands (SHA11 to SHA00)

These commands are treated as incremental command data if
INCMDA = 1.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Address list of output signals (CNC→PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA
2nd- F245 F049 F049 ORARB

1st- F221 F047 F047 INCSTA

2nd- F247 F051 F051 INCSTB

(4) Details of output signals (CNC→PMC)

(a) Incremental command mode status signal (INCSTA)
The INCSTA signal indicates the status of the INCMDA (incremental
command data selection signal).
0: INCMDA = 0
1: INCMDA = 1
Before performing incremental command type spindle orientation,
make sure that this signal is "1".

(b) Spindle orientation completion signal (ORARA)

The function of the output signal ORARA is the same as for position
coder-method spindle orientation. See Section 2.2, "POSITION
CODER METHOD SPINDLE ORIENTATION" in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.3.5 Examples of Sequences

(1) Incremental operation

ORCMA
(Spindle orientation command)

SHA00-SHA11
(Spindle orientation stop position
command)
<1> <2> <3>

INDXA
(Spindle orientation stop position
change command)

INCMDA
(Stop position/incremental command
data selection command)

ROTAA
(Rotation direction command for stop
position change)

Spindle position

Motor speed

<4> <4>
ORARA
(Spindle orientation completion signal)

NOTE
Set time t to 50 ms or over so that each signal can
be confirmed.

<1> The SHA00 to SHA11 data is read as incremental command data

if ORCMA rises under the condition of INCMDA = "1" when
the spindle is at a halt (zero-speed detection signal SSTA = "1").
The spindle rotates through the specified incremental angle,
starting from the position where it rested, and then stops. Its
rotation direction is determined by ROTAA.
<2> If incremental operation is continued, the SHA00 to SHA11 data
is read as incremental command data if INDXA falls under the
condition of ORCMA = "1" and INCMDA = "1". The spindle
rotates through the specified incremental angle, starting from the
position where it rested, and then stops. Its rotation direction is
determined by ROTAA.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

<3> Incremental command data is specified in pulse units in a range

from 0 to +4095 pulses.
The rotation direction of the spindle is determined by ROTAA.
If the command multiplier parameter (No. 4328) is specified, the
spindle rotates through [command multiplier parameter] ×
[incremental command data] and then stops. The rotation
direction parameter NRROA (bits 2 and 3 of parameter No.
4003) is disabled during incremental operation.
<4> When the position error gets in a parameter-specified range, the
completion signal ORARA is output.

(2) Example of using spindle orientation and incremental movement together

ORCMA
(Spindle orientation command)

SHA00-11
(Spindle orientation stop position
command)
<1> <2> <3>
INDXA
(Spindle orientation stop position
change command)

INCMDA
(Stop position/incremental
command data selection
command)

ROTAA
(Rotation direction command for
stop position change)

NRROA
(Short-cut command for stop
position change)

Spindle position

Motor speed

<4> <4>
ORARA
(spindle orientation completion
signal)
NOTE
Set time t to 50 ms or over so that each signal can
be confirmed.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

<1> Stop at a fixed position as directed with an ordinary spindle

orientation command
• In the first-time orientation after the power is switched on,
the spindle rotates at the orientation speed. After detecting a
one-rotation signal, it stops at a fixed position. In the
second- and subsequent-time spindle orientation, the spindle
stops at a fixed position within one rotation.
• The direction in which the spindle motor rotates depends on
the setting of the rotation direction parameter (bits 2 and 3
of parameter No. 4003).
• The SHA00 to SHA11 data is read as stop position
command data if ORCMA rises under the condition of
INCMDA = "0". The spindle rotates through the angle
determined by [SHA00 to SHA11 value] + [value specified
in the orientation stop position shift amount parameter (No.
4077)], and then stops there.
<2> Stop at a fixed position as directed with an incremental command
• See the previous page for incremental operations.
• If the command multiplier parameter (No. 4328) = 4096,
spindle rotation speed control can be performed.
<3> Fixed position specified with fixed position stop external setting
• The SHA00 to SHA11 data is read as stop position
command data if INDXA falls under the condition of
ORCMA = "1" and INCMDA = "0", the spindle rotates to a
specified position and then stops there.
• The direction in which the spindle rotates is determined by
NRROA and ROTAA.
If NRROA = "1", the spindle rotates from the current stop
position to a specified stop position through the shorter
route (within ±180°).
If NRROA = "0", the direction in which the spindle rotates
is determined by ROTAA.
<4> If the position error gets in a parameter-specified range, the
completion signal ORARA is output.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.3.6 List of Related Parameters

Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to "1")
3015 #0 4015 #0 4015 #0
(The CNC software option is required.)
Whether the stop position external setting-type spindle orientation
5609#2 3702#3,#2 3729#0 function is available (to be set to "1")
(For 16i, #2: First spindle, #3: Second spindle)
3328 4328 4328 Command multiplier for incremental command external setting data

NOTE
This subsection describes only the parameters
specific to incremental command type spindle
orientation. See Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION" in Part I, for
parameters related to other types of spindle
orientation.

5.3.7 Details of Related Parameters

This subsection describes only the parameters specific to incremental
command type spindle orientation. See Section 2.2, "POSITION
CODER METHOD SPINDLE ORIENTATION" in Part I, for
parameters related to other types of spindle orientation.

15i 16i 30i

3328 4328 4328 Command multiplier for spindle orientation by a position coder

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set a command multiplier for the spindle orientation function with an
externally set incremental command.
If this data is "0", the multiplier is automatically assumed to be 1.
Incremental command = incremental command data (SHA11 to
SHA00) × data (multiplier) specified in this parameter
To use spindle rotation speed control, set this parameter to "4096",
because one rotation of the spindle corresponds to 4096 pulses.

NOTE
The maximum specifiable speed (incremental
command) is 120 revolutions (= 120 × 4096 pulses).

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.4 HIGH-SPEED SPINDLE ORIENTATION Optional function

5.4.1 Overview
This high-speed spindle orientation function shortens the time
required for spindle orientation of the spindle by:
<1> Making the most of the ability of the motor to decelerate
<2> Increasing the gain of the position loop

NOTE
1 Using this function requires the CNC software
option for spindle orientation.
2 This function cannot be used for spindle orientation
during spindle synchronous control.
3 This function does not support the speed unit 10
min-1 (FS16i: Bit 2 of No. 4006 = 1).

5.4.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition A(01) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

5.4.3 System Configuration

Explained below is a system configuration in which the high-speed
spindle orientation function is usable.

NOTE
This function cannot be used in an external
one-rotation signal-based spindle orientation system
in which a proximity switch is used.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(1) When the α position coder is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SPM
TYPE A

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the α position coder S is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder S
SPM
TYPE B

JYA4
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(3) When the built-in motor is used

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(4) When the spindle motor with built-in MZi sensor is used
Spindle motor with built-in MZi sensor

JYA2 Spindle

SPM
TYPE A
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(5) When the separate type BZi sensor or separate type CZi sensor is used
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle

BZi sensor or CZi sensor

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.4.4 I/O Signals (CNC↔PMC)

(1) Address list of input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 ORCMA CTH1A CTH2A
2nd- G235 G074 G074 ORCMB CTH1B CTH2B

1st- G229 G072 G072 INCMDA NRROA ROTAA INDXA

2nd- G237 G076 G076 INCMDB NRROB ROTAB INDXB

1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G231 G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G239 G081 G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC → CNC)

(a) Spindle orientation command (ORCMA)
(b) Clutch/gear signals (CTH1A and CTH2A)
(c) Spindle orientation stop position change command (INDXA)
(d) Rotation direction command for spindle orientation stop position change
(ROTAA)
(e) Short-cut command for spindle orientation stop position change (NRROA)
(f) Incremental command data selection signal (INCMDA)
(g) Spindle orientation external stop position commands (SHA11 to SHA00)
The functions of the input signals ORCMA, CTH1A, CTH2A,
INDXA, ROTAA, NRROA, INCMDA, and SHA11 to SHA00 are the
same as for position coder-method spindle orientation and incremental
command type spindle orientation. See Sections 2.2, "POSITION
CODER-METHOD SPINDLE ORIENTATION," and 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION"
in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(3) Address list of input signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA
2nd- F245 F049 F049 ORARB

1st- F221 F047 F047 INCSTA

2nd- F247 F051 F051 INCSTB

(4) Details of input signals (CNC → PMC)

(a) Incremental command mode status signal (INCSTA)
(b) Spindle orientation completion signal (ORARA)
The functions of the output signals ORARA and INCSTA are the
same as for position coder-method spindle orientation and incremental
command type spindle orientation. See Sections 2.2, "POSITION
CODER METHOD SPINDLE ORIENTATION," and 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION"
in Part I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.4.5 Sequence
This subsection describes the operations of high-speed spindle
orientation. See Sections 2.2, "POSITION CODER-BASED
SPINDLE ORIENTATION," and 5.3, "INCREMENTAL
COMMAND TYPE SPINDLE ORIENTATION" in Part I, for
concrete examples of sequences

(1) Starting spindle orientation when the spindle is rotating at or faster than
the orientation speed upper limit

ORCMA
(spindle orientation command)
ORARA
(spindle orientation completion signal)

Motor speed <1>

<2>

<3>

<4>
<5>

<1> If the spindle orientation command (ORCMA) is input when the

spindle is rotating at or faster than the orientation speed upper
limit specified in parameter No. 4038, the spindle is decelerated
to the orientation speed upper limit.
<2> A one-rotation signal is detected (only at the first-time spindle
orientation after the power is switched on).
<3> The spindle decelerates at the acceleration specified as an
acceleration during motor deceleration in parameter Nos. 4320 to
4323.
<4> When the spindle speed becomes lower than or equal to the value
calculated within the software, the position loop is controlled at
the position gain specified as a spindle orientation position gain
in parameter Nos. 4060 to 4063.
<5> When the position error becomes lower than or equal to the
number of pulses specified as a spindle orientation completion
signal level in parameter No. 4075, the spindle orientation
completion signal (ORARA) is output.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(2) Starting spindle orientation when the spindle is rotating at a speed

between the orientation speed lower limit and the orientation speed upper
limit

ORCMA
(spindle orientation command)
ORARA
(spindle orientation completion signal)

<1>
Motor speed

<2>

<3>
<4>

<1> If the spindle orientation command (ORCMA) is input when the

spindle is rotating at a speed between the orientation speed upper
limit specified in parameter No. 4038 and the orientation speed
lower limit (calculated within the software), a one-rotation signal
is detected (only at the first-time spindle orientation after the
power is switched on).
<2> The spindle decelerates at the acceleration specified as an
acceleration during motor deceleration in parameter Nos. 4320 to
4323.
<3> When the spindle speed becomes lower than or equal to the value
calculated within the software, the position loop is controlled at
the position gain specified as a spindle orientation position gain
in parameter Nos. 4060 to 4063.
<4> When the position error becomes lower than or equal to the
number of pulses specified as a spindle orientation completion
signal level in parameter No. 4075, the spindle orientation
completion signal (ORARA) is output.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Starting spindle orientation when the spindle is rotating at or slower than
the orientation speed lower limit

ORCMA
(spindle orientation command)
ORARA
(spindle orientation completion signal)

<2>
<1>
Motor speed
<3>

<4>
<5>

<1> If the spindle orientation command (ORCMA) is input when the

spindle is rotating at or slower than the orientation speed lower
limit (calculated within the software), a one-rotation signal is
detected (only at the first-time spindle orientation after the power
is switched on).
<2> The spindle accelerates at the acceleration specified as an
acceleration during motor deceleration in parameter Nos. 4320 to
4323.
<3> The spindle decelerates at the acceleration specified as an
acceleration during motor deceleration in parameter Nos. 4320 to
4323.
<4> When the spindle speed becomes lower than or equal to the value
calculated within the software, the position loop is controlled at
the position gain specified as a spindle orientation position gain
in parameter Nos. 4060 to 4063.
<5> When the position error becomes lower than or equal to the
number of pulses specified as a spindle orientation completion
signal level in parameter No. 4075, the spindle orientation
completion signal (ORARA) is output.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.4.6 List of Related Parameters

Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to "1")
3015 #0 4015 #0 4015 #0
(The CNC software option is required.)
3018 #6 4018 #6 4018 #6 High-speed spindle orientation function (to be set to "1")
Whether the stop position external setting-type spindle orientation function
5609#2 3702#3,#2 3729#0 is available
(For 16i, #2: First spindle, #3: Second spindle)
3003 #0 4003#0 4003#0 Spindle orientation type selection (to be reset to "0")
Rotation direction for spindle orientation (to be reset to "0, 0" or to be set to
3003#3,#2 4003#3,#2 4003#3,#2
"0, 1")
3017#7 4017#7 4017#7 Short-cut function when spindle orientation from stopped state is specified
Whether the speed command correction function for high-speed spindle
3018#5 4018#5 4018#5
orientation is available
Spindle orientation stop position
3031 4031 4031 (This parameter is invalid for stop position external setting type and
incremental command external setting type.)
3038 4038 4038 Orientation speed upper limit
3042 4042 4042 Velocity proportional gain on orientation
3043 4043 4043 (These parameters are selected with the input signal CTH1A.)
3050 4050 4050 Velocity integral gain on orientation
3051 4051 4051 (These parameters are selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059 (These parameters are selected with the input signals CTH1A and
CTH2A.)
Position gain on orientation
3060 to 3063 4060 to 4063 4060 to 4063 (These parameters are selected with the input signals CTH1A and
CTH2A.)
3064 4064 4064 Percentage limit to an acceleration during deceleration
3075 4075 4075 Orientation completion signal detection level
3077 4077 4077 Orientation stop position shift value
3084 4084 4084 Motor voltage on orientation
Acceleration during motor deceleration
3320 to 3223 4320 to 4323 4320 to 4323 (These parameters are selected with the input signals CTH1A and
CTH2A.)
3326 4326 4326 Acceleration limitation start speed during deceleration
3330 4330 4330 (These parameters are selected with the input signal CTH1A.)
3328 4328 4328 Command multiplier for orientation

NOTE
1 See Section 1.3, "PARAMETERS RELATED TO DETECTORS" in Part I, for
parameters related to detectors.
2 See Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT" in Part I, for velocity loop
proportional/integral gain tuning.
3 When using the high-speed spindle orientation function, set the parameters (bits 3
and 2 or parameter No. 4003) for rotation direction for spindle orientation with the
previous rotation direction (0, 0 or 0, 1).

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.4.7 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3018 4018 4018 HSORI HSVCM

HSVCM : Velocity command compensation function in hhigh-speed spindle

orientation is:
0 : Disabled.
1 : Enabled.
Usually, set this parameter to "1".

HSORI : High-speed spindle orientation function is :

0 : Disabled
1 : Enabled
Set to 1.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3003 4003 4003 DIRCT2 DIRCT1 PCMGSL

DIRCT1, DIRCT2 Rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction
By rotation direction immediately before (CCW for the
0 0 first-time spindle orientation after the power is switched
on)
By rotation direction immediately before (CW for the
0 1 first-time spindle orientation after the power is switched
on)
1 0 CCW direction looking from shaft of motor
1 1 CW direction looking from shaft of motor

NOTE
When using the high-speed spindle orientation
function, specify the rotation direction for spindle
orientation to be the previous rotation direction (bits
3 and 2 of parameter No. 4003 = 0 and 0 or 0 and 1).

PCMGSL : Orientation method selection

Set to 0.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN

NRROEN The short-cut function when spindle orientation from stopped state is
specified is:
0: Unavailable
1: Available
If the setting is "1", a short-cut is made provided that the following
conditions are satisfied.
i) Bit 7 of parameter No. 4016 (RFCHK3) = 0
ii) Zero-speed detection signal (output signal) SST = 1
iii) Short-cut command (input signal) NRROA = 1

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

3031 4031 4031 Position coder method orientation stop position

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4095
Standard setting value : 0
This data is used to set the stop position of position coder method
spindle orientation. This parameter is invalid for stop position external
setting-type and incremental command external setting-type spindle
orientation. Instead, the stop position commands (SHA11 to SHA00)
(input signals) are valid.

15i 16i 30i

3038 4038 4038 Spindle orientation speed upper limit

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0
This data is used to specify the upper limit to the orientation speed of
an spindle end. If the setting is "0", the parameter is assumed to be set
with a value converted for the spindle from the excitation voltage
saturation speed with no load on the motor (parameter No. 4102,
low-speed characteristic parameter No. 4140).

15i 16i 30i

3042 4042 4042 Velocity proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to set the velocity loop proportional gain on
orientation.
15i 16i 30i
3050 4050 4050 Velocity integral gain on orientation (HIGH) CTH1A=0
3051 4051 4051 Velocity integral gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to specify a velocity loop integral gain for spindle
orientation.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : Number of motor rotations per spindle rotation / 100

(Number of motor rotations per spindle rotation / 1000 if bit 1 of
parameter No. 4006 (GRUNIT) = 1)
Valid data range : 3 to 3000
(33 to 30000 if bit 1 of parameter No. 4006 (GRUNIT) = 1)
Standard setting value : 100

NOTE
The range of gear ratios supported by this function is:
1:30 to 30:1

15i 16i 30i

3060 4060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
3061 4061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
3062 4062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
3063 4063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting value : 1000
These data are used to set the position gain on spindle orientation.

15i 16i 30i

3064 4064 4064 Percentage limit to an acceleration during deceleration

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This data is used to specify the percentage limit to an acceleration
during deceleration if spindle orientation is started when the spindle
speed is lower than or equal to the limitation start seed for an
acceleration during deceleration (parameter Nos. 4326 and 4330).
Usually, specify "100".

15i 16i 30i

Orientation completion signal detection level (effective area for in-position
3075 4075 4075 check)

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : 0 to 100
Standard setting value : 10
This data is used to set the detecting level of orientation completion
signal (ORARA). ORARA = 1 is satisfied if the position error is
within the setting.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

3077 4077 4077 Orientation stop position shift value

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : -4095 to 4095
Standard setting value : 0
This data is used to specify the shift amount of the spindle orientation
stop position. If a positive value is specified, the position where the
spindle stops is shifted counterclockwise.

15i 16i 30i

3084 4084 4084 Motor voltage setting on orientation

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : Depends on the motor model.
This data is used to specify the motor voltage for spindle orientation.
For high-speed spindle orientation, usually specify "100".

15i 16i 30i

3320 4320 4320 Acceleration during motor deceleration (HIGH) CTH1A=0, CTH2A=0
3321 4321 4321 Acceleration during motor deceleration (MEDIUM HIGH) CTH1A=0, CTH2A=1
3322 4322 4322 Acceleration during motor deceleration (MEDIUM LOW) CTH1A=1, CTH2A=0
3323 4323 4323 Acceleration during motor deceleration (LOW) CTH1A=1, CTH2A=1

Unit of data : 10min-1/sec

Valid data range : 0 to 6400
Standard setting value : 0
This data is used to specify the acceleration during motor deceleration
for high-speed spindle orientation. If the setting is "0", the high-speed
spindle orientation function is disabled, and the standard-type spindle
orientation function is enabled. The setting for the parameter is
obtained, using:
τ 60
Acceleration during deceleration = × × (0.8 to 0.9)
J 2π
where
τ(Nm) : Motor maximum torque at spindle orientation speed upper
limit (parameter No. 4038)
J(kgm2) : Motor inertia + load inertia

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3326 4326 4326 Acceleration limitation start speed during deceleration (HIGH) CTH1A=0
3330 4330 4330 Acceleration limitation start speed during deceleration (LOW) CTH1A=1

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0
This data is used to specify the motor speed at which limitation on the
acceleration during deceleration is started. If the setting is "0", the
parameter is assumed to be set with the spindle orientation lower limit
speed calculated within the software.

15i 16i 30i

3328 4328 4328 Command multiplier for spindle orientation by a position coder

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set a command multiplier for the spindle orientation function with an
externally set incremental command.
When 0 is set in these parameters, 1 is assumed to have been
specified.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.4.8 Spindle Data Used in Tuning

This subsection describes high-speed spindle orientation-related data
that can be observed using the spindle check board
(A06B-6078-H001). Refer to an applicable maintenance manual for
detailed explanations about how to use the spindle check board.

(1) Motor speed (data No. 19) and motor speed command (data No. 16)
These are spindle motor speed data and speed command data. The
following table lists the relationships between the shift amount and the
check board output value (if shift direction 0 and offset 1 are
specified).

Shift amount 15 16 17 18 19 20
Output value (min-1/5V) 1024 2048 4096 8192 16384 32768

(2) Torque command (data No. 90)

This is motor torque command data. If shift amount 8, shift direction 0,
and offset 1 are specified, the check board output value is 100%/2.5
V.

(3) Spindle orientation sequence (data No. 298)

This data represents a high-speed spindle orientation sequence. If shift
amount 4, shift direction 1, and offset 1 are specified, the check board
output and the state of each sequence interval are as follows:

4.375V A : Before spindle orientation begins

B : Interval from the instant when an
spindle orientation command is input
and the instant which the orientation
speed is reached and a one-rotation
signal is detected
1.875V C : Interval during which the spindle is
linearly decelerating with a constant
specified for deceleration
D : State in which the position loop is
0.625V
closed
0V E : Spindle orientation is completed (in-
position)
A B C D E

(4) Position error (data No. 136)

This is position error data (4096 pulses/rev) for spindle orientation.
The following table lists the relationships between the shift amount
and check board output value (when shift direction 0 and offset 1 are
specified).

Shift amount 0 1 2 3 4 5
Output value (pulses/5 V) 128 256 512 1024 2048 4096

The position error data is output only in sequence intervals C, D, and

E. It is 0 in the other intervals.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(5) Spindle orientation time (data No. 305)

This is the time from the instant when a spindle orientation command
is input to the instant when spindle orientation is completed. It is
indicated in ms units on the check board indicator (when shift amount
0, shift direction 0, and display format 0 are specified).

5.4.9 Tuning Procedure

Tune the parameters according to the following procedure. The ability
of a motor to decelerate varies with the load inertia on the motor.
When tuning, mount a tool with the highest possible load inertia on
the spindle. If such a tool is unavailable, allow a considerable margin
in specifying an acceleration during deceleration.

(1) Parameter initialization

Initialize the parameters related to high-speed spindle orientation as
listed below.

No. Description Initial setting

4003#0 Selecting a spindle orientation type 0
4003#3,#2 Spindle rotation direction at orientation Select a rotation direction.
Specify an appropriate value depending
4006#1 Unit of gear ratio setting
on the system configuration.
Short-cut function when spindle orientation from Specify an appropriate value according
4017#7
stopped state is specified to the use of the machine.
Whether a speed command correction function for
4018#5 1
high-speed spindle orientation is available
4018#6 High-speed spindle orientation function 1
4031 Spindle orientation stop position Specify a stop position.
4038 Spindle orientation speed upper limit 0
4042 to 4043 Velocity proportional gain on orientation 10
4050 to 4051 Velocity integral gain on orientation 10
Specify an appropriate value depending
4056 to 4059 Gear ratio
on the system configuration.
4060 to 4063 Position gain on orientation 3000
4064 Percentage limit to an acceleration during deceleration 100
Specify an appropriate value according
4075 Orientation completion signal detection level
to the use of the machine.
4077 Orientation stop position shift value Specify a stop position.
4084 Motor voltage on orientation 100
Tune according to actual
4320 to 4323 Acceleration during motor deceleration
measurements.
4326,4330 Acceleration limitation start speed during deceleration 0
Specify an appropriate value according
4328 Command multiplier for orientation
to the use of the machine.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

NOTE
1 SPM alarm 21 is issued if the relation (bit 0 of parameter No. 4000) between the
spindle and motor rotation direction and/or the setting of the spindle sensor mounting
direction (bit 4 of parameter No. 4001) is incorrect.
2 The time required for spindle orientation may get abnormally long if the gear ratio
resolution (bit 1 of parameter No. 4006) setting and/or gear ratio (parameter Nos.
4056 to 4059) setting is incorrect.
3 To switch the winding of the spindle motor with speed range switching control from
high-speed winding to low-speed winding during spindle orientation
command-specified deceleration, set the orientation speed upper limit (parameter
No. 4038) to the base speed of the low-speed winding or lower.
In the sequence enters interval C (where linear deceleration takes place with a
parameter-specified time constant), the time required for spindle orientation may get
abnormally long.

(2) Initial setting of the acceleration during deceleration (parameter Nos. 4320
to 4323)
Run a real machine on the velocity control mode (regular operation
mode), and decelerate it from the base speed ωB (see the following
expression).
Base speed ωB = parameter No. 4102 × parameter No. 4117/100 (if
parameter No. 4038 = 0), or
= parameter No. 4038 (if parameter No. 4038 ≠ 0)
Then, measure the time the real machine takes to decelerate, set up the
initial acceleration during deceleration Tc from the measured
deceleration time according to the following expression (see the figure
below):
Acceleration during deceleration = base speed/time taken to decelerate
from the base speed to a halt/10 (in 10 min-1/s)

Example of setting an initial acceleration during deceleration

Base speed

Time taken to decelerate from the Motor speed (data

base speed to a halt No. 19)
Motor speed command
(data No. 16)

(3) Tuning the velocity loop proportional gain (parameter Nos. 4042 and 4043)
and integral gain (parameter Nos. 4050 and 4051)
Tune the velocity loop proportional/integral gain while referencing
Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT" in Part I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(4) Tuning the position gain

Basically, the position gain needs no adjustment. If you want to
increase the setting for the position gain, do not increase it over 4000.

(5) Tuning the acceleration during deceleration (parameter Nos. 4320 to 4323)
Start spindle orientation when the spindle is running at the spindle
maximum rotation speed, and tune the acceleration during
deceleration so that the torque command will not be saturated when
the motor starts linear deceleration (the beginning of interval C in the
sequence). (See the following figure.)

Example 1 of deceleration time constant adjustment (good case)

D D

C C
B B
A E E
Spindle orientation sequence
(data No. 298)

Enlarged

25%
OK.
Torque command
(data No. 90)

Example 2 of deceleration time constant adjustment (bad case)

Enlarged

N.G.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(6) Tuning the percentage limit to an acceleration during deceleration

(parameter No. 4064)

(a) Deciding whether or not to tune the percentage limit to an acceleration during
deceleration
Start spindle orientation when the spindle is running at the
base speed ωB. (See the figure below.) If the torque command
is saturated in sequence intervals C or D, it is necessary to
tune the percentage limit to an acceleration during
deceleration.
If the torque command is not saturated, stop tuning the
spindle orientation.
Case in which parameter tuning is necessary Case in which parameter tuning is unnecessary

D
C
B
A
Spindle orientation sequence E
(data No. 298)

25%
Torque command
(data No. 90)
Not saturated

Saturated

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(b) Tuning the percentage limit to an acceleration during deceleration

Specify the acceleration limitation start speed during deceleration ωLS
(parameter Nos. 4326 and 4330) as follows:
Acceleration limitation start speed during deceleration ωLS = 1.1 ×
base speed ωB
Then, decrease the percentage limit to an acceleration during
deceleration (parameter No. 4064) until the torque command will not
be saturated at the end of sequence interval C or in sequence interval
D. In this case, there is no problem even if the torque command is
about to be saturated at the beginning of sequence interval C. (See the
following figure.)
Example 1 of the percentage limit to an Example 2 of the percentage limit to an
acceleration during deceleration (bad case) acceleration during deceleration (good case)

D
C
B
A E
Spindle orientation
sequence (data No. 298)

25%

Torque command
(data No. 90)

NG. OK.
OK.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(7) Tuning the acceleration limitation start speed during deceleration

(parameter Nos. 4326 and 4330)
If you tuned the percentage limit to an acceleration during
deceleration as explained in item (6), tune also the acceleration
limitation start speed during deceleration.

(a) Deciding whether or not to tune the acceleration limitation start speed during
deceleration
Start spindle orientation when the spindle is running at 10 min-1
+ acceleration limitation start speed during deceleration ωLS,
which is an initial setting used when the percentage limit to an
acceleration during deceleration is tuned. (See the following
figure.) In this case, it is necessary to tune the percentage limit to
an acceleration during deceleration if the torque command is
saturated in sequence interval C or D.
If the torque command is not saturated, stop tuning the spindle
orientation.

Case in which parameter tuning is necessary Case in which parameter tuning is

unnecessary
D

C
B
A E
Spindle orientation
sequence (data No. 298)

Torque command 25%

(data No. 90)

O.K. N.G.

(b) Tuning the acceleration limitation start speed during deceleration

Increase the acceleration limitation start speed during
deceleration (parameter Nos. 4326 and 4330) until the torque
command will not be saturated at the end of sequence
interval C or in sequence interval D even when spindle
orientation is started when the spindle is running at 10 min-1
+ acceleration limitation start speed during deceleration ωLS.
Similarly to item (6), there is no problem even if the torque
command is about to be saturated at the beginning of
sequence interval C.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.5 SPINDLE ORIENTATION DURING SPINDLE

SYNCHRONIZATION CONTROL Optional function

5.5.1 Overview
This function performs orientation stop operation (orientation during
spindle synchronous control) in the direction/stop position specified
externally while keeping synchronization between spindles during
spindle synchronous control.
Using spindle orientation during spindle synchronous control
(hereafter simply called synchronous orientation) enables the
following operations:
• Loading/unloading of an irregular-shape workpiece during
spindle synchronous control
• Side-facing of a workpiece that must be held at both ends (such
as a long workpiece) after it is indexed

NOTE
1 Using this function requires the CNC software
option for spindle synchronous control.
2 This function is an add-on to the spindle
synchronous control function. This section focuses
on the add-on.
3 Using this function requires the enabling of the stop
position externally setting spindle orientation
function.
4 Some parameter specifications related to the αi
series spindle amplifiers differ from those related to
the α series. See Subsection 5.5.6, "Details of
Related Parameters."

5.5.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition E(05) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.5.3 Specification

Synchronous orientation
During spindle synchronous control, inputting the synchronous
orientation command (SPPHS rising edge when SORENA = 1) can
stop spindle orientation with two spindles kept in synchronization.

NOTE
1 If bell-shaped Acc./Dec. is already enabled, it is
kept enabled during synchronous orientation.
2 If you changed parameters or sequences,
disconnect each spindle for safety purposes, and
then run the machine to check carefully the
direction in which each spindle rotates, the position
where each spindle stops, and whether a
synchronous error occurs.

Reference position (phase) setting

Before issuing a synchronous orientation command, it is necessary to
perform reference position (phase) setting for the two spindles.
Set the reference position of each of the spindles using spindle phase
synchronous control.
If spindle phase synchronous control is performed with synchronous
speed command = "0", the spindles stop at:
[One-rotation signal position] + [shift amount during spindle
synchronous control (parameter No. 4034)]
This position is used as a reference position (stop position where
SHA11 to SHA00 are all 0s) for the synchronous orientation stop
position.

NOTE
1 Before inputting the spindle phase synchronous
control command (SPPHS), make sure that both
the spindles are rotating at the synchronous speed
and they remain synchronized (FSPSY = 1). If the
synchronous control command is issued before the
spindles start rotating at the synchronous speed,
they get out of phase.
2 In addition, before inputting the phase synchronous
command, disconnect both spindles.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

Synchronous orientation stop position

SHA11 to SHA00 are used to specify the spindle stop position for
synchronous orientation. Specify the desired shift amount relative
from the reference position explained above.

NOTE
1 Be sure to specify the same reference position for
both the spindles. If you fail to specify the same
spindle position, it is impossible to maintain spindle
synchronization.
2 Also specify the direction in which each spindle
rotates during synchronous orientation, using
ROTAA. The direction in which each spindle must
rotate to keep itself in synchronization with the
other spindle varies depending on the machine
configuration. Be sure to specify the correct
direction according to the machine condition so that
the spindles are maintained in synchronization. If
you fail to specify the correct direction, it is
impossible to maintain spindle synchronization.
3 Keep these signals (SHA11 to SHA00 and ROTAA)
in the stated status until synchronous orientation is
completed.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.5.4 I/O Signals (CNC ↔ PMC)

(1) Address list of input signals (PMC → CNC)

(a) For path 1
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
G038 G038 SPPHS SPSYC

1st- G072 G072 ROTAA

2nd- G076 G076 ROTAB

1st- G073 G073 SORSLA

2nd- G077 G077 SORSLB

1st- G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G081 G081 SHB11 SHB10 SHB09 SHB08

(b) For path 2

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
G1038 G1038 SPPHS SPSYC

1st- G1072 G1072 ROTAA

2nd- G1076 G1076 ROTAB

1st- G1073 G1073 SORSLA

2nd- G1077 G1077 SORSLB

1st- G1078 G1078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G1080 G1080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G1079 G1079 SHA11 SHA10 SHA09 SHA08

2nd- G1081 G1081 SHB11 SHB10 SHB09 SHB08

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) Details of input signals (PMC → CNC)

(a) Spindle synchronous control command (SPSYC)
Setting the SPSYC signal to "1" directs the spindles to enter the
spindle synchronous control mode. Before issuing this command,
specify SORSLA (SORSLA) = "0".
Maintain the condition of SPSYC = "1" during synchronous
orientation.

(b) Spindle phase synchronous control command or synchronous orientation

command (SPPHS)
If SORENA (SORENB) = "0", the spindle phase synchronous control
command is issued at the rising edge of the SPPHS signal. (See
Section I-2.5, "SPINDLE SYNCHRONIZATION CONTROL," FOR
PHASE SYNCHRONOUS CONTROL.")
If SORENA (SORENB) = "1", the synchronous orientation command
is issued at the rising edge of the SPPHS signal. When the
synchronous orientation command is issued, the synchronous speed
command becomes disabled, and synchronous orientation begins.
Keep satisfying synchronous speed command = "0" during
synchronous orientation.
Before issuing the synchronous orientation command, make sure that
SORSLA (SORSLB) = "1" and SORENA (SORENB) = "1" are
satisfied for both the spindles.
Keep in mind that the meaning of the SPPHS signal changes
according to the state of the SORENA (SORENB) signal.
To issue the synchronous orientation command after spindle phase
synchronous control is performed, it is necessary to reset the SPPHS
signal to "0" previously. The spindle phase synchronous control
completion signal is kept at "0" while the SPPHS signal is "0".

(c) Synchronous orientation request command (SORSLA)

The SORSLA signal is a signal for requiring synchronous orientation.
In response to this signal, the spindle amplifier outputs a synchronous
orientation permission signal (SORENA or SORENB).
If SORSLA (SORSLB) = "1" is input, the synchronous orientation
command (SPPHS) becomes enabled when SORENA (SORENB) =
"1" is satisfied.
Keep the current state of the SORSLA signal until synchronous
orientation is completed.
If SORSLA (SORSLB) = "0" is input, synchronous orientation is
released and the synchronous speed command becomes enabled, when
SORENA (SORENB) = "0" is satisfied.

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(d) Synchronous orientation external stop position command (SHA11 to SHA00)

This command is used to specify the stop position for synchronous
orientation.
If all of the SHA11 to SHA00 signals are "0", the position where each
spindle is to rest (reference position) is as stated below if the spindle
phase synchronous command is issued under the condition of
synchronous speed command = "0":
[One-rotation signal position] + [shift amount during spindle
synchronous control (parameter No. 4034)]
The shift amount relative from the reference position is:

Shift amount (degrees) =

360 11
(
× ∑ SHAi × 2 i
4096 i =0
)
Assert the SHA11 to SHA00 signals at least 50 ms before the
synchronous orientation command is input, and keep them asserted
until synchronous orientation is completed.

(e) Rotation direction command for synchronous (ROTAA)

This command specifies the direction in which the spindle rotates
during synchronous orientation.
0: The spindle rotates CCW.
1: The spindle rotates CW.
To make both the spindles rotate in the same direction, it is necessary
to input the ROTAA signal correctly. Because the correct rotation
direction changes depending on the machine configuration, specify it
exactly while paying attention to the way each spindle is linked to its
motor and the positional relationship between the spindles.
Assert the ROTAA signals at least 50 ms before the synchronous
orientation command is input, and keep it asserted until synchronous
orientation is completed.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Address list of output signals (CNC → PMC)

(a) For path 1
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
F044 F044 SYCAL FSPPH FSPSY

1st- F047 F047 SORENA

2nd- F051 F051 SORENB

(b) For path 2

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
F1044 F1044 SYCAL FSPPH FSPSY

1st- F1047 F1047 SORENA

2nd- F1051 F1051 SORENB

(4) Details of output signals (CNC → PMC)

(a) Synchronous orientation permission signal (SORENA)
If this signal is "1", the synchronous orientation command is issued at
the rising edge of the SPPHS signal.
If this signal is "0", the spindle phase synchronous command is issued
at the rising edge of the SPPHS signal. If this signal becomes "0"
during synchronous orientation, the synchronous orientation is
released.
In this case, reset the synchronous speed command for both the
spindles to "0". SORENA (SORENB) = "1" is output if SORSLA
(SORSLB) = "1" is satisfied, and SORENA (SORENB) = "0" is
output if SORSLA (SORSLB) = "0" is satisfied.

(b) Spindle speed synchronous control completion signal (FSPSY)

If the spindle synchronous control command is issued, the FSPSY
signal becomes "1" when both spindles reach the specified
synchronous speed.
Before issuing the spindle phase synchronous control command for
reference position setting, make sure that the synchronous speed
command is "0" and the FSPSY signal is "1".
The signal becomes "1" if the velocity error between the spindles is
smaller than the value specified in parameter No. 4033.

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(c) Spindle phase synchronous control completion signal or synchronous

orientation completion signal (FSPPH)
If the spindle phase synchronous control command is issued, the
FSPPH signal becomes "1" when phase synchronization is completed.
If the synchronous orientation command is issued, the signal becomes
"1" when synchronous orientation is completed.
The signal is kept at "0" while SPPHS (spindle phase synchronous
control command or synchronous orientation command) = "0".
After the spindle phase synchronous control command has been issued,
the signal is output if the following conditions are satisfied.
• The velocity error between the spindles is smaller than the value
specified in parameter No. 4034.
• The synchronous error between the spindles is smaller than the
value specified in parameter No. 4810.
After the synchronous orientation command has been issued, the
signal is output if the following conditions are satisfied.
• The synchronous error between the spindles is smaller than the
value specified in parameter No. 4810.
• The position error between the spindles is smaller than the value
specified in parameter No. 4075.

(d) Phase synchronous error monitor signal (SYCAL)

This signal is used to detect when a synchronous error becomes large
when the spindles are under synchronous control.
If the signal is detected, the PMC usually performs alarm processing.
The signal becomes "1" if the synchronous error between the two
spindles becomes larger than or equal to the value specified in
parameter No. 4811 when the spindles are under synchronous control.

5.5.5 Sequence
Shown below is an example of a sequence in which synchronous
orientation is used. In this example sequence, the first and second
spindles are put under spindle synchronous control to perform the
machining described below.
(1) The spindle synchronous control command is issued with the
first spindle rotating and the second at rest.
(2) Upon completion of spindle synchronization, synchronous speed
command = "0" is specified.
(3) The spindle phase synchronous control command is issued for
reference position setting.
(4) Upon completion of spindle phase synchronization, a workpiece
is loaded.
(5) The workpiece is machined by running the spindles under
spindle synchronous control.
(6) The spindles are stopped at a fixed position, using synchronous
orientation.
(7) Upon completion of synchronous orientation, the workpiece is
unloaded.
(8) Synchronous orientation is released.
(9) Spindle synchronous control is released.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

First-spindle speed
-1
0min
Second-spindle speed

(5)

First-spindle speed command (2)

-1
0min
(1) (9)
Spindle synchronization
command (SPSYC) t
(3) (6) (8)
Spindle phase synchronization
command (SPPHS)
Spindle synchronization
completion signal (FSPSY)
Spindle synchronization
completion signal (FSPSY)
(4) (7)
Workpiece load/unload

Load Unload

Orientation request signal for

the first spindle (SORSLA)

Orientation permission signal

(SORENA)

External stop position signal

(SHA11-00)

Rotation direction command

(ROTAA)

Orientation request signal for

the second spindle (SORSLB)

Orientation permission signal

(SORENB)

External stop position signal

(SHB11-00)
Rotation direction command
(ROTAB)

NOTE
Set time t to at least 50 ms so that each signal can
be asserted securely.

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5.5.6 List of Related Parameters

Parameter No.
Description
16i 30i
Direction in which each of spindles rotates under spindle synchronous control
4800#1,#0 4801#0
(For 16i: #0: First spindle: #1: Second spindle. For 30i: Each spindle)
That error pulse difference between two spindles on which the spindle phase
4810 4810
synchronous completion signal is output
That error pulse difference between two spindles on which the spindle phase
4811 4811
synchronous error monitor signal is output
Whether the stop position external setting-type spindle orientation function is
3702#3,#2 3729#0 available
(For 16i: #0: First spindle: #1: Second spindle. For 30i: Each spindle)
Setting for disabling automatic detection of a one-rotation signal when the
4006#4 4006#4
spindle synchronous control mode is switched
4014#6 4014#6 Whether the synchronous orientation function is available
Acceleration at spindle synchronous control (It is necessary to specify the
4032 4032
same value for the first and second spindles.)
4033 4033 Spindle synchronous speed arrival level
4034 4034 Shift amount at spindle phase synchronous control
4035 4035 Spindle phase synchronous compensation data
4044 4044 Velocity proportional gain on spindle synchronous control
4045 4045 (This parameter is selected with the input signal CTH1A.)
4052 4052 Velocity integral gain on spindle synchronous control
4053 4053 (This parameter is selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
4056 to 4059 4056 to 4059 (These parameters are selected with the input signals CTH1A and CTH2A.)

Position gain on spindle synchronous control (It is necessary to specify the

4065 to 4068 4065 to 4068 same value for the first and second spindles.)
(These parameters are selected with the input signals CTH1A and CTH2A.)
4075 4075 Orientation completion signal detection level
4085 4085 Motor voltage setting on spindle synchronous control
Acceleration magnetic flux switching point for spindle synchronous control (It
4336 4336
is necessary to specify the same value for the first and second spindles.)
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340 control (It is necessary to specify the same value for the first and second
spindles.)
4369 4369 Synchronous orientation deceleration coefficient

NOTE
1 See Section I-1.3, "PARAMETERS RELATED TO DETECTORS," for
parameters related to detectors.
2 See Section I-4.1, "VELOCITY LOOP GAIN ADJUSTMENT," for velocity
loop proportional/integral gain tuning.
3 See "Function Description: Spindle Synchronous Control" for parameters
related to the spindle synchronous control function.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.5.7 Details of Related Parameters

16i #7 #6 #5 #4 #3 #2 #1 #0
3702 OR2 OR1

OR1 The stop position external setting-type spindle orientation function

(for the first spindle) is:
0 : Disabled
1 : Enabled
Set to “1”.

OR2 The stop position external setting-type spindle orientation function

(for the second spindle) is:
0 : Disabled
1 : Enabled
Set to “1”.

30i #7 #6 #5 #4 #3 #2 #1 #0
3729 ORTS

ORTS The stop position external setting-type spindle orientation function is:
0 : Disabled
1 : Enabled
Set to “1”.

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4014 4014 SYCORI

SYCORI : The synchronous orientation function is:

0 : Disabled
1 : Enabled
Set to "1" for both the spindles.

16i 30i
4075 4075 Orientation completion signal detection level

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 100
Standard setting value : 10
This parameter is used to specify the synchronous orientation
completion pulse width. When the synchronous orientation command
is issued, the synchronous orientation completion signal (FSPPH)
becomes "1" if the spindle stop position is within the setting data
range.
Specify the same value for both the spindles.
This parameter is used also for regular orientation.

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16i 30i
4369 4369 Synchronous orientation deceleration coefficient

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
This parameter is used to specify a change that occurs in the spindle
speed during synchronous orientation as a ratio to the acceleration
during spindle synchronous control (parameter No. 4032). If the
setting is "0", it is assumed to be 100%. (The change ratio specified in
parameter No. 4032 is used without modification.)
Specify the same value for both the spindles.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION

5.6.1 Overview
The spindle fine Acc./Dec. (FAD) function realizes smooth
acceleration/deceleration during rigid tapping and Cs contouring
control by performing acceleration/deceleration processing with
spindle software. It can reduce mechanical shocks that may
accompany acceleration/deceleration.

NOTE
1 This function is usable in a combination of the αi
spindle amplifier and the FANUC Series
16i/18i/21i-MODEL B CNC.
2 This function cannot be used with the FANUC Series
15i MODEL B.
3 This function cannot be used with the FANUC Series
30i /31i /32i.
4 This function cannot be used together with the
spindle EGB function.

5.6.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Remark
Series 9D50 E(05) and subsequent editions

CNC software
Series Edition Remark
Series B0H1 M(13) and subsequent editions For the FANUC Series 16i/160i/160is-MB
Series BDH1 M(13) and subsequent editions For the FANUC Series 18i/180i/180is-MB
Series BDH5 C(03) and subsequent editions For the FANUC Series 18i/180i/180is-MB5
Series DDH1 M(13) and subsequent editions For the FANUC Series 21i/210i/210is-MB
Series B1H1 M(13) and subsequent editions For the FANUC Series 16i/160i/160is-TB
Series BEH1 M(13) and subsequent editions For the FANUC Series 18i/180i/180is-TB
Series DEH1 M(13) and subsequent editions For the FANUC Series 21i/210i/210is-TB

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.6.3 Block Diagram

Shown below is the block diagram of a system configuration in which
spindle fine Acc./Dec. is used. Smooth acceleration/ deceleration is
realized by applying linear- or bell-shaped smoothing to the move
command from the CNC on small cycles in the spindle software.

CNC
SPINDLE
Acceleration/deceleration type
(bit 4 of parameter No. 4394)
FAD time constant (parameter Coefficient α Coefficient β
No. 4408) (parameter No. (parameter No.
4344) 4037)
Linear-/bell-shaped
smoothing Position Velocity
(Regular) feed-forward feed-forward
position
error
+
Move command ON:1 FAD position
+ error + + Spindle
+ Position + Speed +
FAD ON/OFF and
(No.4394#3) control control
- + - - detector
OFF:0
Velocity feedback

Position feedback

5.6.4 Parameters

(1) List of Related Parameters

Parameter No.
Description
16i
5205#7 Setting of fine Acc./Dec. during rigid tapping
4394#3 Spindle fine Acc./Dec. function bit
4394#4 Acceleration/deceleration type during spindle fine Acc./Dec.
4344 Feed-forward coefficient during fine Acc./Dec.
4037 Velocity loop feed-forward coefficient during fine Acc./Dec.
4408 Fine Acc./Dec. time constant
4409 Feed-forward timing adjustment coefficient

(2) Details of parameters related to rigid tapping

16i #7 #6 #5 #4 #3 #2 #1 #0
5205 REF

REF Setting of fine Acc./Dec. during rigid tapping

0 : No fine Acc./Dec. (FAD) is available.
1 : Fine Acc./Dec. (FAD) is available.
To be set to "1" if the spindle fine Acc./Dec. (FAD) function is used.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Details of parameters related to serial spindles

16i #7 #6 #5 #4 #3 #2 #1 #0
4394 FADLIN FADFNC

FADFNC Spindle fine Acc./Dec. (FAD) function bit

0 : The fine Acc./Dec. (FAD) function is disabled.
1 : The fine Acc./Dec. (FAD) function is enabled.
To be set to "1" if the spindle fine Acc./Dec. (FAD) function is used.

FADLIN Acceleration/deceleration type during spindle fine Acc./Dec. (FAD)

0 : Bell-shaped Acc./Dec.
1 : Linear-shaped Acc./Dec.
Specify the same acceleration/deceleration type as for the servo axis
for which interpolation is performed simultaneously with this
function.

16i
4344 Feed-forward coefficient during fine Acc./Dec.

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 0
This parameter is used to specify the feed-forward coefficient for
spindle fine Acc./Dec.
Specify the same setting for the servo axis for which interpolation is
performed simultaneously with this function.

16i
4037 Velocity loop feed-forward coefficient during fine Acc./Dec.

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter is used to specify the velocity loop feed-forward
coefficient during fine Acc./Dec. (FAD). Determine what to specify
according to the following calculation.
Setting = 214466 × [spindle inertia + rotor inertia] (kgm2)
motor maximum torque (Nm)
16i
4408 Fine Acc./Dec. time constant

Unit of data : 1msec

Valid data range : 8 to 64
Standard setting value : 0
This parameter is used to specify the time constant for spindle fine
Acc./Dec. (FAD). If the specified value is out of the valid data ranging,
the setting is clamped to the upper or lower limit.
No cutting/traverse time constant switching function is available.
Specify the same value as for the servo axis (for cutting) for which
interpolation is performed simultaneously with this function.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

16i
4409 Feed-forward timing adjustment coefficient

Unit of data : 0.001msec

Valid data range : -1000 to 1000
Standard setting value : 0
This parameter is used to adjust the timing of the feed-forward term of
the velocity command to improve accuracy of the synchronization
with the servo axis being accelerated or decelerated.
Setting -1000 advances the timing by 1 ms, and setting +1000 lags the
timing by 1 ms.

5.6.5 Diagnosis (Diagnosis Screen)

Address
Description
16i
418 1st-spindle (regular) position error
420 2nd-spindle (regular) position error
422 3rd-spindle (regular) position error
424 4th-spindle (regular) position error
714 1st-spindle (FAD) position error
715 2nd-spindle (FAD) position error
734 3rd-spindle (FAD) position error
735 4th-spindle (FAD) position error

5.6.6 Status Errors

Error No. Description Measure

31 Invalid hardware configuration Check the model of the CNC in use.
An attempt was made to enable both the
To use the spindle FAD function, disable the
34 spindle FAD function and spindle EGB
spindle EGB function.
function.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.6.7 Cautions

(1) Cautions for using the synchronization and fine Acc./Dec. (FAD) functions
simultaneously between the servo axis and spindle axis
The following restrictions are placed on the simultaneous use of the
synchronization and fine Acc./Dec. (FAD) functions between the
servo axis (hereafter SV axis) and spindle axis (hereafter SP axis).

Whether the SV-axis

FAD is usable
If the If the
Function Cautions about simultaneous use
SP-axis SP-axis
FAD is FAD is
disabled enabled
If the SP-axis FAD is disabled:
FAD and feed-forward are kept off during rigid tapping.
Establishing synchronization requires changing the position gain
for SV-axis rigid tapping (bit 3 of parameter No. 2209 or
Rigid tapping Usable Usable parameter Nos. 5280 to 5284). (*)
If the SP-axis FAD is enabled:
It is necessary to use the same FAD time constant,
acceleration/deceleration type, feed-forward coefficient, and
position gain for both the SV axis (for cutting) and SP axis.
It is necessary to use the same FAD time constant,
Advanced preview
Unusable Usable acceleration/deceleration type, feed-forward coefficient, and
rigid tapping
position gain for both the SV axis (for cutting) and SP axis.
It is necessary to use the same FAD time constant,
Cs contouring
Unusable Usable acceleration/deceleration type, feed-forward coefficient, and
control
position gain for both the SV axis (for cutting) and SP axis.
Hobbing function Unusable Unusable Disable the SV-axis FAD function.
EGB function Unusable Unusable Disable the SV-axis FAD function.
It is necessary to use the same FAD time constant,
Flexible
Unusable Usable acceleration/deceleration type, feed-forward coefficient, and
synchronization
position gain for both the SV axis (for cutting) and SP axis.

NOTE
(*) If the SP-axis FAD is disabled, set bit 3 of parameter No. 2209 to 1, or set
parameter Nos. 5280 to 5284 with a value 1 ms higher than otherwise.
If the SP-axis FAD is enabled, reset bit 3 of parameter No. 2209 to 0 and set
parameter Nos. 5280 to 5284 with the same value as for the spindle axis.
Refer to the "FANUC AC SERVO MOTOR αis/αi/βis series Parameter Manual
(B-65270EN)" for details.

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(2) Cautions about position error

When the spindle fine Acc./Dec. (FAD) function is in use, the
following two types of position error can occur because the spindle
software applies smoothing to a motion command from the CNC.
• Actual position error related to the command from the CNC:
(Regular) position error
• Position error used within the spindle software: FAD position
error
These position error are used for the following purposes.
• (Regular) position error: Excessive-error check and in-position
check
• FAD position error: Error display on the spindle adjustment
screen
NOTE
The (regular) position error becomes larger by the
amount of an influence of fine Acc./Dec. (FAD)
smoothing. So, include this amount when specifying
excessive-error and in-position check levels.
An increase in the position error caused by fine
Acc./Dec. (FAD) is obtained by:
[When the linear type is used.]
Increase in FAD time
pos. error =
detection feedrate (min-1)
× × constant (ms) +1
unit +1
(pulses) 60×1000 2

[When the bell-shaped type is used.]

Increase in FAD time
detection feedrate (min-1) constant (ms)
pos. error = × × +1
unit 60×1000 2
(pulses)
Letting the FAD time constant and feedrate be,
respectively, 64 ms (bell-shaped type) and 3000
min-1 for rigid tapping (with a detection unit of 4096
pulses/rev):
Increase in
pos. error = 4096 × 3000 64
× +1 = 6758
(pulses) 60 ×1000 2

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION

FUNCTION Optional function

5.7.1 Overview
The unexpected disturbance torque detection function is intended to
monitor friction torque components and those needed in machining by
extracting them from the torque output from the spindle motor and
eliminating the torque needed in acceleration/deceleration. It can be
used to detect a broken tool and to manage the tools for service life.

NOTE
1 Using this function requires the CNC software
option for the unexpected disturbance torque
detection function.
2 A broken or worn tool may or may not be able to be
detected depending on the machine condition.

5.7.2 Series and Editions of Applicable Spindle Software

Series Edition Remark

A(01) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.7.3 I/O Signals (CNC↔PMC)

(1) Address list of output signals (CNC → PMC)

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
F090 F090 ABTSP3 ABTSP2 ABTSP1
F091 F091 ABTSP4

15i
F155 AQSP2 AQSP1
F154 AQSP4 AQSP3

(2) Details of output signals (CNC → PMC)

(a) First-spindle unexpected disturbance torque detection signals
(ABTSP1 and AQSP1)
(b) Second-spindle unexpected disturbance torque detection signals
(ABTSP2 and AQSP2)
(c) Third-spindle unexpected disturbance torque detection signals
(ABTSP3 and AQSP3)
(d) Fourth-spindle unexpected disturbance torque detection signals
(ABTSP4 and AQSP4)
These signals are output when the estimated load torques on the
respective spindles become higher than or equal to the set level.
Refer to an applicable CNC Connection Manual (Function) for details.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 2.10 “ABNORMAL LOAD DETECTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 2.9 “UNEXPECTED DISTURBANCE
TORQUE DETECTION FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 2.9 “ABNORMAL LOAD DETECTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 2.9 “ABNORMAL LOAD DETECTION.”

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.7.4 List of Related Parameters

Parameter No.
Description
15i 16i 30i
Whether the unexpected disturbance
3015 #1 4015 #1 4015 #1 torque detection function is available
(The CNC software option is required.)
Torque constant for spindle load torque
3248 4248 4248 monitoring (for high-speed output
switching characteristics)
Torque constant for spindle load torque
3281 4281 4281 monitoring (for low-speed output switching
characteristics)
Observer gain 1 for spindle load torque
3249 4249 4249
monitoring
Observer gain 2 for spindle load torque
3250 4250 4250
monitoring
Unexpected disturbance torque detection
3341 4341 4341
level

5.7.5 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3015 4015 4015 SPLDMT

SPLDMT : Whether the unexpected disturbance torque detection function is

available
0 : Unavailable
1 : Available
This parameter is specified automatically by the software option.

15i 16i 30i

Torque constant for spindle load torque monitoring (for high-speed output
3248 4248 4248 switching characteristics)

Torque constant for spindle load torque monitoring (for low-speed output
3281 4281 4281 switching characteristics)

Unit of data :
Valid data range : 0 to 32767
Standard setting value :
Specify the torque constant Kt for calculating the spindle load torque,
using the following calculation:

T max
Kt = × 4.889
Jm + Jl

Tmax : Motor maximum output torque [Nm] (Use 120% of the

30-minute rated torque as a rough standard.)
Jm : Motor rotor inertia [kgm2]
Jl : Spindle inertia (in terms of motor axis inertia) [kgm2]

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

3249 4249 4249 Observer gain 1 for spindle load torque monitoring
3250 4250 4250 Observer gain 2 for spindle load torque monitoring

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 500
Specify the gain (usually "500") for the spindle load torque estimation
observer.

15i 16i 30i

3341 4341 4341 Unexpected disturbance torque detection level

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 0
Specify the output level for the spindle unexpected disturbance torque
detection signal, using a percentage to the motor maximum output
torque. If this parameter is "0", no spindle unexpected disturbance
torque detection signal is output.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.7.6 Parameter Tuning Procedure

(1) Parameter initialization

Initialize the parameters related to the unexpected disturbance torque
detection function as listed below.

No. Description Initial setting

Whether the unexpected disturbance torque
4015#1 detection function is available (The CNC software 1
option is required.)
Specify an appropriate value according to the
4248 Torque constant for spindle load torque monitoring
spindle inertia (see the following expression).
4249 Observer gain 1 for spindle load torque monitoring 500
4250 Observer gain 2 for spindle load torque monitoring 500
0 (to be changed to an appropriate value
4341 Unexpected disturbance torque detection level
according to the use of the machine)

(2) Initial setting of the torque constant (parameter No. 4248)

Using the following expression, calculate the initial torque constant
setting according to the spindle inertia and specify it in the
corresponding parameter.

T max
Kt = × 4.889
Jm + Jl

Tmax : Motor maximum output torque [Nm] (Use 120% of the

30-minute rated torque as a rough standard.)
Jm : Motor rotor inertia [kgm2]
Jl : Spindle inertia (in terms of motor axis inertia) [kgm2]

Example)
Initial torque constant setting for the α3/10000i
Letting motor rotor inertia Jm, motor maximum output torque
Tmax, and spindle inertia Jl be, respectively, 0.0148 kgm2, 35.0
× 1.2 = 42.0 Nm, and 0.0250 kgm2, the torque constant is:
Kt = 42.0/(0.0148 + 0.0250) × 4.889 = 5159.24
So, set parameter No. 4248 to "5159".

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(3) Tuning the torque constant (parameter No. 4248)

Described below is how to tune the torque constant while observing
the spindle torque data, using the spindle check board
(A06B-6078-H001). Refer to an applicable maintenance manual for
detailed explanations about how to use the spindle check board.

First set up the spindle check board as listed below.

Output
Output data Setting Resolution
terminal
d-05 19
d-06 18
CH1 Motor speed 1638.4 min-1/V
d-07 0
d-08 1
d-09 277
5V = Tmax (motor
Spindle load d-10 7
CH2 maximum output
torque d-11 0
torque)
d-12 1
With the above settings, direct the machine to run at a speed that
matches your machining program, cause it to perform
acceleration/deceleration with no load, and observe the load torque on
the spindle.
While observing the waveform of the spindle load torque, tune the
torque constant so that the spindle load torque during acceleration will
get close (and flat) to 0.
See the following charts for details.

Fig. <1>: Parameter No. 4248 = 10000 Fig. <2>: Parameter No. 4248 = 15000

Motor speed (4096min-1/div) Motor speed (4096min-1/div)

The spindle load torque

The spindle load torque
during acceleration is
during acceleration is
positive.
negative.

Spindle load Spindle load

torque (20%/div) 500msec/div torque (20%/div)

Fig. <3>: Parameter No. 4248 = 12000 (final value)

Motor speed (4096min-1/div)

The spindle load torque

during acceleration is
almost zero.

Spindle load
torque (20%/div)

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX)

Optional function

5.8.1 Overview
The spindle EGB function is intended to use one of spindles in a pair
as a tool axis (master axis) and the other as a workpiece axis (slave
axis) and cause the slave axis to rotate in synchronization with the
master axis at a specified synchronous ratio. Refer to an applicable
CNC Connection Manual (Function) for details of this function.
(a) For Series 16i/18i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 1.14.2 “Spindle Electronic Gear Box (M
series).”

NOTE
1 Using this function requires the CNC software option.
2 Using this function requires SPM type B for both the
master and slave axes.
3 This function cannot be used together with the
spindle fine Acc./Dec. (FAD) function.
4 This function cannot be used together with the toque
tandem control function.
5 This function cannot be used with the FANUC Series
15i-MODEL B.
5 This function cannot be used with the FANUC Series
30i/31i/32i.

5.8.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Remark
Series 9D50 E(05) and subsequent editions

CNC software
Series Edition Remark
B0H1 software A(01) and subsequent editions For FANUC Series 16 /160i/160is-MB
BDH1 software A(01) and subsequent editions For FANUC Series 18i/180i/180is-MB
BDH5 software A(01) and subsequent editions For FANUC Series 18i/180i/180is-MB5

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5.8.3 System Configuration

The spindle EGB function is usable in the following system
configuration.

NOTE
The spindle EGB function is usable between
spindles having a different detector configuration.

(1) System configuration with built-in motors

Speed/position
sensor
Built-in spindle motor

CNC First axis

(master axis)
Series
16i/160i/160is
JA7B JYA2
18i/180i/180is
MODEL B
SPM
TYPE B

JA7A
JX4
Speed/position
sensor

SPM-to-SPM
communication Built-in spindle motor

JX4
JA7B JYA2

SPM
TYPE B

Second axis
(slave axis)

Parameter settings related to detectors

Parameter Setting Description
4000#0 0 The spindle and motor rotates in the same direction.
4002#3,#2,#1,#0 0,0,0,1 The motor sensor is used for position feedback.
4003#7,#6,#5,#4 0,0,0,0 It is unnecessary to specify the number of the spindle sensor teeth.
4010#2,#1,#0 0,0,1 MZi/BZi/CZi sensor
4011#2,#1,#0 Depending on
Setting for the number of motor sensor (speed sensor) teeth
or 4334 the sensor.
The spindle-to-motor gear ratio is 1:1.
4056 to 4059 100 or 1000 (The settings for these parameters vary depending on the gear
ratio increment system specified in bit 1 or parameter No. 4006.)
Depending on Setting for the number of master-axis motor sensor (speed sensor)
4386 (*)
the sensor. teeth
(*) This parameter is valid only for the slave axis (second spindle).

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) System configuration with separate BZi sensors or separate CZi sensors
Speed sensor

Spindle
motor
CNC First spindle
(master axis)
Series
16i/160i/160is
18i/180i/180is
JA7B JYA2 Spindle
MODEL B
SPM Separate
TYPE B position sensor

JA7A JYA4
JX4

Speed sensor

SPM-to-SPM Spindle
communication motor

JX4
JA7B JYA2 Spindle

SPM
TYPE B Separate
position sensor

JYA4

Second spindle
(slave axis)

Parameter settings related to detectors

Parameter Setting Description
Depending on the Setting for the relationship between the rotation directions
4000#0
spindle configuration of the spindle and motor
Depending on the Setting for the orientation in which the spindle sensor is
4001#4
spindle configuration mounted
4002#3,#2,#1,#0 0,0,1,0 BZi sensor, CZi sensor
4003#7,#6,#5,#4 Depending on the Setting for the number of spindle sensor (position sensor)
or 4361 sensor teeth.
0,0,0 Mi sensor
4010#2,#1,#0
0,0,1 MZi sensor
4011#2,#1,#0 Depending on the Setting for the number of motor sensor (speed sensor)
or 4334 sensor teeth
Depending on the
4056 to 4059 Setting for the spindle-to-motor gear ratio
spindle configuration
Depending on the Setting for the number of master-axis motor sensor
4386 (*)
sensor (speed sensor) teeth
(*) This parameter is valid only for the slave axis (second spindle).

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(3) System configuration where an external one-rotation signal (proximity

switch) is used
Speed/position
sensor

Spindle
motor
CNC First axis
(master axis)
Series
16i/160i/160is
18i/180i/180is
JA7B JYA2 Spindle
MODEL B
External one-rotation
SPM signal (proximity
TYPE B switch)

JA7A JYA3
JX4
Speed/position
sensor

SPM-to-SPM Spindle
communication motor

JX4
JA7B JYA2 Spindle

SPM External one-rotation

TYPE B signal (proximity
switch)
JYA3

Second axis
(slave axis)

Parameter settings related to detectors

Parameter Setting Description
Depending on the Setting for the relationship between the rotation directions of
4000#0
spindle configuration the spindle and motor
4002#3,#2,#1,#0 0,0,0,1 To be used for the position feedback of the motor sensor
It is unnecessary to specify the number of teeth on the spindle
4003#7,#6,#5,#4 0,0,0,0
sensor.
4004#2 1 An external one-rotation signal (proximity switch) is used.
Depending on the Setting for the type of the external one-rotation signal (proximity
4004#3
sensor switch)
4010#2,#1,#0 0,0,1 MZi/BZi/CZi sensor
4011#2,#1,#0 Depending on the
Setting for the number of motor sensor (speed sensor) teeth
or 4334 sensor
Depending on the
4056 to 4059 Setting for the spindle-to-motor gear ratio
spindle configuration
Depending on the
4171 to 4174 Setting for the spindle-to-motor gear ratio (arbitrary gear ratio).
spindle configuration
Depending on the Setting for the number of master-axis motor sensor (speed
4386 (*)
sensor sensor) teeth
(*) Depending on the Setting for the master-axis spindle-to-motor gear ratio (arbitrary
4498, 4499
spindle configuration gear ratio)
(*) This parameter is valid only for the slave axis (second spindle).

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.8.4 Block Diagram

Shown below is the block diagram of a system configuration in which
the spindle EGB is used.
In this system configuration, it is possible to use one of spindles in a
pair as a tool axis (master axis) and the other as a workpiece axis
(slave axis) and cause the slave axis to rotate in synchronization with
the master-axis at a specified synchronous ratio.
CNC 2nd spindle

Position feedback

Velocity feedback

- - Slave
Helical gear + + Position + Velocity spindle &
control (gain control detector
compensation Kp2)
command + +
No.4069 to 4072

Feed-forward
(coefficient α2)
No.4036

K2 Synchronous ratio
K1 No.4387,4388

Position feedback

Velocity feedback

- - Master
+ Position + Velocity spindle &
Cs command control (gain control detector
Kp1)
+
No.4069 to 4072

Feed-forward
(coefficient α1)
No.4036

1st spindle

NOTE
1 It is possible to drive the master axis (first spindle) on the
velocity control mode.
2 To drive the master axis at a constant speed in the Cs
contouring control mode, use the position control function
for the PMC axis control constant-speed command.

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5.8.5 I/O Signals (CNC ↔ PMC)

This subsection lists only the input/output signals related to the
spindle EGB. Refer to an applicable CNC Connection Manual
(Function) for details of each signal.
(a) For Series 16i/18i
FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION): B-63523EN-1
Refer to Subsection 1.14.2, "Spindle Electronic Gear Box (M
series)."

(1) Input signals (PMC → CNC)

#7 #6 #5 #4 #3 #2 #1 #0
G066 RTRCT

(2) Output signals (CNC → PMC)

#7 #6 #5 #4 #3 #2 #1 #0
F065 SYNMOD RTRCTF

5.8.6 Examples of Sequences

Refer to an applicable CNC Connection Manual (Function) for spindle
EGB sequences.
(a) For Series 16i/18i
FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 1.14.2 “Spindle Electronic Gear Box (M
series).”

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.8.7 List of Related Parameters

Parameter No.
Description
16i
7700#0 Direction for helical compensation
7700#2 Setting for releasing the synchronous control mode at a reset
7709 Axis number for helical gear axial feed axis
7710 Spindle EGB slave axis number
7771 Spindle EGB master axis number
The number of pulses the position sensor generates at each rotation of the tool
7772 axis (master axis)
(Specify 360,000 for the IS-B.)
The number of pulses the position sensor generates at each rotation of the
7773 workpiece axis (slave axis)
(Specify 360,000 for the IS-B.)
8005#4 Setting for the type of the PMC axis control constant-speed command function
Time constant for linear-shaped Acc./Dec. in speed command-based continuous
8028
feed for each axis in PMC-based axis control
Number of pulses the position sensor generates at each rotation of the spindle
8040 on a PMC-controlled axis
(Specify 360,000 for the IS-B.)
4016#3 Setting for the feed-forward smoothing function
4352#4 Feed-forward setting
4352#6 Inter-SPM communication slave axis setting
4352#7 Inter-SPM communication master axis setting
4036 Feed forward coefficient
4037 Velocity loop feed forward coefficient
4046 Velocity proportional gain on Cs contouring control
4047 (This parameter is selected with the PMC input signal CTH1A.)
4054 Velocity integral gain on Cs contouring control
4055 (This parameter is selected with the PMC input signal CTH1A.)
Position gain on Cs contouring control
4069 to 4072
(This parameter is selected with the PMC input signal CTH1A.)
4386 Number of master-axis spindle sensor teeth
4387 Synchronous ratio numerator
4388 Synchronous ratio denominator
4498 Denominator of the master-axis motor sensor-to-spindle arbitrary gear ratio
4499 Numerator of the master-axis motor sensor-to-spindle arbitrary gear ratio

NOTE
1 See Section I-1.3, "PARAMETERS RELATED TO
DETECTORS," for parameters related to detectors.
2 See Section I-4.1, "VELOCITY LOOP GAIN
ADJUSTMENT," for velocity loop
proportional/integral gain tuning.

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5.8.8 Details of Related Parameters

This subsection details the serial spindle parameters related to the
EGB (for the 16i, parameter Nos. 4000 to 4999). It also briefly
describes the parameters related to the position control function for the
PMC axis control constant-speed command. Refer to an applicable
CNC Connection Manual (Function) for details of other parameters.
(a) For Series 16i/18i
FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Subsection 1.14.2 “Spindle Electronic Gear Box (M
series).”

(1) Summary of parameters related to the position control function for the
PMC axis control constant-speed command
This paragraph summarizes parameters related to the position control
function for the PMC axis control constant-speed command. For
details of this function and PMC axis control, refer to the "FANUC
Series 16i/18i PMC Axis Control Function Constant-Speed Command
Position Control Function Description: A-63542E" and Section 15.1,
"PMC AXIS CONTROL FUNCTION," of the "FANUC Series
16i/18i/21i-MODEL B Connection Manual (Function)
(B-63523EN-1)."

NOTE
To drive the master axis at a constant speed in the
Cs contouring control mode, use the position control
function for the PMC axis control constant-speed
command.

16i #7 #6 #5 #4 #3 #2 #1 #0
8005 PMCPOS

PMCPOS Setting for the type of the PMC axis control constant-speed command
function
0 : Velocity control
1 : Position control
To be set to "1"

16i
Time constant for linear-shaped Acc./Dec. in speed command-based
8028 continuous feed for each axis in PMC-based axis control

Unit of data : 1msec / 1000min-1

Valid data range : 0 to 32767
Standard setting value : 0
Specify the time constant for linear-shaped Acc./Dec. for the
PMC-controlled axis.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

16i
Number of pulses the position sensor generates at each rotation of the spindle
8040 on a PMC-controlled axis

Unit of data : Minimum detection unit

Valid data range : 1 to 999,999,999
Standard setting value : 0
Specify the number of pulses the position sensor generates at each
rotation of the spindle on a PMC-controlled axis.
Specify "360,000" for the IS-B.

(2) Details of parameters related to serial spindles

This paragraph details the serial spindle parameters related to the EGB
(for the 16i, parameter Nos. 4000 to 4999). See Section I-2.4, "Cs
CONTOURING CONTROL," for details of parameters related to Cs
contouring control.

16i #7 #6 #5 #4 #3 #2 #1 #0
4016 FFSMTH

FFSMTH Setting of smoothing function on feed forward control

0 : Without smoothing function
1 : With smoothing function
Sets the presence of smoothing function on feed forward control of Cs
contouring control.
Specify "1" to use spindle EGB control.

16i #7 #6 #5 #4 #3 #2 #1 #0
4352 MASTER SLAVE FFALWS

MASTER Inter-SPM communication master axis setting

0 : Non-inter-SPM communication master axis
1 : Inter-SPM communication master axis (Set 1 for the master axis.)
SLAVE Inter-SPM communication slave axis setting
0 : Non-inter-SPM communication slave axis
1 : Inter-SPM communication slave axis (Set 1 for the master axis.)
FFALWS Feed-forward setting
0 : Feed-forward is enabled only during cutting feed.
1 : Feed-forward is always enabled.
Set 0 for the spindle EGB master axis (first spindle) and 1 for the
slave axis (second spindle).

16i
4036 Feed-forward coefficient

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
Set the feed forward coefficient when feed forward control is executed
on Cs contouring control.
Set 100 for the spindle EGB slave axis (second spindle).
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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

16i
4037 Velocity loop feed forward coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set the velocity loop feed forward coefficient when feed forward
control is executed on Cs contouring control. Set the following
calculation equation.
Setting = 214466 × [spindle inertia + rotor inertia] (kgm2)
motor maximum torque (Nm)

16i
4386 Number of master-axis spindle sensor teeth

Unit of data : 1λ / rev

Valid data range : 0, 64 to 4096
Standard setting value : 0
Specify the number of master-axis spindle sensor teeth (position
sensor). If "0" is specified, EGB synchronous ratio is assumed to be
"0".

NOTE
This parameter is valid only for the slave axis
(second spindle).

16i
4387 Synchronous ratio numerator

Valid data range : -32767 to 32767

Standard setting value : 0
Specify the numerator of a synchronous ratio.

NOTE
This parameter is valid only for the slave axis
(second spindle).

16i
4388 Synchronous ratio denominator

Valid data range : 1 to 65535

Standard setting value : 0
Specify the denominator of a synchronous ratio.

NOTE
This parameter is valid only for the slave axis
(second spindle).

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

16i
4498 Denominator of the master-axis motor sensor-to-spindle arbitrary gear ratio
4499 Numerator of the master-axis motor sensor-to-spindle arbitrary gear ratio

Valid data range : 0 to 32767

Standard setting value : 0
Specify conversion coefficients (numerator and denominator) to be
used when the detection arbitrary gear ratio function (DMR function)
is used where the master-axis spindle position feedback signal is
obtained by multiplying the feedback signal of the master-axis motor
sensor (Mi or MZi sensor) by the gear ratio.
If the spindle makes Q turns while the motor shaft makes P turns
(where P and Q are mutually prime), the settings are:
Parameter No. 4498 = P and parameter No. 4499 = Q
If the parameters are "0", they are assumed to be "1".

NOTE
This parameter is valid only for the slave axis
(second spindle).

5.8.9 Diagnosis Signal Related to Spindle EGB

Address
Description Unit
16i
Synchronous error between master and slave
0717 Pulse
axes.(Weight is slave side)

NOTE
1 Displaying this data on the CNC diagnosis screen
requires the αi SPM type B and the i series MODEL
B CNC.
2 Displaying this data on the CNC diagnosis screen
requires the following CNC software series/editions.
FS16i/160i/160is-MB :
Series B0H1/R(18) and subsequent editions
FS18i/180i/180is-MB :
Series BDH1/R(18) and subsequent editions
FS18i/180i/180is-MB5 :
Series BDH5/H(08) and subsequent editions

5.8.10 Status Errors Related to Spindle EGB

Error No. Description Measure

33 Invalid hardware configuration Check the model of the CNC in use.
An attempt was made to enable both the To use the spindle EGB function, disable the
34
spindle EGB and FAD functions. spindle FAD function.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.8.11 Alarms

(1) SPM alarm

Error No. Description Measure
An error occurred in inter-SPM
66 Check the connection of the cable (JX4).
communication.
An alarm was issued on the destination Correct the cause of the alarm on the
80
SPM of inter-SPM communication. destination SPM.

(2) CNC alarm

This subsection lists only the alarms related to the spindle EGB
function. Refer to an applicable CNC Connection Manual (Function)
for details.
(a) For Series 16i/18i
FANUC Series 16i/18i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 1.14.2 “Spindle Electronic Gear Box (M
series).”

Alarm No. Description

010 A parameter specified for a G81 command is incorrect.
181 The format of a G81 block is incorrect.
184 A command that should not be issued during synchronous control is issued.
186 Incorrect parameter setting for G81: The slave axis has not been specified as a rotary axis.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.9 DIFFERENTIAL SPINDLE SPEED CONTROL

5.9.1 Overview
The differential spindle speed control function controls the velocity of
one spindle (slave axis) relative to the velocity of the other of spindle
(master axis).
Applying this function to rigid tapping enables tapping the center of a
workpiece while rotating a spindle (master axis) that holds a
workpiece at a constant speed. Therefore, the time required for
stopping the workpiece axis (master axis) can be reduced.

5.9.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition F(06) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.9.3 Configuration
The following figure shows an example of a configuration used for
differential spindle speed control.

Spindle motor with Spindle motor with

built-in Mi sensor built-in Mi sensor

Master side
spindle
Slave side
spindle

α position coder α position coder

Directly connected or
connected with a gear or
timing belt at a ratio of 1:1

(Master side) (Slave side)

SPM SPM
TYPE A Sub module SW
TYPE B

JX4 JX4
JYA2 JYA2 JYA2M
JYA3 JYA3 JYA3M
JYA4 JYA4 JYA3S

NOTE
1 The sub module SW (SSW) is required in addition to
the SPM to receive the position coder signal from the
master side.
2 When the position coder output of connector JX4 is
used, SPM TYPE B is used.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.9.4 Description
(1) The position coder must be connected to the master side spindle
at the ratio of 1:1.
(2) The position coder signal from the master side received by the
sub module SW is output from JX4.
(3) Differential spindle speed control can be used only during speed
control mode or rigid tapping. It cannot be used during Cs
contouring control, spindle synchronous control, or spindle
orientation.
(4) When differential spindle speed control is applied to rigid
tapping (Differential speed rigid tapping), sum of the velocity of
master spindle and the velocity command of rigid tapping for
slave spindle must not exceed the maximum speed of slave
spindle.
(5) The master side spindle must be kept at a constant speed during
rigid tapping. Acceleration or deceleration cannot be performed.
(6) Since the output torque of the motor is normally reduced in
high-speed rotation areas, the rigid tapping
acceleration/deceleration constant must be set to a greater value.

5.9.5 I/O Signals (CNC↔PMC)

(1) Address list of input signals (PMC→CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G229 G072 G072 DEFMDA
2nd- G237 G076 G076 DEFMDB

(2) Details of input signals (PMC→CNC)

(a) Speed differential mode specification signal (DEFMDA)
This signal is used to specify whether differential spindle speed mode
is enabled.
0: Differential spindle speed mode disabled
1: Differential spindle speed mode specified
While this signal is set to 1, the spindle is controlled in differential
spindle speed mode.
The velocity of the slave axis in differential spindle speed mode is
controlled by the sum of the velocity of the master spindle and the
velocity command of the slave spindle.

(3) Output signals (CNC→PMC)

There are no output signals.

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5.9.6 Examples of Sequences

The following shows examples of sequences used when differential
speed rigid tapping is performed using the first spindle as the slave
axis (on the tool side).
<1> When differential spindle speed mode is commanded to slave
spindle, the slave spindle accelerates to the velocity of the
master spindle.
<2> After making sure that the slave spindle accelerates to the
velocity of the master spindle, start rigid tapping.
<3> Perform differential speed rigid tapping.
<4> When the velocity command of the slave spindle is 0 min-1, if
differential spindle speed mode is released upon completion of
rigid tapping, the slave spindle stops. If the velocity command of
the slave spindle is commanded not equal to 0 min-1, the slave
spindle accelerates or decelerates to the velocity commanded.

M29 Sxxxx; G84 X. . R. . ; G80

M29

ENB
(CNC→PMC)

SFRA
(PMC→CNC)

SARA
(CNC→PMC) <2>

DEFMDA
(PMC→CNC)

RGTAP
(PMC→CNC)

FIN
(PMC→CNC)

Position loop

Master axis
rotation speed (on
the workpiece
side)
<3>
Slave axis
rotation speed
(on the tool <4>
side) 0min-1 <1>

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.9.7 List of Related Parameters

Parameter No.
Description
15i 16i 16i
Whether the differential spindle speed
3000 #5 4000 #5 4000 #5
control function is available (to be set to 1)
Setting of direction for differential spindle
3000 #6 4000 #6 4000 #6
speed control
Setting of speed integration operation when
3017 #6 4017 #6 4017 #6 differential spindle speed control is
exercised

5.9.8 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3000 4000 4000 DEFDRT DEFFNC

DEFFNC Whether differential spindle speed control function is available

0 : Differential spindle speed control is not available
1 : Differential spindle speed control is available (to be set to 1)

DEFDRT Setting of the direction for differential spindle speed control(feedback

polarity on the master side)
0 : Direction same as the feedback signal
1 : Direction opposite to the feedback signal

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 VINTDC

VINTDC This parameter sets speed integration operation when differential

spindle speed control is exercised.
Set this parameter to 1.

NOTE
This parameter is valid with 9D50 Series M (13)
edition or later and 9D70 series C (03) edition or
later.

5.9.9 Status Errors on Differential Spindle Speed Control

Error No. Description Measure

Differential spindle speed mode and Cs
10 Check the sequences.
mode are specified at the same time.
Differential spindle speed mode is specified
12 Check the sequences.
during spindle synchronous control.
Differential spindle speed mode is specified
13 Check the sequences.
during spindle orientation.
Differential spindle speed mode is specified Check the parameter settings and
16
with speed differential control disabled. sequences.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.10 DUAL POSITION FEEDBACK FUNCTION Optional function

5.10.1 Overview
When position control is performed by Cs contouring control or rigid
tapping with a machine having a large backlash, vibration can be
generated in closed loop mode while stable operation is possible in
semi-closed loop mode. For such a machine system, the dual position
feedback function provides stable control equivalent to control in
semi-closed loop mode.

NOTE
1 To use this function, a CNC software option for Cs
contouring control or rigid tapping is required.
2 Here, the semi-closed loop refers to positional
control by motor sensor, and the closed loop refers
to positional control by spindle sensor.
3 The dual position feedback function cannot be used
on the spindle switch control SUB side.

5.10.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC Remarks
Edition A(01) and Only the dual position feedback function under Cs
subsequent editions FS16i / FS18i / FS21i contouring control is supported.
Series 9D50
Edition M(13) and / FS0i / FS15i The dual position feedback function in the servo mode
subsequent editions (rigid tapping/spindle positioning) is supported.
Edition A(01) and Only the dual position feedback function under Cs
subsequent editions contouring control is supported.
Series 9D70 FS30i / FS31i / FS32i
Edition C(03) and The dual position feedback function in the servo mode
subsequent editions (rigid tapping/spindle positioning) is supported.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.10.3 Block Diagram

The following shows a block diagram of dual position feedback:

ER1 Position gain Spindle motor

Move
+ + ER +
command Velocity
Σ Kp Amplifier Spindle
control
- + -
Motor
Spindle
sensor
sensor
Velocity feedback
Conversion
Position feedback (from motor sensor) coefficient

ER2
+ - Primary delay time
Σ constant
- +

Position feedback (from motor sensor)

Position feedback (from the spindle sensor)

As shown in the above diagram, error counter ER1 in the semi-closed

loop and error counter ER2 in the closed loop are prepared. The
primary delay time constant is expressed as follows:
Primary delay time constant = (1 + τ s)-1

Here, consider actual error ER by time constant.

(1) When time constant τ = 0: (1 + τ s)-1 = 1
ER = ER1 + (ER2 - ER1) = ER2 (error counter in the closed
loop)
(2) When time constant τ = ∞: (1 + τ s)-1 = 0
ER = ER1 (error counter in the semi-closed loop)
From the primary delay time constant, control can be provided in the
semi-closed loop when a transition state is present, and control can be
provided in the closed loop when positioning is performed. According
to this principle, vibration during movement can be suppressed to a
level equivalent to the level obtained in the semi-closed loop.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.10.4 List of Related Parameters

Parameter No.
Description
15i 16i 30i
3014#7 4014#7 4014#7 Setting of dual position feedback
3171 4171 4171 Denominator of conversion coefficient
3173 4173 4173 (Selected by spindle control input signal CTH1A)
3172 4172 4172 Numerator of conversion coefficient
3174 4174 4174 (Selected by spindle control input signal CTH1A)
3215 4215 4215 Primary delay time constant in dual position feedback [in Cs contouring control]
3224 4224 4224 Maximum amplitude in dual position feedback [in Cs contouring control]
3225 4225 4225 Dual position feedback zero width [in Cs contouring control]
Excessive semi-closed loop/closed loop position error alarm
3354 4354 4354 [in Cs contouring control]
detection level
3520 4520 4520 Primary delay time constant in dual position feedback [in servo mode]
3521 4521 4521 Maximum amplitude in dual position feedback [in servo mode]
3522 4522 4522 Dual position feedback zero width [in servo mode]
Excessive semi-closed loop/closed loop position error alarm
3523 4523 4523 [in servo mode]
detection level

NOTE
1 This subsection lists only those parameters that are
specific to dual position feedback. For parameters
related to Cs contouring control, see Section 2.4, "Cs
CONTOURING CONTROL", in Part I. For
parameters related to rigid tapping, see Section 2.3,
"RIGID TAPPING", in Part I.
2 The dual position feedback function (FS16i: No.
4520 to No. 4522) in the servo mode (rigid
tapping/spindle positioning) is usable with the
following series and editions:
9D50 series M edition (13 edition) or later
9D70 series C edition (03 edition) or later

5.10.5 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3014 4014 4014 DUALFB

DUALFB Setting of dual position feedback

0 : Enables dual position feedback.
1 : Disables dual position feedback.
To use the dual position feedback function, set "1".

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3171 4171 4171 Denominator of conversion coefficient (HIGH) CTH1A=0
3172 4172 4172 Numerator of conversion coefficient (HIGH) CTH1A=0
3173 4173 4173 Denominator of conversion coefficient (LOW) CTH1A=1
3174 4174 4174 Numerator of conversion coefficient (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters are used to obtain the feedback amount for one
rotation of the spindle from the position feedback signal in the
semi-closed loop (the position feedback signal from the motor sensor)
when the spindle rotates one turn.
When the spindle rotates Q turns while the motor shaft rotates P turns
(P and Q are mutually prime integers), the parameters are set as
follows:
No. 4171 (No. 4173 if CTH1A = 1) = P
No. 4172 (No. 4174 if CTH1A = 1) = Q
If these parameters are set to "0", "1" is assumed to be set in the
parameters.

15i 16i 30i

Primary delay time constant in dual position feedback
3215 4215 4215 [in Cs contouring control]

Unit of data : 1msec

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a primary delay time constant in dual position
feedback when Cs contouring control is exercised.
If hunting occurs during acceleration/deceleration, set a larger value.
If this parameter is set to 0, the same setting as for a closed loop (=
dual position feedback disabled) results.
Setting "32767" provides control equivalent to the semi-closed loop.

15i 16i 30i

3224 4224 4224 Maximum amplitude in dual position feedback [in Cs contouring control]

Unit of data : 64 pulses (=0.064deg)

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a maximum amplitude in dual position feedback
when Cs contouring control is exercised.
If an error between the position in the semi-closed loop and the
position in the closed loop exceeds the setting, correction clamping
occurs.
If "0" is set, correction clamping does not occur.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

3225 4225 4225 Dual position feedback zero width [in Cs contouring control]

Unit of data : 1 pulse (=0.001deg)

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a dual position feedback zero width when Cs
contouring control is exercised.
Positioning is performed so that the difference in position between the
closed loop and semi-closed loop does not exceed the pulse width
equivalent to the parameter-set value.
Set "0" first, and if an unstable condition is observed when the
machine is stopped, increase the setting.

15i 16i 30i

Excessive semi-closed loop/closed loop position error alarm detection level
3354 4354 4354 [in Cs contouring control]

Unit of data : 64 pulses (=0.064deg)

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets an excessive semi-closed loop/closed loop
position error alarm (SPM alarm 61) when Cs contouring control is
exercised.
When the position difference (semi-closed loop/closed loop position
error) between the semi-closed loop and the closed loop exceeds the
value set in this parameter, the alarm (SPM alarm 61) is issued.

15i 16i 30i

3520 4520 4520 Primary delay time constant in dual position feedback [in servo mode]

Unit of data : 1msec

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a primary delay time constant in dual position
feedback in the servo mode (rigid tapping/spindle positioning).
If hunting occurs during acceleration/deceleration, set a larger value.
If this parameter is set to 0, the same setting as for a closed loop (=
dual position feedback disabled) results.
Setting "32767" provides control equivalent to the semi-closed loop.

NOTE
This parameter is valid with 9D50 Series M (13)
edition or later and 9D70 series C (03) edition or
later.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3521 4521 4521 Maximum amplitude in dual position feedback [in servo mode]

Unit of data : 1 pulse unit (=360/4096 degrees)

Valid data range : 0 to 4095
Standard setting value : 0
This parameter sets a maximum amplitude in dual position feedback in
the servo mode (rigid tapping/spindle positioning).
If an error between the position in the semi-closed loop and the
position in the closed loop exceeds the setting, correction clamping
occurs.
If "0" is set, correction clamping does not occur.
If a value not within the valid data range is set, the value is clamped to
the maximum allowable value.

NOTE
This parameter is valid with 9D50 Series M (13)
edition or later and 9D70 series C (03) edition or
later.

15i 16i 30i

3522 4522 4522 Dual position feedback zero width [in servo mode]

Unit of data : 1 pulse unit (=360/4096 degrees)

Valid data range : 0 to 4095
Standard setting value : 0
This parameter sets a dual position feedback zero width in the servo
mode (rigid tapping/spindle positioning).
Positioning is performed so that the difference in position between the
closed loop and semi-closed loop does not exceed the pulse width
equivalent to the parameter-set value.
Set "0" first, and if an unstable condition is observed when the
machine is stopped, increase the setting.
If a value not within the valid data range is set, the value is clamped to
the maximum allowable value.

NOTE
This parameter is valid with 9D50 Series M (13)
edition or later and 9D70 series C (03) edition or
later.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

Excessive semi-closed loop/closed loop position error alarm detection level
3523 4523 4523 [in servo mode]

Unit of data : 1 pulse unit (=360/4096 degrees)

Valid data range : 0 to 4095
Standard setting value : 0
This parameter sets an excessive semi-closed loop/closed loop
position error alarm (SPM alarm 61) in the servo mode (rigid
tapping/spindle positioning).
When the position difference (semi-closed loop/closed loop position
error) between the semi-closed loop and the closed loop exceeds the
value set in this parameter, the alarm (SPM alarm 61) is issued.
If a value not within the valid data range is set, the value is clamped to
the maximum allowable value.

NOTE
This parameter is valid with 9D50 Series M (13)
edition or later and 9D70 series C (03) edition or
later.

5.10.6 SPM Alarm

Error No. Description Measure

The difference (semi-closed loop/closed
Correct the cause of the semi-closed
61 position error) between the semi-closed loop
loop/closed position error.
and the closed loop exceeds the set value.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.11 TORQUE TANDEM CONTROL FUNCTION Optional function

5.11.1 Overview
The torque tandem control function controls two mechanically
connected spindle motors by using the same torque command.

NOTE
1 To use this function, the CNC software option
(spindle tandem control) is required.
2 To use this function, SPM TYPE B is required.
3 When this function is used, the spindle amplifier
modules and spindle motors of the master and
slave must be of the same model.
4 This function cannot be used together with the
following functions:
- Spindle synchronous control function
- Speed range switching function
- Spindle switching function
- Position coder signal output function
- Spindle EGB function
- Spindle leaning control function
- Synchronous built-in spindle motor driving
5 No limitation is imposed on master and slave axis
assignment.
In the descriptions below, the following assignment
is used for convenience:
Master SPM: First spindle
Slave SPM: Second spindle

5.11.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition M(13) and
Series 9D50 FS16i / FS18i / FS15i
subsequent editions
Edition C(03) and
Series 9D70 FS30i / FS31i
subsequent editions

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.11.3 System Configuration

NOTE
1 For connection details of each cable, refer to
"FANUC SERVO AMPLIFIER αi series
DESCRIPTIONS (B-65282EN)".
2 The PSM emergency stop signal (connector CX4)
needs to be input for each PSM.

(1) Sample configuration 1: System where the master spindle and slave
spindle are mechanically connected or disconnected when a workpiece is
attached or detached
Spindle motor
(master)
Mi/MZi sensor

CNC JA7B JYA2

1st spindle
(master)
SPM Type B
JA7A
Chuck
JX4

Inter-SPM connection Workpiece

JX4
Chuck
JA7B JYA2

2nd spindle
(slave)
SPM Type B

Mi/MZi sensor
Spindle motor
(slave)

NOTE
When the master and slave are mechanically
disconnected, torque tandem control cannot be
used. In this case, cancel the tandem operation
mode.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) Sample configuration 2: System where the table axis is driven by two
motors
Spindle motor
(master)
CNC JA7B JYA2 Mi sensor
1st spindle
(master) Gear
SPM Type B
JA7A JA4A
JX4

BZi sensor
Spindle
Inter-SPM
connection

JX4
JA7B JYA2 Mi sensor
2nd spindle
(slave)
Gear
SPM Type B

Spindle motor
(slave)

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.11.4 I/O Signals (CNC ↔ PMC)

NOTE
1 A command for the spindles engaged in tandem
operation is issued to the master SPM.
The input signal specifications are the same as for
ordinary spindles (for which the torque tandem
function is not used).
For details of signals used in each control mode,
see Chapter 3, "I/O SIGNALS", in Part I.
2 During tandem operation, no signal needs to be
input from the PMC to the tandem function slave
SPM. Those signals that are required to drive the
slave SPM are transferred from the master SPM by
inter-SPM communication.
3 During tandem operation, use a signal output from
the master SPM for sequence determination (such
as speed arrival determination and alarm
detection). (No signal output from the slave SPM is
needed.)

(1) Input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G226 G071 G071 SOCNA
2nd- G234 G075 G075 SOCNB

SOCNA Soft start/stop signal (for the first spindle)

SOCNB Soft start/stop signal (for the second spindle)
0 : Disables the soft start/stop function.
1 : Enables the soft start/stop function.
These signals enable or disable the soft start/stop function.
Use these signals when limiting the specified acceleration rate to
reduce a mechanical shock during acceleration/deceleration.
During tandem operation (SLVx = 1), the signals need not be input to
the slave SPM.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G228 G073 G073 MPOFA SLVA
2nd- G236 G077 G077 MPOFB SLVB

SLVA Tandem operation command (for the first spindle)

SLVB Tandem operation command (for the second spindle)
0 : Makes a request to disable tandem operation.
1 : Makes a request to enable tandem operation.
These signals enable or disable tandem operation.
When using the torque tandem function, set these signals to 1 for both
of the master and slave.

NOTE
1 Both of the master and slave must be stopped
before these signals can be switched.
During rotation, these signals cannot be accepted.
2 Switch these signals in the speed control mode. In
a mode other than the speed control mode, these
signals cannot be accepted.
3 When the master and slave are mechanically
disconnected with each other, do not set these
signals to 1.

MPOFA Motor power turn-off signal (for the first spindle)

MPOFB Motor power turn-off signal (for the second spindle)
0 : Normal operation
1 : Turns off the power to the motor.
These signals turn off the power to the motor.
During tandem operation (SLVx = 1), these signals need not be input
to the slave SPM.

NOTE
If an error such as an excessive master-slave
speed difference is detected when torque tandem
operation is enabled, the power to both of the
master motor and slave motor must be turned off
simultaneously to minimize damage to the
machine. In such a case, be sure to turn off the
power to both motors by using these signals.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(2) Output signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- F229 F045 F045 SSTA
2nd- F245 F049 F049 SSTB

SSTA Speed zero detection signal (for the first spindle)

SSTB Speed zero detection signal (for the second spindle)
0 : The spindle motor is rotating.
1 : The spindle motor is in the speed zero (stopped) state.
After checking that these signals are set to 1 with both of the master
and slave, switch the tandem operation command SLVx.
When these signals are set to 0, the tandem operation command
cannot be accepted.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- F228 F046 F046 SLVSA
2nd- F244 F050 F050 SLVSB

SLVSA Tandem operation state signal (for the first spindle)

SLVSB Tandem operation state signal (for the second spindle)
0 : Tandem operation is disabled.
1 : Tandem operation is enabled.
After checking that these signals are set to 1 with both of the master
and slave, issue a command to the master SPM.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- F231 F047 F047 MSOVRA
2nd- F247 F051 F051 MSOVRB

MSOVRA Master-slave speed difference state signal(for the first spindle)

MSOVRB Master-slave speed difference state signal (for the second spindle)
0 : The speed difference between the master and slave is less than
the set value.
1 : The speed difference between the master and slave is equal to or
greater than the set value.
These signals indicate whether or not the speed difference between the
master motor and slave motor is less than the value set in the
parameter (FS16i: No. 4347).
The signal for the slave SPM need not be monitored. (At all times, 0 is
output.)

NOTE
Monitor the states of these signals on the PMC.
Ensure that an alarm is issued if an error occurs
(for example, if the state of 1 lasts for a certain
period of time).

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.11.5 Examples of Sequences

NOTE
Examples of sequences are given below assuming
the following:
First spindle: Master SPM
Second spindle: Slave SPM

(Example 1) Speed control mode

Speed zero detection
signal
SSTA&SSTB

Tandem operation
command
SLVA&SLVB
300ms or more
Tandem operation
state
SLVSA&SLVSB

Sxxxx (≠0)
Spindle speed
command S0
S code
Master SPM spindle
rotation command
SFRA&SRVA

Motor speed

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(Example 2) Spindle orientation

Speed zero detection
signal
SSTA&SSTB

Tandem operation
command
SLVA&SLVB
300ms or more

Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command S0
S code

Master SPM spindle

rotation command
SFRA&SRVA

Master SPM
orientation command
ORCMA

Master SPM
orientation completion
signal ORARA

Motor speed

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(Example 3) Rigid tapping

Speed zero detection
signal
SSTA&SSTB

Tandem operation
command
SLVA&SLVB 300ms or more

Tandem operation
state
SLVSA&SLVSB

Master SPM spindle

rotation command
SFRA&SRVA

Rigid tapping
command
M29 Sxxxx
G84 Zyyyy . . .

Motor speed

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(Example 4) Cs contouring control

Speed zero detection
signal
SSTA&SSTB

Tandem operation
command
SLVA&SLVB 300ms or more

Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command S0
S code
Master SPM spindle
rotation command
SFRA&SRVA

Cs contouring control
command
G00 C0.
G01 Cxxxx . . .

Motor speed

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.11.6 Parameters

(1) Cautions
For the master SPM and slave SPM, set the same parameters except
for the following specific parameters:

Parameter No. Master SPM Slave SPM

Description
15i 16i 30i setting setting
Depending on the Depending on
3002 4002 4002
Spindle sensor type spindle the spindle
#3 to #0 #3 to #0 #3 to #0
configuration configuration
Relationship of master/slave motor Depending on the
3353#2 4353#2 4353#2 rotation directions in torque spindle 0
tandem operation configuration
3352#7,#6 4352#7,#6 4352#7,#6 Inter-SPM communication setting 1, 0 0, 1
Machine by
3360 4360 4360 Preload value machine 0
(adjustment value)

(2) List of parameters

Parameter No.
Description
15i 16i 30i
Motor power turn-off method when SPM alarm 24 (serial data transfer error)
3009#2 4009#2 4009#2
is issued
Relationship of master/slave motor rotation directions in torque tandem
3353#2 4353#2 4353#2
operation
3015#3 4015#3 4015#3 Whether to use the spindle tandem function
3353#1 4353#1 4353#1 Velocity feedback signal setting in torque tandem operation
3398#3 4398#3 4398#3 Whether to use the twin drive function
Whether to detect a speed polarity error (SPM alarm d0) in torque tandem
3398#6 4398#6 4398#6
operation
3352#6 4352#6 4352#6 Inter-SPM communication slave axis setting
3352#7 4352#7 4352#7 Inter-SPM communication master axis setting
3347 4347 4347 Master-slave speed difference state signal output setting
3360 4360 4360 Preload value

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

(3) Details of Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3009 4009 4009 ALSP

ALSP Motor power turn-off method when SPM alarm 24 (serial data transfer
error) is issued
0 : Turns off the power after the motor is decelerated to a stop.
1 : Turns off the power immediately. (Set this parameter to 1.)

NOTE
If an alarm is issued during torque tandem
operation, the power to both of the master motor
and slave motor must be turned off simultaneously
to prevent the machine from being damaged. When
using the torque tandem function, be sure to set
this parameter to 1 to turn off the power to the
motors immediately if a CNC-SPM communication
error occurs.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3015 4015 4015 SPDTDM

SPDTDM Whether to use the spindle tandem function (The CNC software
option is required.)
0 : Does not use the spindle tandem function.
1 : Uses the spindle tandem function.

NOTE
If this bit is set to 0, the torque tandem function
does not operate normally. When this bit is set to 0,
check the software option.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 MASTER SLAVE

SLAVE Inter-SPM communication slave axis setting

0 : Non-inter-SPM communication slave axis
1 : Inter-SPM communication slave axis (Set this parameter to 1 for
the slave SPM.)

MASTER Inter-SPM communication master axis setting

0 : Non-inter-SPM communication master axis
1 : Inter-SPM communication master axis (Set this parameter to 1
for the slave SPM.)

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3353 4353 4353 RVSVC2 VFBAV

VFBAV Velocity feedback signal setting in torque tandem operation

0 : For speed control, the master SPM motor speed only is used.
1 : For speed control, the average speed of the master SPM and
slave SPM is used.
By exercising speed control using the average speed feedback value of
the master and slave, vibration caused by spindle backlash may be
suppressed.

RVSVC2 Relationship of master/slave motor rotation directions in torque

tandem operation
0 : The master motor and slave motor rotate in the same direction at
spindle rotation time (as viewed from the motor shaft).
1 : The master motor and slave motor rotate in the opposite
directions at spindle rotation time (as viewed from the motor
shaft).
This parameter sets the polarity for a speed command and feedback
signal in torque tandem operation.

NOTE
1 This parameter need not be set for the slave SPM
side. (The setting for the master SPM is transferred
to the slave SPM by inter-SPM communication.)
2 If the setting of this parameter is improper, the
torque tandem function does not operate normally.
If the spindle is rotated in this state, the speed
polarity error alarm (SPM alarm d0) is issued in
torque tandem operation.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3398 4398 4398 A130DN WNDTDM

WNDTDM Whether to use the twin drive function

Set this parameter to 0.

NOTE
If this bit is set to 1, the torque tandem function
does not operate normally. Be sure to set this bit to
0.

A130DN Whether to detect a speed polarity error (SPM alarm d0) in torque
tandem operation
0 : Detects the error.
1 : Does not detect the error.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

3347 4347 4347 Master-slave speed difference state signal output setting

Unit of data : 1min-1

*(10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a level for detecting the master-slave speed
difference state signal (MSOVRA:F47#2, MSOVRB:F51#2).
If this parameter is set to 0, the setting of 100 is assumed.

15i 16i 30i

3360 4360 4360 Preload value

Unit of data : ±16384 equivalent to a torque command of 100%

Valid data range : -8192 to 8192（-50% to +50%）
Standard setting value : 0
This parameter sets a preload value.
This parameter may suppress stop-time vibration caused by backlash.

NOTE
This parameter need not be set for the slave SPM
side. (The setting for the master SPM is transferred
to the slave SPM by inter-SPM communication.)

5.11.7 Alarm and Status Error

(1) SPM alarm

Alarm No. Description Measure

66 An inter-SPM communication error occurred. Check the connection of the cable (JX4).
An alarm was issued on the destination SPM Correct the cause of the alarm on the
80
of inter-SPM communication. destination SPM.
The relationship between the speed polarity of
Check the rotation direction relationship setting
d0 the master motor and the speed polarity of the
(FS16i: Bit 2 of No. 4353).
slave motor is abnormal.

(2) SPM status error

Error No. Description Measure

A tandem operation command was input when Input a tandem operation command after
21
spindle synchronous control is enabled. canceling spindle synchronous control.
Spindle synchronous control was specified Specify spindle synchronous control after
22
when tandem operation is enabled. canceling torque tandem operation.
A tandem operation command is input even if Torque tandem control requires the CNC
23
the option is not specified. software option. Check the option.
- Parameters related to inter-SPM
communication are not set correctly.
38 Check the parameters.
- Functions that cannot be used together with
the torque tandem function are set.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.12 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION

Optional function

5.12.1 Overview
Magnetic sensor method spindle orientation is a function for stopping
the spindle at a specified position by receiving a position feedback
signal from a magnetic sensor directly attached to the spindle of the
machine.

NOTE
1 To use this function, the CNC software option
(spindle orientation) is required.
2 To use this function, SPM TYPE B is required.

5.12.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition F(06) and
Series 9D50 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

5.12.3 System Configuration

The magnetic sensor method spindle orientation function can be used
with the following system configuration:
Spindle motor with a
built-in Mi (or MZi)

Spindle

JYA2 Magnet (directly

SPM attached)
TYPE B
Magnetic sensor
JYA4 Amplifier head
JYA4 JY3
Magnetic sensor

NOTE
For the hardware specifications of the magnetic
sensor and magnetic sensor signal conversion
adaptor and connection details of each cable, refer
to "FANUC SERVO AMPLIFIER αi series
DESCRIPTIONS (B-65282EN)".

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

5.12.4 I/O Signals (CNC ↔ PMC)

The specifications of I/O signals are the same as for position coder
method spindle orientation. For details of the specifications, see
Section 2.2, "POSITION CODER METHOD SPINDLE
ORIENTATION", in Part I.

(1) Address list of input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G227 G070 G070 ORCMA CTH1A CTH2A

2nd- G235 G074 G074 ORCMB CTH1B CTH2B

(2) Address list of output signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- F229 F045 F045 ORARA

2nd- F245 F049 F049 ORARB

5.12.5 Sequence
The sequence is the same as for position coder method spindle
orientation. For details of the specifications, see Section 2.2,
"POSITION CODER METHOD SPINDLE ORIENTATION", in Part
I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

5.12.6 Parameters

(1) List of parameters

Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to "1")
3015 #0 4015 #0 4015 #0
(The CNC software option is required.)
3001 #3 4001 #3 4001 #3 Magnetic sensor attachment direction
Whether to use the position coder method spindle orientation function or
3003 #0 4003 #0 4003 #0 magnetic sensor method spindle orientation function (to be set to 1 to use
the magnetic sensor method)
3003 #3,#2 4003 #3,#2 4003 #3,#2 Rotation direction for spindle orientation
3042 4042 4042 Velocity proportional gain on orientation
3043 4043 4043 (These parameters are selected with the input signal CTH1A.)
3050 4050 4050 Velocity integral gain on orientation
3051 4051 4051 (These parameters are selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059
(These parameters are selected with the input signals CTH1A and CTH2A.)
Position gain on orientation
3060 to 3063 4060 to 4063 4060 to 4063
(These parameters are selected with the input signals CTH1A and CTH2A.)
3064 4064 4064 Ratio of position gain change upon completion of spindle orientation
3075 4075 4075 Orientation completion signal detection level
3076 4076 4076 Spindle orientation speed limit ratio
3077 4077 4077 Orientation stop position shift value
3078 4078 4078 MS signal constant
3079 4079 4079 MS signal gain adjustment
3084 4084 4084 Motor voltage on spindle orientation
3038 4038 4038 Spindle orientation speed

(2) Details of parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3001 4001 4001 MGDIR

MGDIR Magnetic sensor attachment direction

0 : The motor and magnetic sensor rotate in the opposite directions.
1 : he motor and magnetic sensor rotate in the same direction.
The spindle motor rotates counterclockwise as viewed from the motor
shaft when the forward rotation command SFRA = 1.
Make such an arrangement that the check hole of the magnet and the
pin groove of the magnetic sensor face each other so that the magnetic
sensor and magnet rotate in the directions shown in the figure below
when SFRA = 1. In this case, set this bit to 0. If the arrangement is
opposite to that shown in the figure below, set this bit to 1.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

Magnetic Magnet check

sensor head reference hole

Rotation
direction

NOTE
Note that the specification of this parameter is
different from the α series.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3003 4003 4003 DIRCT2 DIRCT1 PCMGSL

DIRCT1, DIRCT2 Rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction
By rotation direction immediately before (CCW for the
0 0
first-time spindle orientation after the power is switched on)
By rotation direction immediately before (CW for the
0 1
first-time spindle orientation after the power is switched on)
1 0 CCW direction looking from shaft of motor
1 1 CW direction looking from shaft of motor

PCMGSL : Orientation method selection

Set this bit to 1 (magnetic sensor method).

15i 16i 30i

3038 4038 4038 Spindle orientation speed

Unit of data : 1min-1

(*10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
Valid data range : 0 to 32767
Standard setting value : 0
This data is used to set an orientation speed at the spindle end.
If this data is set to 0, an orientation speed is determined from the
position gain and the motor speed limit ratio in orientation.

15i 16i 30i

3042 4042 4042 Velocity proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to set the velocity loop proportional gain on spindle
orientation.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3050 4050 4050 Velocity integral gain on orientation (HIGH) CTH1A=0
3051 4051 4051 Velocity integral gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to specify a velocity loop integral gain for spindle
orientation.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : Number of motor rotations per spindle rotation / 100

(Number of motor rotations per spindle rotation / 1000 if bit 1 of
parameter No. 4006 (GRUNIT) = 1)
Valid data range : 0 to 32767
Standard setting value : 100
This data is used to set a gear ratio between the spindle and spindle
motor.
For example, if the motor makes 2.5 rotations while the spindle makes
1 rotation, set 250 in this parameter.
A parameter is selected according to the values of the input signals
CTH1A and CTH2A.
Ensure that the state of the gear or clutch corresponds to the values of
CTH1A and CTH2A.
NOTE
If an improper value is set in these parameters, an
unexpected operation such as endless spindle
rotation at orientation time can result.
So, be sure to set a proper gear ratio.

15i 16i 30i

3060 4060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
3061 4061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
3062 4062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
3063 4063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting value : 1000
These data are used to set the position gain on spindle orientation.
A parameter is selected according to the values of the input signals
CTH1A and CTH2A.
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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

3064 4064 4064 Ratio of position gain change upon completion of spindle orientation

Unit of data : 1%
Valid data range : 0 to 1000
Standard setting value : 100
This data is used to set a position gain change ratio upon completion
of orientation.

15i 16i 30i

Orientation completion signal detection level (effective area for in-position
3075 4075 4075 check))

Unit of data : ±0.1deg

Valid data range : 0 to 100
Standard setting value : 10
This data is used to set the detecting level of orientation completion
signal (ORARA).
The orientation completion signal (ORARA) is set to 1 if the spindle
position is within the set data range when orientation is stopped.
When the orientation command (ORCMA) is turned off (= 0), the
orientation completion signal (ORARA) is set to 0.

15i 16i 30i

3076 4076 4076 Spindle orientation speed limit ratio

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 33
This data is used to set an orientation speed limit ratio.
Orientation Speed
Position gain
speed = 60 × × gear ratio × limit ratio [min-1]
(motor speed) 100 100

15i 16i 30i

3077 4077 4077 Orientation stop position shift value

Unit of data : ±0.01deg

Valid data range : -100 to 100
Standard setting value : 0
This data is used to shift the stop position.
When a plus (+) value is set, the spindle stop position is shifted in the
CCW direction by the set number of pulses.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR αi series B-65280EN/05

15i 16i 30i

3078 4078 4078 MS signal constant

Unit of data :
Valid data range : 80 to 1000
Standard setting value : 200
This data is used to set a value calculated from the expression below.
L 1
Settings = × × 4096
2 2π × H

where
L : Magnet length [mm]
H : Distance from the spindle center to magnet [mm]
Example When H = 100 mm and L = 50 mm
(50/2)
MS signal constant = × 4096 163
2π × 100

15i 16i 30i

3079 4079 4079 MS signal gain adjustment

Unit of data :
Valid data range : -128 to 127
Standard setting value : 0
This data is used to adjust the amplitude of the MS signal. Usually,
use the values indicated in the table below as standard values.
Specification Magnet MS signal
Name
drawing number Type Length [mm] gain
Not specified. 0
A57L-0001-0037
Standard Standard (TYPE II) 50
Magnetic sensor N A57L-0001-0037/N 0
Magnetic sensor P A57L-0001-0037/P Compact type (TYPE III) 50 -20
Magnetic sensor Q A57L-0001-0037/Q Cylinder type with diameter of φ40 (TYPE IV) 31 70
Magnetic sensor R A57L-0001-0037/R Cylinder type with diameter of φ50 (TYPEV) 37 50
Magnetic sensor S A57L-0001-0037/S Cylinder type with diameter of φ60 (TYPEVI) 43 70
Magnetic sensor T A57L-0001-0037/T Cylinder type with diameter of φ70 (TYPEVII) 49 40

15i 16i 30i

3084 4084 4084 Motor voltage setting on orientation

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 30
This data is used to specify the motor voltage for spindle orientation.
Depending on the motor model, set 30 usually.

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II. FANUC AC SPINDLE MOTOR βi series
B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 1.START-UP

1 START-UP

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1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/05

1.1 START-UP PROCEDURE

For this subsection, see Section 1.1, "START-UP PROCEDURE", in

Part I.

NOTE
The CNCs that can be used with the βi SVPM are
the 0i /0i Mate -MODEL B or 0i /0i Mate -MODEL C.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 1.START-UP

1.2 SPINDLE SERIAL INTERFACE Optional function

1.2.1 Parameters Related to Spindle Serial Output

For this subsection, see Subsection 1.2.1, "Parameters Related to
Spindle Serial Output", in Part I.

1.2.2 Automatic Spindle Parameter Initialization

(1) Parameter list

Parameter No.
Description
(0i)
4019#7 Function for automatically initializing spindle parameters
4133 Spindle motor model code

(2) Procedure for automatic spindle parameter initialization

Perform automatic spindle parameter initialization by following the
procedure below.

<1> Set the model code for the desired motor for automatic parameter
initialization.

Parameter No. (0i) Description

4133 Model code

NOTE
When using a spindle motor that has no model
code, set model code "300" for automatic
parameter setting, then manually input data
according to the model-by-model parameter list.

<2> Set the relevant parameter to enable automatic spindle parameter

initialization.
Parameter No. (0i) Description
4019#7 1

NOTE
This bit is reset to its original value after automatic
parameter initialization.

<3> Turn off then turn on again the power to the CNC. The spindle
parameter data set with the model code is automatically
initialized.

<4> According to the detector configuration, set the detector-related

parameters.

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1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/05

<5> In parameter No. 4090 (overload detection level), set the

standard value of the βi series spindle motor.
Parameter No. (0i) Description
4090 95

1.2.3 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 1.2.3, "Diagnosis (Diagnosis
Screen)", in Part I.

1.2.4 Alarm
For this subsection, see Subsection 1.2.4, "Alarm", in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 1.START-UP

1.3 PARAMETERS RELATED TO DETECTORS

The following detector configurations can be used with the βi SVPM:

Motor sensor Spindle sensor
Mi sensor None
Mi sensor α position coder
MZi sensor None
MZi sensor External one-rotation signal

NOTE
1 Because of the difference in amplifier hardware
specifications, the detector configurations that can
be used with the βi SVPM are limited.
2 Only a position coder or external one-rotation
signal can be used as the spindle sensor for the
SVPM. (The spindle sensor refers to the detector
connected to connector JYA3.)

1.3.1 List of Parameters for Detectors

For this subsection, see Subsection 1.3.1, "List of Parameters for
Detectors", in Part I.

1.3.2 Details of Parameters for Detectors

For this subsection, see Subsection 1.3.2, "Details of Parameters for
Detectors", in Part I.

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1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/05

1.3.3 Typical Detector Configurations

This subsection presents the spindle detector configurations usable
with the βi SVPM and describes the procedure for setting parameters
in these detector configurations.
With the βi SVPM, the detector circuitry hardware is set according to
the parameter setting. For this reason, an alarm such as a
disconnection alarm may be output while parameters related to
detectors are being set.
To initialize the hardware, after setting the parameters related to
detectors, turn the power to the amplifier off once.

(1) When position control is not exercised

[Sample system configuration]
Spindle motor with built-in Mi
sensor

JYA2 Spindle

SVPM
(TYPE A)

Parameter (0i) Settings Description

4002 #3,#2,#1,#0 0,0,0,0 Does not exercise position control.
Depends on
4010 #2,#1,#0 Sets the type of motor sensor.
the detector.
Depends on Sets the number of motor sensor gear
4011 #2,#1,#0
the detector. teeth.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 1.START-UP

(2) When the α position coder is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SVPM
(TYPE A)

JYA3
Directly connected or connected with a
gear or timing belt at a ratio of 1:1

Parameter (0i) Settings Description

Depends on the Rotation directions of the spindle
4000 #0
configuration. and motor
Depends on the
4001 #4 Spindle sensor mounting direction
configuration.
Uses the α position coder as the
4002 #3,#2,#1,#0 0,0,1,0
spindle sensor.
Sets the number of spindle sensor
4003 #7,#6,#5,#4 0,0,0,0
gear teeth.
Depends on the
4010 #2,#1,#0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor
4011 #2,#1,#0
detector. gear teeth.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor

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1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/05

(3) When the MZi sensor is used

[Sample system configuration 1]
JYA2 Spindle motor with built-in MZi
sensor

SVPM Spindle
(TYPE A)

[Sample system configuration 2]

Spindle motor with built-in MZi
sensor

JYA2 Spindle

SVPM
(TYPE A)

Directly connected or connected with a

gear or timing belt at a ratio of 1:1

Parameter (0i) Settings Description

Rotation directions of the spindle and
4000 #0 0
motor
Uses the motor sensor for position
4002 #3,#2,#1,#0 0,0,0,1
feedback.
Uses the MZi or BZi sensor as the
4010 #2,#1,#0 0,0,1
motor sensor.
Depends on Sets the number of motor sensor gear
4011 #2,#1,#0
the detector. teeth.
Gear ratio between the spindle and
4056 to 4059 100 or 1000 motor
1:1

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 1.START-UP

(4) When the external one-rotation signal (proximity switch) is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle
JYA2

SVPM
(TYPE A) External one-rotation
signal (proximity switch)
Gear or timing belt
JYA3

Parameter (0i) Settings Description

Depends on the Rotation directions of the spindle
4000 #0
configuration. and motor
Uses the motor sensor for position
4002 #3,#2,#1,#0 0,0,0,1
feedback.
Uses the external one-rotation
4004 #2 1
signal.
Depends on the Sets the external one-rotation
4004 #3
detector. signal type.
Depends on the
4010 #2,#1,#0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor
4011 #2,#1,#0
detector. gear teeth.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor
Depends on the Arbitrary gear ratio between the
4171 to 4174
configuration. motor sensor and spindle

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2 EXPLANATION OF OPERATION MODES

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

2.1 VELOCITY CONTROL MODE

2.1.1 Start-up Procedure

For this subsection, see Subsection 2.1.1, "Start-up Procedure", in Part
I.

2.1.2 Overview
For this subsection, see Subsection 2.1.2, "Overview", in Part I.

2.1.3 System Configuration

The velocity control mode is applicable to all detector configurations.
For system configurations, see Subsection 1.3.3, "Typical Detector
Configurations", in Part II.

2.1.4 List of I/O Signals (CNC↔PMC)

For this subsection, see Subsection 2.1.4, "List of I/O Signals
(CNC↔PMC)", in Part I.

2.1.5 Related Parameters

For this subsection, see Subsection 2.1.5, "Related Parameters", in
Part I.

2.1.6 Details of Related Parameters

For this subsection, see Subsection 2.1.6, "Details of Related
Parameters", in Part I.

2.1.7 Troubleshooting
For this subsection, see Subsection 2.1.7, "Troubleshooting", in Part I.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

2.2 POSITION CODER METHOD SPINDLE ORIENTATION

Optional function

2.2.1 Start-up Procedure

For this subsection, see Subsection 2.2.1, "Start-up Procedure", in Part
I.

2.2.2 Overview
For this subsection, see Subsection 2.2.2, "Overview", in Part I.

2.2.3 Feature
For this subsection, see Subsection 2.2.3, "Feature", in Part I.

2.2.4 System Configuration

The system configurations that enable the use of the position coder
method orientation function are shown below.

(1) When the α position coder is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SVPM
(TYPE A)

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the MZi is used

[Sample system configuration 1]
JYA2 Spindle motor with built-in MZi
sensor

SVPM
Spindle
(TYPE A)

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

[Sample system configuration 2]

Spindle motor with built-in MZi sensor

JYA2 Spindle

SPM
TYPE A
Directly connected or connected with a gear or timing belt
at a ratio of 1:1

(3) When the external one-rotation signal (proximity switch) is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle
JYA2

SVPM External one-rotation

(TYPE A) signal (proximity switch)
Gear or timing belt
JYA3

NOTE
1 For stable detection of the one-rotation signal, fix the
rotation direction (bits 3 and 2 of No. 4003) for
orientation at one direction.
2 Set the type (bits 3 and 2 of No. 4004) of the
external one-rotation signal (proximity switch).
3 For stable detection of the one-rotation signal, set an
orientation speed (No. 4038) from 50 to 100 min-1
according to the specification of the external
one-rotation signal (proximity switch).
4 The detection of the one-rotation signal starts after
the orientation speed is reached.
5 Set the parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle.

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2.2.5 Stop Position Specification Method

For this subsection, see Subsection 2.2.5, "Stop Position Specification
Method", in Part I.

2.2.6 I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.2.6, "I/O Signals (CNC ↔

PMC)", in Part I.

2.2.7 Examples of Sequences

For this subsection, see Subsection 2.2.7, "Examples of Sequences", in
Part I.

2.2.8 Related Parameters

For this subsection, see Subsection 2.2.8, "Related Parameters", in
Part I.

2.2.9 Details of Related Parameters

For this subsection, see Subsection 2.2.9, "Details of Related
Parameters", in Part I.

2.2.10 Adjusting the Orientation Stop Position Shift Parameter

For this subsection, see Subsection 2.2.11, "Adjusting the Orientation
Stop Position Shift Parameter", in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

2.3 RIGID TAPPING Optional function

2.3.1 Start-up Procedure

For this subsection, see Subsection 2.3.1, "Start-up Procedure", in Part
I.

2.3.2 Overview
For this subsection, see Subsection 2.3.2, "Overview", in Part I.

2.3.3 System Configuration

The system configurations that enable the use of rigid tapping are
shown below.

(1) When the α position coder is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SVPM
(TYPE A)

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the spindle motor with built-in Mi sensor (or MZi sensor) is used
[Sample system configuration 1]
Spindle motor with built-in Mi
JYA2 sensor (or MZi sensor)

SVPM Spindle
(TYPE A)

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

[Sample system configuration 2]

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle

SVPM
(TYPE A)
Directly connected at a ratio of 1:1
or
connected with a gear or timing belt at a ratio of m:n

NOTE
1 When performing rigid tapping by using a signal from
the sensor built into the motor as a position feedback
signal, use one of the following functions if the gear
ratio between the motor and spindle is other than 1:1
(a) Detection arbitrary gear ratio function (DMR
function)
(b) Command arbitrary gear ratio function (CMR
function)
2 When using the detection arbitrary gear ratio function
(DMR function), set the following:
- Parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle
3 When using the detection arbitrary gear ratio function
(DMR function) with a motor containing a built-in MZi
sensor, set bit 6 of No. 4007 to 1 so that the alarms
related to the position feedback signal (when Cs
contouring control is not exercised) are not detected.
4 When using the command arbitrary gear ratio function
(CMR function), set the following:
- Enable the setting of an arbitrary gear ratio between
the spindle and position coder (bit 1 of No. 5200 = 1).
- Enable the setting of the command arbitrary gear
ratio function (CMR) on rigid tapping (bit 7 of No.
4006 = 1).
- Set the parameters for specifying the number of gear
teeth on the spindle side (No. 5221 to No. 5224).
- Set the parameters for specifying the number of gear
teeth on the position coder side (No. 5231 to No.
5234).
5 Reference position return can be performed when the
spindle is directly connected to the motor or when the
spindle is connected to the motor at a ratio of 1:1.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

(3) When the external one-rotation signal (proximity switch) is used

[Sample system configuration]
Spindle motor with built-in Mi
sensor (or MZi sensor)

Spindle
JYA2

SVPM
External one-rotation
(TYPE A)
signal (proximity switch)

Gear or timing belt

JYA3

NOTE
1 When using the external one-rotation signal
(proximity switch), use the detection arbitrary gear
ratio function (DMR function).
2 When using the detection arbitrary gear ratio
function (DMR function), set the following:
- Parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle
3 Set the type of the external one-rotation signal
(proximity switch) (bits 3 and 2 of No. 4004).
4 For stable detection of the one-rotation signal, set a
reference position return speed (No. 4074) from 50
to 100 min-1 according to the specification of the
used external one-rotation signal (proximity switch).
5 When orientation based on the external one-rotation
signal is used together, match the reference position
return speed and direction with the orientation speed
and direction.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

2.3.4 List of I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.3.4, "List of I/O Signals (CNC
↔ PMC)", in Part I.

2.3.5 Sequence
For this subsection, see Subsection 2.3.5, "Sequence", in Part I.

2.3.6 Related Parameters

For this subsection, see Subsection 2.3.6, "Related Parameters", in
Part I.

2.3.7 Details of Related Parameters

For this subsection, see Subsection 2.3.7, "
Details of Related Parameters", in Part I.

2.3.8 Parameter Setting Procedure

For this subsection, see Subsection 2.3.8, "Parameter Setting
Procedure", in Part I.

2.3.9 Adjustment Procedure

For this subsection, see Subsection 2.3.9, "Adjustment Procedure", in
Part I.

2.3.10 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.3.10, "Diagnosis (Diagnosis
Screen)", in Part I.

2.3.11 Alarm
For this subsection, see Subsection 2.3.11, "Alarm", in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

2.4 Cs CONTOURING CONTROL Optional function

2.4.1 Start-up Procedure

For this subsection, see Subsection 2.4.1, "Start-up Procedure", in Part
I.

2.4.2 Overview
For this subsection, see Subsection 2.4.2, "Overview", in Part I.

2.4.3 System Configuration

(1) When a motor with a built-in MZi sensor is used

Spindle motor with built-in MZi sensor

JYA2 Spindle

SVPM
(TYPE A)

Directly connected or connected with a

gear or timing belt at a ratio of 1:1

Parameter (0i) Settings Description

Rotation directions of the spindle and
4000 #0 0
motor
Uses the motor sensor for position
4002 #3,#2,#1,#0 0,0,0,1
feedback.
Uses the MZi sensor or BZi sensor
4010 #2,#1,#0 0,0,1
coder S as the motor sensor.
Depends on Sets the number of motor sensor gear
4011 #2,#1,#0
the detector. teeth.
4056 to 4059 100 or 1000 The spindle-to-motor gear ratio is 1:1.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

(2) When an α position coder is used

Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SPM
TYPE A

JYA3
Directly connected or connected with a
gear or timing belt at a ratio of 1:1

Parameter (0i) Settings Description

4002 #3,#2,#1,#0 0,0,1,0 α position coder
4003 #7,#6,#5,#1 0,0,0,0 α position coder
Uses the MZi sensor or BZi sensor coder S
4010 #2,#1,#0 0,0,1
as the motor sensor.
Depends on the Sets the number of motor sensor gear teeth.
4011 #2,#1,#0
detector.
Depends on the Gear ratio between the spindle and motor
4056 to 4059
configuration.
Sets the gear ratio between the spindle and
Depends on the
4171 to 4174 motor when the position coder feedback
configuration.
interpolation function is used.
The setting of 1 Sets the position coder feedback interpolation
4398#0
is recommended. function.

2.4.4 List of I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.4.4, "List of I/O Signals (CNC
↔ PMC)", in Part I.

2.4.5 Examples of Sequences

For this subsection, see Subsection 2.4.5, "Examples of Sequences", in
Part I.

2.4.6 Related Parameters

For this subsection, see Subsection 2.4.6, "Related Parameters", in
Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

2.4.7 Details of Related Parameters

For this subsection, see Subsection 2.4.7, "Details of Related
Parameters", in Part I.

The βi series spindle motor, however, enables Cs contouring control

in a system where an α position coder is used as the position sensor.
In such a case, control improvements such as smooth low-speed feed
can be made by using the position coder feedback interpolation
function set with the parameter below.

0i #7 #6 #5 #4 #3 #2 #1 #0
4398 PCCSCM

PCCSCM Sets the position coder feedback interpolation function.

0 : Disables the position coder feedback interpolation function.
1 : Enables the position coder feedback interpolation function.
When an α position coder is used for spindle position feedback to
exercise Cs contouring control, this function improves control
performance with position coder feedback pulse interpolation using
high-resolution motor side feedback. To use this function, set this
parameter to 1.
This function is valid only when the spindle sensor is an α position
coder. When the gear ratio between the spindle and motor is not 1:1,
be sure to set an arbitrary gear ratio (No. 4171 through No. 4174)
between the spindle and motor.

NOTE
1 This parameter is valid with 9D50 Series H (08)
edition or later.
2 When Cs contouring control is exercised in a system
where an α position coder is used as the position
sensor, the position feedback resolution is 0.088
deg. In this case, the position error may not
converge to 0, depending on the specified position.
So, a value greater than 88 pulses (0.088 deg) must
be set as the effective area (No. 1826).

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

0i
Denominator of an arbitrary gear ratio between the motor sensor and spindle
4171 (HIGH) CTH1A=0

Numerator of an arbitrary gear ratio between the motor sensor and spindle
4172 (HIGH) CTH1A=0

Denominator of an arbitrary gear ratio between the motor sensor and spindle
4173 (LOW) CTH1A=1

Numerator of an arbitrary gear ratio between the motor sensor and spindle
4174 (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set conversion coefficients (numerator,
denominator) for using the detection arbitrary gear ratio function
(DMR function) by multiplying a motor sensor (Mi sensor) feedback
signal by a gear ratio to produce a spindle position feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times
(there is no common divisor other than 1 for P and Q), the settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4173 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.

NOTE
Note that if an improper value is set in this
parameter, the position coder feedback interpolation
function does not function normally.

2.4.8 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.4.8, "Diagnosis (Diagnosis
Screen)", in Part I.

2.4.9 Alarm
For this subsection, see Subsection 2.4.9, "Alarm", in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

2.5 SPINDLE SYNCHRONOUS CONTROL Optional function

2.5.1 Start-up Procedure

For this subsection, see Subsection 2.5.1, "Start-up Procedure", in Part
I.

2.5.2 Overview
For this subsection, see Subsection 2.5.2, "Overview", in Part I.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

2.5.3 System Configuration

The system configurations that enable the use of the spindle
synchronous control function are shown below.

NOTE
Spindle synchronous control between spindles each
having a different detector configuration is possible.

(1) When the α position coder is used

1t spindle
Spindle motor with built-in Mi sensor
CNC (or MZi sensor)

JA7B Spindle
JYA2 α position coder
SVPM
(TYPE A)
JYA3
JA7A
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

2nd spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)

JA7B Spindle
JYA2 α position coder
SVPM
(TYPE A)
JYA3

Directly connected or connected with a gear or timing

belt at a ratio of 1:1

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

(2) When the spindle motor with built-in MZi sensor is used
1st spindle
Spindle motor with built-in MZi sensor
CNC

JA7B Spindle
JYA2
SVPM
(TYPE A)

JA7A Directly connected or connected with a gear or timing

belt at a ratio of 1:1

2nd spindle
Spindle motor with built-in MZi sensor

JA7B Spindle
JYA2
SVPM
(TYPE A)

Directly connected or connected with a gear or timing

belt at a ratio of 1:1

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

(3) When the external one-rotation signal (proximity switch) is used

1st spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)
CNC

Spindle
JA7B
JYA2
External one-rotation
SVPM
signal switch (proximity
(TYPE A)
switch)
JYA3 Gear or timing belt
JA7A

2nd spindle
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle
JA7B
JYA2
External one-rotation
SVPM
signal switch (proximity
(TYPE A)
switch)
JYA3 Gear or timing belt

NOTE
1 When using the external one-rotation signal
(proximity switch), use the detection arbitrary gear
ratio function (DMR function).
2 When using the detection arbitrary gear ratio
function (DMR function), set the following:
- Parameters (No. 4171 to No. 4174) for the
numerator/denominator of an arbitrary gear ratio
between the motor sensor and spindle
3 Set the type of the external one-rotation signal
(proximity switch) (bits 3 and 2 of No. 4004).
4 For stable detection of the one-rotation signal, detect
the one-rotation signal by performing spindle
orientation before entering spindle synchronous
control mode.
For orientation based on the external one-rotation
signal, see Section 2.2, "POSITION CODER
METHOD ORIENTATION", in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

2.5.4 Explanation of Operation

For this subsection, see Subsection 2.5.4, "Explanation of Operation",
in Part I.

2.5.5 I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.5.5, "I/O Signals (CNC ↔

PMC)", in Part I.

2.5.6 Examples of Sequences

For this subsection, see Subsection 2.5.6, "Examples of Sequences", in
Part I.

2.5.7 Related Parameters

For this subsection, see Subsection 2.5.7, "Related Parameters", in
Part I.

2.5.8 Details of Related Parameters

For this subsection, see Subsection 2.5.8, "Details of Related
Parameters", in Part I.

2.5.9 Number of Error Pulses in Spindle Synchronous Control

For this subsection, see Subsection 2.5.9, "Number of Error Pulses in
Spindle Synchronous Control", in Part I.

2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous

Control
For this subsection, see Subsection 2.5.10, "Specifying a Shift
Amount for Spindle Phase Synchronous Control", in Part I.

2.5.11 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.5.11, "Diagnosis (Diagnosis
Screen)", in Part I.

2.5.12 Alarm
For this subsection, see Subsection 2.5.12, "Alarm", in Part I.

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/05

2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES

2.6.1 Overview
For this subsection, see Subsection 2.6.1, "Overview", in Part I.

2.6.2 List of I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.6.2, "List of I/O Signals (CNC
↔ PMC)", in Part I.

2.6.3 Parameters
For this subsection, see Subsection 2.6.3, "Parameters", in Part I.

2.6.4 Details of parameters

For this subsection, see Subsection 2.6.4, "Details of parameters", in
Part I.

Note that, however, the standard setting value of the following

parameter differs among the βi series spindle motors:

0i
4090 Overload detection level

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95

This parameter sets the condition for detecting a short-time overload

alarm (SPM alarm 29).
If a load more than the set percentage (maximum motor output [load
meter full scale] = 100%) is applied to the spindle motor for a
predetermined time period (set by parameter No. 4123), a short-time
overload alarm (SPM alarm 29) is issued.

2.6.5 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.6.5, "Diagnosis (Diagnosis
Screen)", in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 3.I/O SIGNALS (CNC ↔ PMC)

3 I/O SIGNALS (CNC ↔ PMC)

This chapter explains the functions of the signals directly input from
the PMC to SVPM via the CNC and the signals directly output from
the SVPM to PMC. For other spindle-related I/O signals, refer to the
manual of the relevant CNC.

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3.I/O SIGNALS (CNC ↔ PMC) FANUC AC SPINDLE MOTOR βi series B-65280EN/05

3.1 INPUT SIGNALS (PMC→CNC→SVPM)

This section explains the functions of the signals directly input from
the PMC to SVPM via the CNC. For other spindle-related input
signals, refer to the manual of the relevant CNC.

3.1.1 List of Input Signals

0i #7 #6 #5 #4 #3 #2 #1 #0
1st- G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G071 INTGA SOCNA *ESPA ARSTA

2nd- G075 INTGB SOCNB *ESPB ARSTB

1st- G072 INCMDA OVRA NRROA ROTAA INDXA

2nd- G076 INCMDB OVRB NRROB ROTAB INDXB

1st- G073 DSCNA MPOFA

2nd- G077 DSCNB MPOFB

3.1.2 Explanation of Input Signals

For information about the signals listed in Subsection 3.1.1, "List of
Input Signals", in Part II, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.
Those signals that are not listed in Subsection 3.1.1, "List of Input
Signals", in Part II are not used with the βi SVPM series spindle.

3.1.3 Details of input signals

For information about the signals listed in Subsection 3.1.1, "List of
Input Signals", in Part II, see Subsection 3.1.3, "Details of input
signals", in Part I.
Those signals that are not listed in Subsection 3.1.1, "List of Input
Signals", in Part III are not used with the βi SVPM series spindle.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 3.I/O SIGNALS (CNC ↔ PMC)

3.2 OUTPUT SIGNALS (SVPM→CNC→PMC)

This section explains the functions of the signals directly output from
the SVPM to PMC via the CNC. For other spindle-related output
signals, refer to the manual of the relevant CNC.

3.2.1 List of Output Signals

0i #7 #6 #5 #4 #3 #2 #1 #0
1st- F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F049 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F047 EXOFA INCSTA PC1DTA

2nd- F051 EXOFB INCSTB PC1DTB

3.2.2 Explanation of Output Signals

For information about the signals listed in Subsection 3.2.1, "List of
Output Signals", in Part II, see Subsection 3.2.2, "Explanation of
Output Signals", in Part I.
Those signals that are not listed in Subsection 3.2.1, "List of Output
Signals", in Part II are not used with the βi SVPM series spindle.

3.2.3 Details of Output Signals

For information about the signals listed in Subsection 3.2.1, "List of
Output Signals", in Part II, see Subsection 3.2.3, "Details of Output
Signals", in Part I.
Those signals that are not listed in Subsection 3.2.1, "List of Output
Signals", in Part II are not used with the βi SVPM series spindle.

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR βi series B-65280EN/05

4 ADJUSTMENT

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 4.ADJUSTMENT

4.1 VELOCITY LOOP GAIN ADJUSTMENT

4.1.1 Overview
For this subsection, see Subsection 4.1.1, "Overview", in Part I.

4.1.2 Parameters
For this subsection, see Subsection 4.1.2, "Parameters", in Part I.

4.1.3 Adjustment Procedure

For this subsection, see Subsection 4.1.3, "Adjustment Procedure", in
Part I.

4.1.4 Additional Information (Position Gain Adjustment)

For this subsection, see Subsection 4.1.4, "Additional Information
(Position Gain Adjustment)", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/05

5 FUNCTION DESCRIPTIONS

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS

5.1 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION

(SPINDLE ROTATION SPEED CONTROL) Optional function

5.1.1 Overview
For this subsection, see Subsection 5.3.1, "Overview", in Part I.

5.1.2 System Configuration

The incremental command type spindle orientation function can be
used in the following system configuration.

(1) When the α position coder is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SVPM
(TYPE A)

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the spindle motor with built-in MZi sensor is used
[Sample system configuration 1]
JYA2 Spindle motor with built-in MZi
sensor

SVPM
(TYPE A) Spindle

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/05

[Sample system configuration 2]

Spindle motor with built-in MZi sensor

JYA2 Spindle

SVPM
(TYPE A)
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(3) When the external one-rotation signal (proximity switch) is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

Spindle
JYA2

SVPM
(TYPE A) External one-rotation
signal (proximity switch)
Gear or timing belt
JYA3

NOTE
1 To detect the one-rotation signal securely, fix the
direction (bits 3 and 2 of parameter No. 4003) in
which the spindle rotates during spindle orientation
to one direction.
2 Specify the type (bits 3 and 2 of parameter No.
4004) of an external one-rotation signal (proximity
switch).
3 To detect the one-rotation signal securely, set the
spindle orientation speed (parameter No. 4038) to a
value between 50 and 100 min-1 according to the
specification of the external one-rotation signal
(proximity switch).
4 A sequence for detecting the one-rotation signal is
started after the orientation speed has been
reached.
5 Specify the denominator/numerator parameters
(Nos. 4171 to 4174) of an arbitrary gear ratio
between the motor sensor and spindle.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS

5.1.3 I/O Signals (CNC↔PMC)

(1) Address list of input signals (PMC→CNC)

0i #7 #6 #5 #4 #3 #2 #1 #0
1st- G070 ORCMA CTH1A CTH2A
2nd- G074 ORCMB CTH1B CTH2B

1st- G072 INCMDA NRROA ROTAA INDXA

2nd- G076 INCMDB NRROB ROTAB INDXB

1st- G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G079 SHA11 SHA10 SHA09 SHA08

2nd- G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC→CNC)

For this subsection, see Item 5.3.3 (2), "Details of input signals
(PMC→CNC)", in Part I.

(3) Address list of output signals (CNC→PMC)

0i #7 #6 #5 #4 #3 #2 #1 #0
1st- F045 ORARA
2nd- F049 ORARB

1st- F047 INCSTA

2nd- F051 INCSTB

(4) Details of output signals (CNC→PMC)

For this subsection, see Item 5.3.3 (4), "Details of output signals
(CNC→PMC)", in Part I.

5.1.4 Examples of Sequences

For this subsection, see Subsection 5.3.4, "Examples of Sequences", in
Part I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/05

5.1.5 List of Related Parameters

Parameter No.
Description
0i
Whether the spindle orientation function is available (to be
4015 #0 set to "1")
(The CNC software option is required.)
Whether the stop position external setting-type spindle
3702#3,#2 orientation function is available (to be set to "1")
(Bit 2: 1st spindle. Bit 3: 2nd spindle)
Command multiplier for incremental command external
4328
setting data

NOTE
This subsection describes only the parameters
specific to incremental command type spindle
orientation. See Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION" in Part I, for
parameters related to other types of spindle
orientation.

5.1.6 Details of Related Parameters

For this subsection, see Subsection 5.3.6, "Details of Related
Parameters", in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS

5.2 HIGH-SPEED SPINDLE ORIENTATION Optional function

5.2.1 Overview
For this subsection, see Subsection 5.4.1, "Overview", in Part I.

5.2.2 System Configuration

Explained below is a system configuration in which the high-speed
spindle orientation function is usable.

NOTE
This function cannot be used in an external
one-rotation signal-based spindle orientation system
in which a proximity switch is used.

(1) When the α position coder is used

[Sample system configuration]
Spindle motor with built-in Mi sensor
(or MZi sensor)

JYA2 Spindle
α position coder
SVPM
TYPE A

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

(2) When the spindle motor with built-in MZi sensor is used
[Sample system configuration 1]
JYA2 Spindle motor with built-in MZi
sensor

SVPM Spindle
(TYPE A)

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/05

[Sample system configuration 2]

Spindle motor with built-in MZi sensor

JYA2 Spindle

SVPM
(TYPE A)
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

5.2.3 I/O Signals (CNC↔PMC)

(1) Address list of input signals (PMC → CNC)

0i #7 #6 #5 #4 #3 #2 #1 #0
1st- G070 ORCMA CTH1A CTH2A
2nd- G074 ORCMB CTH1B CTH2B

1st- G072 INCMDA NRROA ROTAA INDXA

2nd- G076 INCMDB NRROB ROTAB INDXB

1st- G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G079 SHA11 SHA10 SHA09 SHA08

2nd- G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC → CNC)

(a) Spindle orientation command (ORCMA)
(b) Clutch/gear signals (CTH1A and CTH2A)
(c) Spindle orientation stop position change command (INDXA)
(d) Rotation direction command for spindle orientation stop position change
(ROTAA)
(e) Short-cut command for spindle orientation stop position change (NRROA)
(f) Incremental command data selection signal (INCMDA)
(g) Spindle orientation external stop position commands (SHA11 to SHA00)
The functions of the input signals ORCMA, CTH1A, CTH2A,
INDXA, ROTAA, NRROA, INCMDA, and SHA11 to SHA00 are the
same as for position coder-method spindle orientation and incremental
command type spindle orientation. See Sections 2.2, "POSITION
CODER-METHOD SPINDLE ORIENTATION," and 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION"
in Part I.

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS

(3) Address list of output signals (CNC → PMC)

0i #7 #6 #5 #4 #3 #2 #1 #0
1st- F045 ORARA
2nd- F049 ORARB

1st- F047 INCSTA

2nd- F051 INCSTB

(4) Details of output signals (CNC → PMC)

(a) Incremental command mode status signal (INCSTA)
(b) Spindle orientation completion signal (ORARA)
The functions of the output signals ORARA and INCSTA are the
same as for position coder-method spindle orientation and incremental
command type spindle orientation. See Sections 2.2, "POSITION
CODER METHOD SPINDLE ORIENTATION," and 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION"
in Part I.

5.2.4 Sequence
For this subsection, see Subsection 5.4.4, "Sequence", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/05

5.2.5 List of Related Parameters

Parameter No.
Description
0i
Whether the spindle orientation function is available (to be set to "1")
4015 #0
(The CNC software option is required.)
4018 #6 High-speed spindle orientation function (to be set to "1")
Whether the stop position external setting-type spindle orientation function is available
3702#3,#2
(Bit 2: First spindle. Bit 3: Second spindle.)
4003#0 Spindle orientation type selection (to be reset to "0")
4003#3,2 Rotation direction for spindle orientation (to be reset to "0, 0" or to be set to "0, 1")
4017#7 Short-cut function when spindle orientation from stopped state is specified
4018#5 Whether the speed command correction function for high-speed spindle orientation is available
Spindle orientation stop position
4031 (This parameter is invalid for stop position external setting type and incremental command
external setting type.)
4038 Orientation speed upper limit
4042 Velocity proportional gain on orientation
4043 (These parameters are selected with the input signal CTH1A.)
4050 Velocity integral gain on orientation
4051 (These parameters are selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
4056 to 4059 (These parameters are selected with the input signals CTH1A and CTH2A.)

Position gain on orientation

4060 to 4063 (These parameters are selected with the input signals CTH1A and CTH2A.)

4064 Percentage limit to an acceleration during deceleration

4075 Orientation completion signal detection level
4077 Orientation stop position shift value
4084 Motor voltage on orientation
Acceleration during motor deceleration
4320 to 4323
(These parameters are selected with the input signals CTH1A and CTH2A.)
4326 Acceleration limitation start speed during deceleration
4330 (These parameters are selected with the input signal CTH1A.)
4328 Command multiplier for orientation

NOTE
1 See Section 1.3, "PARAMETERS RELATED TO
DETECTORS" in Part I, for parameters related to
detectors.
2 See Section 4.1, "VELOCITY LOOP GAIN
ADJUSTMENT" in Part I, for velocity loop
proportional/integral gain tuning.
3 When using the high-speed spindle orientation
function, set the parameters (bits 3 and 2 or
parameter No. 4003) for rotation direction for spindle
orientation with the previous rotation direction (0, 0
or 0, 1).

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B-65280EN/05 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS

5.2.6 Details of Related Parameters

For this subsection, see Subsection 5.4.6, "Details of Related
Parameters", in Part I.

5.2.7 Spindle Data Used in Tuning

For this subsection, see Subsection 5.4.7, "Spindle Data Used in
Tuning", in Part I.

5.2.8 Tuning Procedure

For this subsection, see Subsection 5.4.8, "Tuning Procedure", in Part
I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/05

5.3 SPINDLE FINE ACC./DEC. (FAD) FUNCTION

5.3.1 Overview
The spindle fine Acc./Dec. (FAD) function realizes smooth
acceleration/deceleration during rigid tapping and Cs contouring
control by performing acceleration/deceleration processing with
spindle software. It can reduce mechanical shocks that may
accompany acceleration/deceleration.

NOTE
This function is usable in a combination of the βi
SVPM and the FANUC Series 0i / 0i Mate-MODEL B
or FANUC Series 0i / 0i Mate-MODEL C CNC.

5.3.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Remark
Series 9D50 E(05) and subsequent editions

CNC software
Series Edition Remark
Series D4A1 A(01) and subsequent editions For the FANUC Series 0i-MB
Series D501 A(01) and subsequent editions For the FANUC Series 0i Mate-MB
Series D6A1 A(01) and subsequent editions For the FANUC Series 0i-TB
Series D701 A(01) and subsequent editions For the FANUC Series 0i Mate-TB
Series D4B1 A(01) and subsequent editions For the FANUC Series 0i-MC
Series D511 A(01) and subsequent editions For the FANUC Series 0i Mate-MC
Series D6B1 A(01) and subsequent editions For the FANUC Series 0i-TC
Series D711 A(01) and subsequent editions For the FANUC Series 0i Mate-TC

5.3.3 Block Diagram

For this subsection, see Subsection 5.6.3, "Block Diagram", in Part I.

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5.3.4 Parameters

(1) List of Related Parameters

Parameter No.
Description
0i
5205#7 Setting of fine Acc./Dec. during rigid tapping
4394#3 Spindle fine Acc./Dec. function bit
4394#4 Acceleration/deceleration type during spindle fine Acc./Dec.
4344 Feed-forward coefficient during fine Acc./Dec.
4037 Velocity loop feed-forward coefficient during fine Acc./Dec.
4408 Fine Acc./Dec. time constant

(2) Details of parameters related to rigid tapping

For this subsection, see Item 5.6.4 (2), "Details of parameters related
to rigid tapping", in Part I.

(3) Details of parameters related to serial spindles

For this subsection, see Item 5.6.4 (3), "Details of parameters related
to serial spindles", in Part I.

5.3.5 Diagnosis (Diagnosis Screen)

Address
Description
0i
418 1st-spindle (regular) position error
420 2nd-spindle (regular) position error
714 1st-spindle (FAD) position error
715 2nd-spindle (FAD) position error

5.3.6 Status Errors

For this subsection, see Subsection 5.6.6, "Status Errors", in Part I.

5.3.7 Cautions
For this subsection, see Subsection 5.6.7, "Cautions", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/05

5.4 UNEXPECTED DISTURBANCE TORQUE DETECTION

FUNCTION Optional function

5.4.1 Overview
For this subsection, see Subsection 5.7.1, "Overview", in Part I.

5.4.2 Series and Editions of Applicable Spindle Software

For this subsection, see Subsection 5.7.2, "Series and Editions of
Applicable Spindle Software", in Part I.

5.4.3 I/O Signals (CNC↔PMC)

(1) Address list of output signals (CNC → PMC)

0i #7 #6 #5 #4 #3 #2 #1 #0
F090 ABTSP2 ABTSP1

(2) Details of output signals (CNC → PMC)

(a) First-spindle unexpected disturbance torque detection signals
(ABTSP1 and AQSP1)
(b) Second-spindle unexpected disturbance torque detection signals
(ABTSP2 and AQSP2)
These signals are output when the estimated load torques on the
respective spindles become higher than or equal to the set level.
Refer to an applicable CNC Manual for details.

5.4.4 List of Related Parameters

Parameter No.
Description
0i
Whether the unexpected disturbance torque detection
4015 #1
function is available (The CNC software option is required.)
4248 Torque constant for spindle load torque monitoring
4249 Observer gain 1 for spindle load torque monitoring
4250 Observer gain 2 for spindle load torque monitoring
4341 Unexpected disturbance torque detection level

5.4.5 Details of Related Parameters

For this subsection, see Subsection 5.7.5, "Details of Related
Parameters", in Part I.

5.4.6 Parameter Tuning Procedure

For this subsection, see Subsection 5.7.6, "Parameter Tuning
Procedure", in Part I.

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III. FANUC AC SPINDLE MOTOR αCi series
B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 1.START-UP

1 START-UP

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1.START-UP FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

1.1 START-UP PROCEDURE

A. Check the spindle-related specifications.

- CNC model
- Spindle motor
- Power supply module
- Spindle amplifier module
- Detector system

B. Check all connections. (See DESCRIPTIONS (B-65372EN).)

C. Prepare and check the PMC ladder program.

D. Check the CNC parameter setting for using the αCi series
(Serial) spindle. (See Subsection 1.2.1.)

E. Perform automatic αCi series (Serial) spindle parameter

initialization. (See Subsection 1.2.2.)
- Set a motor model code and the parameter enabling use
of the automatic parameter initialization function, then turn
the CNC off and then on again.

F. Change parameter data (when no model code is used).

- When using a motor with no model code assigned,
perform automatic setting with model code "240", then
modify the parameter data according to the motor-specific
parameter list.

G. Set the parameters related to the detectors. (See Section 1.3.)

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 1.START-UP

1.2 SPINDLE SERIAL INTERFACE Optional function

1.2.1 Parameters Related to Spindle Serial Output

For this subsection, see Subsection 1.2.1, "Parameters Related to
Spindle Serial Output", in Part I.

1.2.2 Automatic Spindle Parameter Initialization

(1) Parameter list

Parameter No.
Description
15i 16i 30i
Function for automatically initializing spindle
5607#0 4019#7 4019#7
parameters
3133 4133 4133 Spindle motor model code

(2) Procedure for automatic spindle parameter initialization

Perform automatic spindle parameter initialization by following the
procedure below.

<1> Set the model code for the desired motor for automatic parameter
initialization.
Parameter No.
Description
15i 16i 30i
3133 4133 4133 Model code

NOTE
When using a spindle motor that has no model
code, set model code "240" for automatic
parameter setting, then manually input data
according to the model-by-model parameter list.

<2> Set the relevant parameter to 1 to enable automatic spindle

parameter initialization.
Parameter No.
Description
15i 16i 30i
 4019#7 4019#7 1
5607#0   0

NOTE
This bit is reset to its original value after
automatic parameter initialization.

<3> Turn the CNC off, then on again. Then, the spindle parameters
specified with a model code are automatically initialized.

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1.2.3 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 1.2.3, "Diagnosis (Diagnosis
Screen)", in Part I.

1.2.4 Alarm
For this subsection, see Subsection 1.2.4, "Alarm", in Part I.

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1.3 PARAMETERS RELATED TO DETECTORS

NOTE
1 Note that the specifications of parameters related
to detectors for the αCi series spindle amplifiers
differ from those of parameters for the αC series
spindle amplifiers.
2 The spindle sensor (separate detector) usable with
the αCi series spindle amplifier is a position coder
only. (The spindle sensor is a detector connected
to connector JYA3.)

1.3.1 List of Parameters for Detectors

Parameter No.
Description
15i 16i 30i
 3706#1,#0  Gear ratio of spindle to position coder (×1, ×2, ×4, ×8)
5842  3720 Number of pulses of the position coder
3000 #0 4000 #0 4000 #0 Direction of spindle and spindle motor rotation
3001 #4 4001 #4 4001 #4 Spindle sensor (position coder) mounting direction
3002 4002 4002
Spindle sensor type setting (whether to use a position coder)
#3,#2,#1,#0 #3,#2,#1,#0 #3,#2,#1,#0
3003 4003 4003 Setting of the number of spindle sensor (position coder) gear teeth
#7,#6,#5,#4 #7,#6,#5,#4 #7,#6,#5,#4 (Set to 0,0,0,0.)
3005 #0 4005 #0 4005 #0 Setting of the velocity feedback method
3006#1 4006#1 4006#1 Gear ratio increment system
3007 #5 4007 #5 4007 #5 Whether to detect disconnection of feedback signals
3007 #6 4007 #6 4007 #6 Whether to detect alarms related to position feedback signals
3016 #6 4016 #6 4016 #6 Whether to detect alarms related to threading feedback
Setting of the function of detecting the one-rotation signal again each
3016 #7 4016 #7 4016 #7
time position control mode is set.
Spindle-to-motor gear ratio data (This data is selected by spindle
3056 to 3059 4056 to 4059 4056 to 4059
control input signals CTH1A and CTH2A.)
3098 4098 4098 Maximum speed for position feedback signal detection

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1.3.2 Details of Parameters for Detectors

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3000 4000 4000 ROTA1

ROTA1 Indicates the relationship between the rotation directions of spindle

and spindle motor.
0 : Rotates the spindle and spindle motor in the same direction.
1 : Rotates the spindle and spindle motor in the reverse direction.

NOTE
When using a position coder, be sure to set this
parameter. If this parameter is not set correctly, the
velocity error excess alarm (SPM alarm 02), motor
binding alarm (SPM alarm 31), or gear ratio
parameter setting error alarm (SPM alarm 35) may
be detected.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 4001 SSDIRC

SSDIRC Indicates the mounting direction of spindle sensor (position coder).

0 : Rotates the spindle and spindle sensor (position coder) in the
same direction.
1 : Rotates the spindle and spindle sensor (position coder) in the
reverse direction.

NOTE
When using a position coder, be sure to set this
parameter. If this parameter is not set correctly, the
velocity error excess alarm (SPM alarm 02), motor
binding alarm (SPM alarm 31), or gear ratio
parameter setting error alarm (SPM alarm 35) may
be detected.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 SSTYP3 SSTYP2 SSTYP1 SSTYP0

SSTYP3 to 0 Spindle sensor type

This parameter sets the type of a separate detector to be attached to the
spindle (detector to be connected to connector JYA3).
The separate detector usable with the αCi series spindle is a position
coder only.

SSTYP3 SSTYP2 SSTYP1 SSTYP0 Spindle sensor type

0 0 0 0 None (No position control function is used.)
0 0 1 0 α position coder

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 1.START-UP

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3003 4003 4003 PCPL2 PCPL1 PCPL0 PCTYPE

PCPL2, PCPL1, PCPL0, PCTYPE Gear teeth number setting of the spindle sensor (position coder)
Set to 0,0,0,0.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 VCTLPC

VCTLPC Sets the velocity feedback method.

0 : Exercises velocity control with an estimated velocity only.
1 : Uses a velocity calculated from the position coder signal to
exercise velocity control.
The feedback signal from a position coder attached to a spindle on a
1:1 basis is converted to motor speed data for velocity control. Set this
bit to 1 when performing orientation, rigid tapping, or spindle
synchronous control.
By setting this bit to 1 even in ordinary velocity control, the response
characteristics and stability of velocity control can be improved.

NOTE
1 The feature may not be fully utilized, depending on
the connection ratio between the spindle and spindle
motor or between the spindle and position coder, the
rigidity of the connection, the precision of position
coder attachment, and so forth.
2 When this bit is set to 1 with a spindle that has a
gear switch mechanism, the torque limitation
command signal (TLMLA) must be input at the start
of gear switching. For details, see Chapter 3, "I/O
SIGNALS (CNC ↔ PMC)", in Part III.

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1.START-UP FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor speed increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor speed increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.

Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

NOTE
Usually, use the 1/100 unit (setting "0").

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3007 4007 4007 PCALCH PCLS

PCLS Determines feedback signal disconnection detection.

0 : Performs disconnection detection.
1 : Does not perform disconnection detection.
When this bit is set to "0", SPM alarm 27 (Position coder signal
disconnection) are checked.

NOTE
Usually, set “0”.

PCALCH Determines whether to use alarms related to position feedback signals.

0 : Detects alarms.
1 : Does not detect alarms.
When this bit is set to "0", SPM alarms 41, 42, and 47 are checked.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3016 4016 4016 RFCHK3 RFCHK2

RFCHK2 Determines whether to detect the alarm related to threading position

detection signal feedback (SPM alarm 46).
0 : Does not detect alarms.
1 : Detects alarms.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 1.START-UP

RFCHK3 Setting of the function of detecting the one-rotation signal again each
time position control mode is set.
0 : The one-rotation signal is not detected each time the operating
mode changes.
Once the one-rotation signal has been detected, it is not detected
again until the power goes off.
1 : The one-rotation signal is detected each time the operating mode
changes.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor relative to the
spindle.
When the motor rotates 2.5 times, for every rotation of the spindle, for
example, set 250 in the parameter.
A parameter is selected by the CTH1A and CTH2A input signals.
The gear or clutch status must correspond to the status of the CTH1A
and CTH2A input signals.

NOTE
1 When using a position coder, be sure to set these
parameters. If these parameters are not set
correctly, the velocity error excess alarm (SPM
alarm 02), motor binding alarm (SPM alarm 31), or
gear ratio parameter setting error alarm (SPM alarm
35) may be detected.
2 When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

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1.START-UP FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

15i 16i 30i

3098 4098 4098 Maximum speed for position feedback signal detection

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a maximum spindle speed that enables the
detection of a motor/spindle sensor (position coder) feedback signal.
When "0" is set in this parameter, up to the maximum motor speed can
be detected.

NOTE
Usually, set “0”.

1.3.3 Typical Detector Configurations

This subsection describes typical detector configurations and the
parameter setting procedures for the detector configurations.
With the αCi series spindle, the detector circuitry hardware is set
according to the parameter setting. For this reason, an alarm such as a
disconnection alarm may be output while parameters related to
detectors are being set.
To initialize the hardware, after setting the parameters related to
detectors, turn the power to the amplifier off once.

(1) When position control is not exercised

[Sample system configuration]
Temperature sensor
αCi
spindle
motor

JYA2 Spindle

SPMC

Connection via a gear or belt (connection ratio: m:n)

Parameter No. Settings Description

Does not exercise position control.
4002 #3,#2,#1,#0 0,0,0,0
(without position coder)
Exercises velocity control with an
4005#0 0
estimated velocity only.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration motor

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 1.START-UP

(2) When the α position coder is used

[Sample system configuration]
Temperature sensor

αCi
spindle
motor

JYA2 Spindle
α position coder
SPMC

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

Parameter No. Settings Description

Depends on the Rotation directions of the spindle
4000 #0
configuration. and motor
Depends on the
4001 #4 Spindle sensor mounting direction
configuration.
Uses the α position coder as the
4002 #3,#2,#1,#0 0,0,1,0
spindle sensor.
Sets the number of spindle sensor
4003 #7,#6,#5,#4 0,0,0,0
gear teeth.
Uses the speed calculated from the
4005#0 1 position coder signal to perform
speed control.
Depends on the Gear ratio between the spindle and
4056 to 4059
configuration. motor

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2 EXPLANATION OF OPERATION MODES

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES

2.1 VELOCITY CONTROL MODE

2.1.1 Start-up Procedure

A. Check that the serial spindle starts up normally and is ready for
operation.

B. Prepare and check the PMC ladder.

C. Set the detector-related parameters according to the system

configuration.

D. Set the parameters related to spindle speed specification.

E. Check that the spindle rotates at the desired speed.

F. Execute an acceleration/deceleration function and adjust the

acceleration/deceleration constant.
• No.4069 to 4072 : Acceleration/deceleration constant

G. Make a velocity loop gain adjustment as required.

• No.4040, 4041 : Velocity proportional gain
• No.4048, 4049 : Velocity integral gain

2.1.2 Overview
The velocity control mode is a function for exercising velocity control
to rotate the spindle motor according to a velocity command from the
CNC.

NOTE
On a CNC screen (such as the spindle monitor
screen and the adjustment screen), the velocity
control mode is indicated as "NORMAL
OPERATION MODE".

2.1.3 System Configuration

The velocity control mode is applicable to all detector configurations.
For system configurations, see Subsection 1.3.3, "Typical Detector
Configurations".

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

2.1.4 List of I/O Signals (CNC↔PMC)

This subsection provides a list of the I/O signals related to the velocity
control mode only. For details of each signal, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part I.

(1) Input signals(PMC→CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A

2nd- G272 GS4B GS2B GS1B

(c) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB

1st- G229 G072 G072 OVRA

2nd- G237 G076 G076 OVRB

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(2) Output signals (CNC→PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

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(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F045 SRSRDY

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B

1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 TLMA LDT1A SARA SDTA SSTA
2nd- F245 F049 F049 TLMB LDT1B SARB SDTB SSTB

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2.1.5 Related Parameters

Parameter No.
Description
15i 16i 30i
 3705#0 3705#0 Sets SF signal output and the S code for an S command.
 3705#2 3705#2 Gear switch method (M series only)
 3705#4 3705#4 Sets SF signal output and the S code for an S command (T series only).
Sets SF signal output when constant surface speed control is exercised
 3705#5 3705#5
and an S code is specified (M series only).
 3705#6 3705#6 Sets SF signal output (M series only).
 3706#4 3706#4 Spindle gear selection method (M series only)
 3706#7,#6 3706#7,#6 Spindle speed command polarity (valid when input signal SSIN = 0)
Number of sampling operations at spindle speed calculation time (T series
 3709#0 3709#0
only for 16i)
 3735 3735 Minimum clamp speed of the spindle motor (M series only)
 3736 3736 Maximum clamp speed of the spindle motor (M series only)
 3740 3740 Time until the spindle speed arrival signal is checked
 3741 3741 Maximum spindle speed for gear 1
 3742 3742 Maximum spindle speed for gear 2
 3743 3743 Maximum spindle speed for gear 3
 3744 3744 Maximum spindle speed for gear 4 (T series only)
Spindle motor speed at the switch point between gear 1 and gear 2 (M
 3751 3751
series only)
Spindle motor speed at the switch point between gear 2 and gear 3 (M
 3752 3752
series only)
 3772 3772 Maximum allowable spindle speed
2031 3031 3031 Allowable number of S code characters
2003#1   Sets an S code polarity.
2204#0   Sets the display of an actual spindle speed.
2402#6   Sets the S code specified in a block containing G92.
Whether to provide an indication for an alarm detected with the spindle
5602#3  
amplifier. (Set "0" usually.)
Number of sampling operations when an average spindle speed is to be
5611  
found.
5612   Unit of spindle speed output with the DO signal
Enables/disables the spindle alarms (SPxxxx) of all spindles. (Set "0"
5807#0  
usually.)
5842  3720 Number of position coder pulses
Number of gear teeth on the position coder side on velocity control (for
5847  3721
feed per revolution, threading, etc.)
Number of gear teeth on the spindle side on velocity control (for feed per
5848  3722
revolution, threading, etc.)
5850   Spindle number to be selected at power-on/reset time
5820#4   Sets the method of spindle speed calculation.
3006#5 4006#5 4006#5 Sets an analog override range.
Whether to output the load detection signal (LDT1) during
3009#4 4009#4 4009#4
acceleration/deceleration
3009#6 4009#6 4009#6 Analog override type
5607#0 4019#7 4019#7 Automatic spindle parameter setting function
3020 4020 4020 Maximum motor speed
3040 4040 4040 Velocity loop proportional gain on the velocity control mode
3041 4041 4041 (A parameter is selected by the PMC input signal CTH1A.)

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Parameter No.
Description
15i 16i 30i
3048 4048 4048 Velocity loop integral gain on the velocity control mode
3049 4049 4049 (A parameter is selected by the PMC input signal CTH1A.)
Spindle and motor gear ratio data
3056 to 3059 4056 to 4059 4056 to 4059
(A parameter is selected by the PMC input signals CTH1A and CTH2A.)
Acceleration/deceleration constant
3069 to 3072 4069 to 4072 4069 to 4072
(A parameter is selected by the PMC input signals CTH1A and CTH2A.)
3081 4081 4081 Delay time until the motor power is turned off
3082 4082 4082 Sets an acceleration/deceleration time.
3083 4083 4083 Motor voltage on the velocity control mode

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part III.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part III.

2.1.6 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to the velocity
control mode. For details of other parameters, refer to the parameter
manual of each CNC.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 ALGOVR

ALGOVR Sets a spindle analog override range.

0 : 0 to 100% (standard setting value)
1 : 0 to 120%

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 OVRTYP LDTOUT

LDTOUT Whether to output the load detection signal (LDT1A) during

acceleration/deceleration
0 : Not output during acceleration/deceleration. (standard setting
value)
1 : Output (at all times) during acceleration/deceleration if the
parameter-set level is exceeded.

OVRTYP Analog override type

0 : Override of linear function type (standard setting value)
1 : Override of quadratic function type

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16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4019 4019 PRLOAD

PRLOAD Automatic parameter setting function

0 : Does not perform automatic parameter setting. (standard setting
value)
1 : Performs automatic parameter setting.
After setting a desired motor model code in parameter No. 4133 and
setting this bit to 1, turn off the power to the CNC, then turn on the
power to the CNC again. The parameters (No. 4000 to No. 4175) for
the αCi series spindle corresponding to the model code are
automatically initialized. Upon completion of automatic setting, this
bit is automatically set to “0”.
NOTE
With FS15i, the parameter address of this function is
different, namely, bit 0 of No. 5607 is used. Moreover,
note that the meanings of settings are reversed as
follows.
0 : Performs automatic parameter setting.
1 : Does not perform automatic parameter setting.
In this case, set a model code in parameter No. 3133.

15i 16i 30i

3020 4020 4020 Maximum motor speed

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.

WARNING
The spindle motor may rotate at the maximum
spindle motor speed specified by this parameter.
Therefore, this parameter must not be set to a
value greater than the maximum rotation speed
indicated by the specification of the spindle motor.

15i 16i 30i

3040 4040 4040 Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0
3041 4041 4041 Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This data is used to set the velocity loop proportional gain on velocity
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

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15i 16i 30i

3048 4048 4048 Velocity integral gain on velocity control mode (HIGH) CTH1A=0
3049 4049 4049 Velocity integral gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This data is used to set the velocity loop integral gain on velocity
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting value : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.

NOTE
1 A parameter is selected by the input signals CTH1A
and CTH2A. Ensure that the gear or clutch state
corresponds to the input signals CTH1A and
CTH2A. When the signals are not input correctly, the
overcurrent alarm (SPM alarm 12) can be issued.
2 When using a position coder, be sure to set this
parameter. If this parameter is not set correctly, the
velocity error excess alarm (SPM alarm 02), motor
binding alarm (SPM alarm 31), or gear ratio
parameter setting error alarm (SPM alarm 35) may
be detected.
3 When an improper value is set in this parameter, an
unexpected operation can occur. For example, the
spindle can continue rotating without stopping at the
time of orientation. So, be sure to set a proper gear
ratio.

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15i 16i 30i

3069 4069 4069 Acceleration/deceleration constant (HIGH) CTH1A=0, CTH2A=0
3070 4070 4070 Acceleration/deceleration constant (MEDIUM HIGH) CTH1A=0, CTH2A=1
3071 4071 4071 Acceleration/deceleration constant (MEDIUM LOW) CTH1A=1, CTH2A=0
3071 4072 4072 Acceleration/deceleration constant (LOW) CTH1A=1, CTH2A=1

Unit of data : 1min-1 / sec

Valid data range : 0 to 32767
Standard setting value : 900
These parameters set an acceleration/deceleration constant calculated
from the motor output torque and spindle inertia and adjust
acceleration/deceleration time.
A parameter is selected by the input signals CTH1A and CTH2A. The
initial setting value "900" assumes that linear acceleration/
deceleration is performed with the 30-minute rated torque at the
maximum motor speed, with an inertia three times as large as the rotor
inertia of the motor. It is assumed that all (αCi series spindle motors
satisfy this initial value. So, there is a margin with some motor
models.
For each machine, find a load inertia, and assign the found value to
the following expression to calculate an acceleration/deceleration
constant for setting:

Tc = T/(Jm+Jl) × (60/2π)
= P/N × (60/2π) /(Jm+Jl) × (60/2π)
= P/N/(Jm+Jl) × (60/2π)2

Tc [min-1/sec] : Acceleration/deceleration constant

Jm [kgm2] : Motor rotor inertia
Jl [kgm2] : Load inertia in terms of motor axis
T [Nm] : 30-minute rated torque
P [kW] : 30-minute rated output
N [min-1] : Motor speed

[Rotor inertia and torque data of standard models]

Motor model αC1i αC2i αC3i αC6i αC8i αC12i αC15i
Rotor inertia Jm
0.003 0.0078 0.0148 0.0179 0.0275 0.07 0.09
[kgm2]
30-minute rated
torque at base 14.01 23.55 35.01 47.75 70.03 95.49 117.77
speed T [Nm]

NOTE
1 The initial setting value satisfies a value calculated
with N = maximum speed and Jl = Jm×3.
2 A maximum specifiable acceleration/deceleration
constant is based on N = base speed.

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15i 16i 30i

3081 4081 4081 Delay time until the motor power is turned off

Unit of data : 10ms

Valid data range : 0 to 1000
Standard setting value : 20(200ms)
If SFRA = 0 or SRVA = 0 is specified, this parameter sets a period of
time from the stop of the motor (detection of the speed zero detection
signal SSTA = 1) until the power to the motor is turned off.
NOTE
When a small value is set in this parameter, the
motor can coast after the power to the motor is
turned off.

15i 16i 30i

3082 4082 4082 Setting of acceleration/deceleration time

Unit of data : 1sec

Valid data range : 0 to 255
Standard setting value : 10
This parameter sets a period of time in which alarm detection is
disabled by assuming that the spindle motor is being accelerated or
decelerated even if the velocity error exceeds the velocity error excess
alarm (SPM alarm 02) level after start of acceleration/deceleration on
the velocity control mode.
In the velocity control mode, a step-by-step speed command is
specified. So, the spindle motor cannot follow up the command
immediately after start of acceleration/deceleration, and the velocity
error exceeds the velocity error excess alarm level. This parameter is
used to prevent the velocity error excess alarm (SPM alarm 02) from
being detected incorrectly immediately after start of
acceleration/deceleration.
NOTE
With a machine tool such as a lathe that has a large
load inertia, the acceleration/deceleration time
becomes longer. In such a case, set the value
corresponding to the acceleration/deceleration time
of the machine in this parameter.

15i 16i 30i

3083 4083 4083 Motor voltage setting on velocity control mode

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 60
This parameter is used to set a motor voltage on velocity control mode.
Usually, this parameter need not be adjusted. Use the standard setting.

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2.1.7 Troubleshooting
If the spindle motor does not operate normally, take an action by
referencing the items listed below according to the state of trouble.
For an action to be taken when an alarm is issued, refer to the
maintenance manual.

State of trouble
(i) When the motor does not rotate
(ii) When the motor does not rotate at a specified speed
When the motor vibrates and makes an abnormal sound when
(iii)
rotating
(iv) When an overshoot or hunting occurs
(v) When the cutting capability is degraded
(vi) When the acceleration/deceleration time is long

(i) When the motor does not rotate

(1) Check the connections. (Refer to Descriptions (B-65372EN).)
(a) Motor power line phase order
(b) Connection of the position coder signal cable (shielding,
grounding)
(c) DC link connection between the power supply module and
spindle amplifier module

(2) Check the parameter settings.

(a) Parameter data for each motor model
(b) Detector-related parameter data (Refer to Section 1.3 in Part
III.)
(c) Setting of a maximum motor speed

15i 16i 30i Description

3020 4020 4020 Maximum motor speed

(d) Parameters related to spindle speed specification

Refer to Subsec. 2.1.5 in Part III.

(3) Check the input signals.

(a) Input signals for spindle control (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G227 G070 G070 MRDYA SFRA SRVA
2nd- G235 G074 G074 MRDYB SFRB SRVB

1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB

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(ii) When the motor does not rotate at a specified speed

(1) Check the connections. (Refer to Descriptions (B-65372EN).)
(a) Motor power line connection
(b) Connection of the position coder signal cable (shielding,
grounding)

(2) Check the parameter settings.

(a) Parameter data for each motor model
(b) Detector-related parameter data (Refer to Section 1.3 in Part
III.)
(c) Setting of a maximum motor speed

15i 16i 30i Description

3020 4020 4020 Maximum motor speed

(d) Parameters related to spindle speed specification

For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

(iii) When the motor vibrates and makes an abnormal sound when rotating
(1) Check the connections. (Refer to Descriptions (B-65372EN).)
(a) Connection of the position coder signal cable (shielding,
grounding)

(2) Check the parameter settings.

The velocity loop gain may be too large. Adjust the following
parameters:

15i 16i 30i Description Setting data

3040 4040 4040 Velocity proportional gain (HIGH)
3041 4041 4041 Velocity proportional gain (LOW) Decrease the
3048 4048 4048 Velocity integral gain (HIGH) setting values.
3049 4049 4049 Velocity integral gain (LOW)

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(3) Make a comparison with the case of motor coasting.

If vibration and sound produced when the motor coasts are
extremely smaller than those produced when the motor is driven,
the control circuit is faulty. If sound produced remains
unchanged, the motor or the machine may be faulty. If the
overheat signal cable from the motor is disconnected during
motor rotation, an alarm is issued, and the motor coasts. Before
performing the coasting of the motor, consult with the machine
tool builder for confirmation. Depending on the sequence, the
brake may be applied.

(iv) When an overshoot or hunting occurs

(1) Check the parameter settings.
(a) The velocity loop gain may be too large. Adjust the
following parameters:

15i 16i 30i Description Setting data

3040 4040 4040 Velocity proportional gain(HIGH)
3041 4041 4041 Velocity proportional gain(LOW) Decrease the
3048 4048 4048 Velocity integral gain (HIGH) setting values.
3049 4049 4049 Velocity integral gain (LOW)

(b) The acceleration/deceleration constant may be too large.

Adjust the following parameters:

15i 16i 30i Description Setting data

Acceleration/deceleration constant
3069 4069 4069
(HIGH)
Acceleration/deceleration constant
3070 4070 4070
(MIDIUM HIGH) Decrease the
Acceleration/deceleration constant setting values.
3071 4071 4071
(MIDIUM LOW)
Acceleration/deceleration constant
3072 4072 4072
(LOW)

(v) When the cutting capability is degraded

(1) Check the parameter settings.
(a) Parameter data for each motor model

(2) Check the input signals.

(a) Torque limitation command (TLMHA)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G227 G070 G070 TLMHA
2nd- G235 G074 G074 TLMHB

(3) Check the machine.

(a) Belt tension, and so forth

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(vi) When the acceleration/deceleration time is long

(1) Check the parameter settings.
(a) Parameter data for each motor model

(b) The acceleration/deceleration constant may be too small.

Adjust the following parameters:

15i 16i 30i Description Setting data

Acceleration/deceleration
3069 4069 4069
constant (HIGH)
Acceleration/deceleration
3070 4070 4070
constant (MIDIUM HIGH) Increase the
Acceleration/deceleration setting values.
3071 4071 4071
constant (MIDIUM LOW)
Acceleration/deceleration
3072 4072 4072
constant (LOW)

(c) Regenerative power limitation (Check if the same value as

in the parameter table for each motor model is set.)
15i 16i 30i Description
3080 4080 4080 Regenerative power limitation

(2) Check the input signals.

(a) Torque limitation commands (TLMH)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G227 G070 G070 TLMHA
2nd- G235 G074 G074 TLMHB

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

2.2 POSITION CODER METHOD SPINDLE ORIENTATION

Optional function

2.2.1 Start-up Procedure

A. Check that operation in the velocity control mode is enabled.

B. Prepare and check the ladder program for spindle orientation.

C. Set the parameters related to spindle orientation or detector.

D. Check the position detect signal (position coder signal).

E. Check whether orientation is performed.

NG
OK
F. Set and check the direction used for orientation.
- Set the direction of rotation used for orientation.

G. Adjust the orientation stop position.

- Detection level for the orientation completion signal
- Orientation stop position shift
- Orientation stop position

H. Adjust the orientation speed.

- Position gain for orientation
- Orientation speed

I. Adjust the orientation stop (to eliminate overshoot and ensure stop-time rigidity).
- Position gain for orientation
- Velocity loop proportional gain for orientation
- Velocity loop integral gain for orientation
- Motor voltage for orientation
- Rate of change in position gain upon orientation completion

J. Check ATC operation.

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2.2.2 Overview
For this subsection, see Subsection 2.2.2, "Overview", in Part I.

2.2.3 Feature
For this subsection, see Subsection 2.2.3, " Feature", in Part I.

2.2.4 System Configuration

The system configurations that enable the use of the position coder
method orientation function are shown below.

(1) When the α position coder is used

Temperature sensor

αCi
spindle
motor

JYA2 Spindle
α position coder
SPMC

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

NOTE
The spindle sensor (separate detector) usable with
the αCi series spindle amplifier is a position coder
only.

2.2.5 Stop Position Specification Method

For this subsection, see Subsection 2.2.5, "Stop Position Specification
Method ", in Part I.

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2.2.6 I/O Signals (CNC↔PMC)

(1) Address list of Input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 ORCMA CTH1A CTH2A
2nd- G235 G074 G074 ORCMB CTH1B CTH2B

1st- G229 G072 G072 NRROA ROTAA INDXA

2nd- G237 G076 G076 NRROB ROTAB INDXB

1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G231 G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G239 G081 G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC → CNC)

With the αCi series, the signals indicated in the item above are valid.
For details of each signal, see Subsection 2.2.6(2), "Details of input
signals (PMC → CNC)", in Part I.

(3) Address list of ouput signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA
2nd- F245 F049 F049 ORARB

(4) Details of ouput signals (CNC → PMC)

With the αCi series, the signals indicated in the item above are valid.
For details of each signal, see Subsection 2.2.6(4), "Details of output
signals (CNC → PMC)", in Part I.

2.2.7 Examples of Sequences

For this subsection, see Subsection 2.2.7, " Examples of Sequences ",
in Part I.

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2.2.8 Related Parameters

Parameter No.
Description
15i 16i 30i
Specifies whether to use the spindle orientation function. (Set this bit to 1.)
3015 #0 4015 #0 4015 #0
(The CNC software option is required.)
Specifies whether to use the spindle orientation function with the stop
5609#2 3702#3,#2 3729#0 position external setting type. (For 16i, #2: First spindle, #3: Second
spindle)
3003#3,#2 4003#3,#2 4003#3,#2 Direction of rotation in spindle orientation (Set to 0 and 0 or 0 and 1.)
3005#0 4005#0 4005#0 Setting of the velocity feedback method (Set to 1.)
3017 #7 4017 #7 4017 #7 Shortcut function when orientation is specified in stop state
Stop position for position coder method orientation
3031 4031 4031 (This parameter is disabled when spindle orientation with an externally set
stop position or an externally set incremental command is used.)
3038 4038 4038 Spindle orientation speed
3042 4042 4042 Velocity proportional gain on orientation
3043 4043 4043 (A parameter is selected by the CTH1A input signal.)
3050 4050 4050 Velocity integral gain on orientation
3051 4051 4051 (A parameter is selected by the CTH1A input signal.)
Spindle-to-motor gear ratio
3056 to 3059 4056 to 4059 4056 to 4059
(A parameter is selected by the CTH1A and CTH2A input signals.)
Position gain for orientation
3060 to 3063 4060 to 4063 4060 to 4063
(A parameter is selected by the CTH1A and CTH2A input signals.)
3064 4064 4064 Acceleration limitation ratio at deceleration time (Set to 100.)
3075 4075 4075 Detection level for the spindle orientation completion signal
3077 4077 4077 Spindle orientation stop position shift
3084 4084 4084 Motor voltage for spindle orientation
Acceleration at orientation deceleration time
3320 to 3323 4320 to 4323 4320 to 4323 (A parameter is selected by the CTH1A and CTH2A input signals.)

NOTE
1 For the parameters related to detectors, see the Section
1.3 “PARAMETERS RELATED TO DETECTORS” in the
Part III.
2 For velocity loop proportional/integral gain adjustment,
see Section 4.1, "VELOCITY LOOP GAIN
ADJUSTMENT", in Part III.

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2.2.9 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3003 4003 4003 DIRCT2 DIRCT1

DIRCT2, DIRCT1 Setting of rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction at spindle orientation
By rotation direction immediately before
0 0
(It is CCW at the power on.)
By rotation direction immediately before
0 1
(It is CW at the power on.)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 VCTLPC

VCTLPC Sets the velocity feedback method.

0 : Exercises velocity control with an estimated velocity only.
1 : Uses a velocity calculated from the position coder signal to
exercise velocity control.
Set to 1.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN

NRROEN Specifies whether to use the shortcut function when orientation is

specified in the stop state.
0 : Does not use the function.
1 : Uses the function.
When this bit is set to 1, short cut operation is performed when the
following conditions are satisfied:
- Bit 7 of parameter No. 4016 (RFCHK3) is set to 0.
- Zero speed detection output signal SSTA is set to 1.
- Shortcut command input signal NRROA is set to 1.

15i 16i 30i

3031 4031 4031 Position coder method orientation stop position

Unit of data : 1 pulse (360°/4096)

Valid data range : 0 to 4096
Standard setting : 0
This data is used to set the stop position of position coder method
spindle orientation. It can be set at every 360 degrees/4096.
When stop position external command type orientation and
incremental command external type orientation are set, this parameter
becomes invalid.
Stop position command (SHA11-SHA00) of input signal instructed
becomes valid.

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15i 16i 30i

3038 4038 4038 Spindle orientation speed

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets the orientation speed at the end of the spindle.
When this data is set to 0, 200 min-1 is set.

15i 16i 30i

3042 4042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This parameter sets the velocity loop proportional gain for spindle
orientation.
When the CTH1A input signal is set to 0, proportional gain for the
HIGH gear is selected. When the CTH1A input signal is set to 1,
proportional gain for the LOW gear is selected.

15i 16i 30i

3050 4050 4050 Velocity loop integral gain on orientation (HIGH) CTH1A=0
3051 4051 4051 Velocity loop integral gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This parameter sets the velocity loop integral gain for spindle
orientation.
When the CTH1A input signal is set to 0, integral gain for the HIGH
gear is selected. When the CTH1A input signal is set to 1, integral
gain for the LOW gear is selected.

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15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor relative to the
spindle.
When the motor rotates 2.5 times, for every rotation of the spindle, for
example, set 250 in the parameter.

NOTE
1 A parameter is selected by the input signals CTH1A
and CTH2A. Ensure that the gear or clutch state
corresponds to the input signals CTH1A and
CTH2A. When the signals are not input correctly, the
overcurrent alarm (SPM alarm 12) can be issued.
2 When using a position coder, be sure to set this
parameter. If this parameter is not set correctly, the
velocity error excess alarm (SPM alarm 02), motor
binding alarm (SPM alarm 31), or gear ratio
parameter setting error alarm (SPM alarm 35) may
be detected.
3 When an improper value is set in this parameter, an
unexpected operation can occur. For example, the
spindle can continue rotating without stopping at the
time of orientation. So, be sure to set a proper gear
ratio.

15i 16i 30i

3060 4060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
3061 4061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
3062 4062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
3063 4063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 1000
These parameters set the position gain for orientation.
A parameter is selected by the CTH1A and CTH2A input signals.

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15i 16i 30i

3064 4064 4064 Acceleration limitation ratio at deceleration time

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
Set to 100.

15i 16i 30i

3075 4075 4075 Orientation completion signal detection level (limits of in-position)

Unit of data : ± 1 pulse unit (360degrees/4096)

Valid data range : 0 to 100
Standard setting : 10
This data is used to set the detecting level of orientation completion
signal (ORARA).
When the spindle position is located within the setting data on
orientation completion, the bit of orientation completion signal
(ORARA) in the spindle control signals is set to "1".
When the orientation command (ORCMA) is turned off (= 0), the
orientation completion signal (ORARA) is set to "0".

15i 16i 30i

3077 4077 4077 Orientation stop position shift value

Unit of data : ± 1 pulse unit (360degrees/4096)

Valid data range : -4095 to 4095
Standard setting : 0
In the position coder method orientation, set this data to shift stop
position.
Spindle is shift No. of setting pulse in CCW direction, and stops by
data (+).

15i 16i 30i

3084 4084 4084 Motor voltage setting on orientation

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 60
This parameter sets the motor voltage for orientation. Usually, set 60.

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15i 16i 30i

3320 4320 4320 Acceleration at orientation deceleration time (HIGH) CTH1A=0, CTH2A=0
Acceleration at orientation deceleration time (MEDIUM HIGH)
3321 4321 4321 CTH1A=0, CTH2A=1

Acceleration at orientation deceleration time (MEDIUM LOW)

3322 4322 4322 CTH1A=1, CTH2A=0

3323 4323 4323 Acceleration at orientation deceleration time (LOW) CTH1A=1, CTH2A=1

Unit of data : 10min-1/sec

Valid data range : 0 to 32767
Standard setting : 0
These parameters set a motor acceleration value at deceleration time in
orientation. When 0 is set, an acceleration value of 520 min-1/sec
(corresponding to setting = 52 or equivalent to the standard setting for
the αC series spindle) is set.

2.2.10 Adjusting the Orientation Stop Position Shift Parameter

For this subsection, see Subsection 2.2.11, "Adjusting the Orientation
Stop Position Shift Parameter", in Part I.

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2.3 RIGID TAPPING Optional function

2.3.1 Start-up Procedure

A. Check that operation in the velocity control mode is enabled..

B. Prepare and check the rigid tapping ladder program.

C. Set up the detector-related parameters according to the system

configuration.
- Specify to use the spndile sensor and spindle motor.
- Specify the rotation direction of the spindle and motor and that of the
spindle and position coder.
- Set up the gear ratio between the spindle and motor.

D. Adjust the parameters according to the adjustment procedure.

- Maximum rotation speed and acceleration/deceleration time constant
for rigid tapping
- Position gain for rigid tapping
- Velocity loop proportional and integral gains for rigid tapping
- Motor voltage for rigid tapping
- Motor activation delay

E. Check the precision by actually performing cutting.

If there is a problem with the precision of the machine, adjust the
acceleration/deceleration time constant and velocity loop gains again.

2.3.2 Overview
For this subsection, see Subsection 2.3.2, "Overview", in Part I.

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2.3.3 System Configuration

The system configurations that enable the use of rigid tapping are
shown below.

(1) When the α position coder is used

Temperature sensor

αCi
spindle
motor

JYA2 Spindle
α position coder
SPMC

JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

NOTE
The spindle sensor (separate detector) usable with
the αCi series spindle amplifier is a position coder
only.

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2.3.4 List of I/O Signals (CNC ↔ PMC)

This subsection provides a list of the I/O signals related to rigid
tapping only. For details of each signal, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Section 9.10 “RIGID TAPPING.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part I.

(1) Input signals (PMC → CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
G027 SWS2 SWS1
(*1) (*1)
G028 GR2 GR1

G029 GR21
(*2)
G061 RGTAP

NOTE
1 The rigid tapping of the 2nd spindle is available by
the multi-spindle control function.
When SWS1 is set to 1 (regardless of whether
SWS2 is set to 0 or 1), rigid tapping is performed
using the 1st spindle. When SWS1 is set to 0, and
SWS2 is set to 1, rigid tapping is performed using
the 2nd spindle.
2 This signal is used when the rigid tapping of the
second spindle.
According to the GR21 signal, the individual gear
parameters for gear 1 or 2, also used for the 1st
spindle, are selected.

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(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
G027 SWS2 SWS1
(*1) (*1)
G028 GR2 GR1

G029 GR22 GR21

(*2) (*2)
G061 RGTAP

NOTE
1 The rigid tapping of the 2nd spindle is available by
the multi-spindle control function.
When SWS1 is set to 1 (regardless of whether
SWS2 is set to 0 or 1), rigid tapping is performed
using the 1st spindle. When SWS1 is set to 0, and
SWS2 is set to 1, rigid tapping is performed using
the 2nd spindle.
2 This signal is used when the rigid tapping of the
second spindle.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
1st- G026 SPSTPA
2nd- G272 SPSTPB

(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 SFRA SRVA CTH1A CTH2A
2nd- G235 G074 G074 SFRB SRVB CTH1B CTH2B

(2) Output signals (CNC → PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0

F034 GR3O GR2O GR1O

(*1) (*1) (*1)

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP

NOTE
*1 These signals are effective when M series.

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(a) Series 30i

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

F034 GR3O GR2O GR1O

(*1) (*1) (*1)

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP

NOTE
*1 These signals are effective when M series.

(b) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F040 RTAP
F155 RSPC RSPM RSPP

2.3.5 Sequence
For a rigid tapping sequence, refer to the Connection Manual
(Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Section 9.10 “RIGID TAPPING.”

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2.3.6 Related Parameters

Parameter No.
Description
15i 16i 30i
- 5210 5210 M code of rigid tapping command
5202#0 Whether to perform orientation (reference position return) when
5606#6 5202#0
(M series only) starting rigid tapping
3706#1,#0
- - Gear ratio between spindle and position coder, 1:1, 1:2, 1:4, 1:8
3707#1,0
5842 - 3720 Number of pulse of the position coder
5280 5280 Position gain of tapping axis at rigid tapping
3065 to 3068
5281 to 5284 5281 to 5284 (16i /30i: No. 5284 is used for the T series only.)
5605#1 - - Acc./Dec. type (Set to 1.)
5241 5241
5242 5242 Spindle maximum speed at rigid tapping
5711
5243 5243 (16i: No. 5244 is used for the T series only.)
5244 5244
5605#2 - -
5757 - -
Spindle speed for determining an acceleration value for cutting
5886 - -
feed on rigid tapping
5889 - -
5892 - -
5605#2
5751 5261 5261
5884 5262 5262 Acc./Dec. time constant
5887 5263 5263 (16i: No. 5264 is used for the T series only.)
5890 5264 5264
5893
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration on
- -
5888 rigid tapping
- -
5891
- -
5894
- 5200#4 5200#4 Override selection at extracting
5883 5211 5211 Override value at extracting
5201#2 5201#2 Time constant at extracting
-
5271 to 5274 5271 to 5274 (No. 5274 is used for the T series only.)
1827 5300 5300 In-position width of tapping axis
5875 5301 5301 In-position width of spindle
5310
1837 5310 Allowable level of position error of tapping axis at moving
5341
5876 5311 5311 Allowable level of position error of spindle at moving
1829 5312 5312 Allowable level of position error of tapping axis at stop
5877 5313 5313 Allowable level of position error of spindle at stop
5853
5856 5321 5321 Backlash of spindle
5859 5322 to 5324 5322 to 5324 (16i: Nos.5322 to 5324, 30i: No. 5324 is used for the T series only.)
5862
3000#4 4000#4 4000#4 Reference position return direction on servo mode
Whether to enable the rotation direction signal (SFR/SRV) on servo
3002#5 4002#5 4002#5
mode
3005#0 4005#0 4005#0 Setting of the velocity feedback method (Set to 1.)

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Parameter No.
Description
15i 16i 30i
Velocity loop proportional gain on servo mode/spindle synchronous
3044 4044 4044
control
3045 4045 4045
(It is selected by input signal CTH1A/B.)
Velocity loop integral gain on servo mode/spindle synchronous
3052 4052 4052
control
3053 4053 4053
(It is selected by input signal CTH1A/B.)
Gear ratio between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059
(It is selected by input signal CTH1A or CTH2A)
Spindle position gain on servo mode/spindle synchronous control
3065 to 3068 4065 to 4068 4065 to 4068
(It is selected by input signal CTH1A or CTH2A)
3073 4073 4073 Grid shift amount on servo mode
3074 4074 4074 Reference position return speed on servo mode
Position gain change ratio at reference position return time on
3091 4091 4091
servo mode
3085 4085 4085 Motor voltage on servo mode/spindle synchronous control
3099 4099 4099 Delay time for stable motor excitation

NOTE
1 For the parameters related to detectors, see
Section 1.3 “PARAMETERS RELATED TO
DETECTORS” in the Part III.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part III.

2.3.7 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i , in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to rigid tapping. For
details of other parameters, refer to the parameter manual of each
CNC.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 4000 RETSV

RETSV Reference position return direction on servo mode (rigid

tapping/spindle positioning)
0 : The spindle performs a reference position return operation in the
CCW(counterclockwise) direction.
1 : The spindle performs a reference position return operation in the
CW(clockwise) direction.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 SVMDRT

SVMDRT Whether to enable the rotation direction signal (SFR/SRV) function

on servo mode (rigid tapping/spindle positioning)
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW direction when the input
signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW direction when the input
signal SRV (bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle
rotates in the CCW direction when the input signal SFR = 1 or
SRV = 1.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 VCTLPC

VCTLPC Sets the velocity feedback method.

0 : Exercises velocity control with an estimated velocity only.
1 : Uses a velocity calculated from the position coder signal to
exercise velocity control.
Set to 1.

15i 16i 30i

Velocity loop proportional gain on servo mode/spindle synchronous control
3044 4044 4044 (HIGH) CTH1A=0

Velocity loop proportional gain on servo mode/spindle synchronous control

3045 4045 4045 (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
These parameters set a velocity loop proportional gain on servo mode
(rigid tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

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15i 16i 30i

Velocity loop integral gain on servo mode/spindle synchronous control (HIGH)
3052 4052 4052 CTH1A=0

Velocity loop integral gain on servo mode/spindle synchronous control (LOW)

3053 4053 4053 CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
These parameters set a velocity loop integral gain on servo mode
(rigid tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

NOTE
For velocity loop gain setting on spindle synchronous
control and servo mode, the common parameters
are used.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor relative to the
spindle.
When the motor rotates 2.5 times, for every rotation of the spindle, for
example, set 250 in the parameter.

NOTE
1 A parameter is selected by the input signals CTH1A
and CTH2A. Ensure that the gear or clutch state
corresponds to the input signals CTH1A and
CTH2A. When the signals are not input correctly, the
overcurrent alarm (SPM alarm 12) can be issued.
2 When using a position coder, be sure to set this
parameter. If this parameter is not set correctly, the
velocity error excess alarm (SPM alarm 02), motor
binding alarm (SPM alarm 31), or gear ratio
parameter setting error alarm (SPM alarm 35) may
be detected.

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15i 16i 30i

Spindle position gain on servo mode/spindle synchronous control (HIGH)
3065 4065 4065 CTH1A=0, CTH2A=0

Spindle position gain on servo mode/spindle synchronous control

3066 4066 4066 (MEDIUM HIGH) CTH1A=0, CTH2A=1

Spindle position gain on servo mode/spindle synchronous control

3067 4067 4067 (MEDIUM LOW) CTH1A=1, CTH2A=0

Spindle position gain on servo mode/spindle synchronous control (LOW)

3068 4068 4068 CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting value : 1000
These parameters set a position gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
A parameter is selected according to the input signals CTH1A and
CTH2A.

NOTE
For velocity loop gain setting on spindle synchronous
control and servo mode, the common parameters
are used.

15i 16i 30i

3073 4073 4073 Grid shift amount on servo mode

Unit of data : 1 pulse (=360°/4096)

Valid data range : 0 to 4095
Standard setting value : 0
This parameter is used to shift the reference position on servo mode
(rigid tapping/spindle positioning).
The reference position of the spindle is shifted in the CCW direction
by the specified number of pulses.

15i 16i 30i

3074 4074 4074 Reference position return speed on servo mode

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0
To perform a reference position return operation, set a reference
position return speed in this parameter.

15i 16i 30i

3085 4085 4085 Motor voltage on servo mode/spindle synchronous control

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 60
These parameters set a motor voltage on rigid tapping. Usually, set 60.

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15i 16i 30i

3091 4091 4091 Position gain change ratio at reference position return time on servo mode

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter sets a position gain change ratio at reference position
return time on servo mode (rigid tapping, spindle positioning, and so
forth).

NOTE
An overshoot can occur at reference position return
time for a cause such as an excessively high
reference position return speed and an excessively
large spindle inertia. In this case, an overshoot can
be avoided by setting a small value in this
parameter.

15i 16i 30i

3099 4099 4099 Delay time for stable motor excitation

Unit of data : 1ms

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a period of time required until motor excitation
becomes stable on rigid tapping.

NOTE
In switching from the velocity control mode to rigid
tapping mode, the stop time excessive error alarm
can be issued intermittently.
This is because the excitation state of the spindle
motor changes abruptly, and therefore a transient
state occurs in the motor, thus moving the motor
shaft slightly.
In such a case, set this parameter. In general, set a
value from about 300 to 400 (300 to 400 msec).

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2.3.8 Parameter Setting Procedure

(1) Gear ratio between the spindle and the motor

The loop gain constant parameter is not used in the αCi series (Serial)
spindle system.
“Gear ratio between the spindle and the motor” parameter should be
set instead of it.
Each parameter is selected according to the gear selection signal
(CTH1A/B, CTH2A/B).

[1st. sp]
Gear signal Parameter No.
CTH1A CTH2A 15i 16i 30i
0 0 3056 (S1) 4056 (S1) 4056 (S1)
0 1 3057 (S1) 4057 (S1) 4057 (S1)
1 0 3058 (S1) 4058 (S1) 4058 (S1)
1 1 3059 (S1) 4059 (S1) 4059 (S1)

[2nd. sp]
Gear signal Parameter No.
CTH1B CTH2B 15i 16i 30i
0 0 3056 (S1) 4056 (S2) 4056 (S2)
0 1 3057 (S1) 4057 (S2) 4057 (S2)
1 0 3058 (S1) 4058 (S2) 4058 (S2)
1 1 3059 (S1) 4059 (S2) 4059 (S2)

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(2) Position gain

In rigid tapping, the tapping axis and spindle are controlled to be
synchronized. So, the position gains of the tapping axis and spindle
must be set to the same value.

[Series 16i]
The position gain parameter of the tapping axis in the rigid tapping is
selected as follows according to the gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed
constant option: GR2, GR1
Second spindle of turning [T series]: GR21(Multi-spindle control
option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal
Parameter No. Parameter No.
GR1O GR2O GR3O 1st. sp 2nd. sp
5280 (*1) GR1 GR2 GR21 T M
1 0 0 5281 5280 (*1)
0 1 0 5282 0 0 0 5281
0 0 1 5283 1 0 1 5282
0 1 5283
1 1 5284 5283

NOTE
*1 When this parameter is "0", each gear parameter
becomes valid.
When this parameter is not "0", each gear parameter
becomes invalid, and this parameter is always used.

The position gain parameter of the spindle in the rigid tapping is

selected as follows according to the gear selection signal (CTH1A/B,
CTH2A/B). (This is common T series and M series)

[1st. sp] [2nd. sp]

Gear signal Gear signal
Parameter No. Parameter No.
CTH1A CTH2A CTH1B CTH2B
0 0 4065 (S1) 0 0 4065 (S2)
0 1 4066 (S1) 0 1 4066 (S2)
1 0 4067 (S1) 1 0 4067 (S2)
1 1 4068 (S1) 1 1 4068 (S2)

CAUTION
Take care to input the gear selection signal GR1,
GR2, GR21, GR1O, GR2O, GR3O and CTH1A/B,
CTH2A/B according to the real gear state in order to
get the same position gain of the tapping axis and
that of the spindle, because GR1, GR2, GR21,
GR1O, GR2O, GR3O and CTH1A/B, CTH2A/B are
inputted independently.

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[Series 30i]
The position gain parameter of the tapping axis in the rigid tapping is
selected as follows according to the gear selection signal.
Standard machining[M series]: GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed
constant option : GR2, GR1
Second spindle : GR22, GR21(Multi-spindle control option is needed)
Turning [T series] and machining [M series] with
Standard machining [M series]
surface speed constant
Gear signal Gear signal Parameter No.
GR1O Parameter No. GR1
GR2O GR3O GR21 T M
GR2
1 0 0 5231 5280 (*1)
0 1 0 5232 0 0 5281
0 0 1 5233 1 0 5282
0 1 5283
1 1 5284 5283
* First spindle: GR1, GR2 / Second spindle: GR21, GR22

NOTE
*1 When this parameter is "0", each gear parameter
becomes valid.
When this parameter is not "0", each gear parameter
becomes invalid, and this parameter is always used.

The position gain parameter of the spindle in the rigid tapping is

selected as follows according to the gear selection signal (CTH1A/B,
CTH2A/B). (This is common T series and M series)

[1st. sp] [2nd. sp]

Gear signal Gear signal
Parameter No. Parameter No.
CTH1A CTH2A CTH1B CTH2B
0 0 4065 (S1) 0 0 4065 (S2)
0 1 4066 (S1) 0 1 4066 (S2)
1 0 4067 (S1) 1 0 4067 (S2)
1 1 4068 (S1) 1 1 4068 (S2)

CAUTION
Take care to input the gear selection signal GR1,
GR2, GR21, GR22, GR1O, GR2O, GR3O and
CTH1A/B, CTH2A/B according to the real gear state
in order to get the same position gain of the tapping
axis and that of the spindle, because GR1, GR2,
GR21, GR22, GR1O, GR2O, GR3O and CTH1A/B,
CTH2A/B are inputted independently.

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[Series 15i]
In the rigid tapping, the same parameter address data is used for the
position gain of the tapping axis and the spindle.
Each position gain is selected as follows according to the gear
selection signal (CTH1A, CTH2A).
Gear signal
Parameter No.
CTH1A CTH2A
0 0 3065
0 1 3066
1 0 3067
1 1 3068

(3) Acceleration/deceleration time constant

[Series 16i]
(1) Each parameter can be set for each gear and is selected according
to the gear selection signal.
By setting the following parameter, the different time constant
between the cutting in and cutting out (extracting) becomes
available.

5201 #2 0 : The same time constant between cutting in and out.

(No. 5261 to 5264)
1 : The different time constant between cutting in and out.
Cutting in : No. 5261 to 5264
Cutting out: No. 5271 to 5274
Standard Machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and Machining [M series] with surface speed
constant : GR2, GR1
2nd. sp of Turning [T series] : GR21 (Multi-spindle control
option is needed)
Standard machining [M series]
Gear signal Time constant Time constant Spindle max. speed
(Cutting in) (Cutting out) at rigid tapping
GR1O GR2O GR3O
Parameter No. Parameter No. Parameter No.
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243

Turning [T series] and machining [M series] with surface speed constant

Gear signal Spindle max. speed at
Time constant Time constant
rigid tapping
1st. sp 2nd. sp (Cutting in) (Cutting out)
Parameter No.
Parameter No. Parameter No.
GR1 GR2 GR21 T/TT M
0 0 0 5261 5271 5241 5241
1 0 1 5262 5272 5242 5242
0 1 - 5263 5273 5243 5243
1 1 - 5264 (*1) 5274 (*1) 5244 (*1) -

NOTE
*1 This is not available for Machining (M series).

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(2) The override at extracting.

5200 #4 0 : The override at extracting is not valid.
1 : The override at extracting is valid.
(Set override value at No. 5211)

[Series 30i]
(1) Each parameter can be set for each gear and is selected according
to the gear selection signal.
By setting the following parameter, the different time constant
between the cutting in and cutting out (extracting) becomes
available.

5201 #2 0 : The same time constant between cutting in and out.

(No. 5261 to 5264)
1 : The different time constant between cutting in and
out.
Cutting in : No. 5261 to 5264
Cutting out: No. 5271 to 5274

Standard Machining [M series]: GR3O, GR2O, GR1O

Turning [T series] and Machining [M series] with surface speed
constant : GR2, GR1
2nd. sp : GR21, GR21 (Multi- spindle control option is needed)

Standard machining [M series]

Gear signal Time constant Time constant Spindle max. speed
(Cutting in) (Cutting out) at rigid tapping
GR1O GR2O GR3O
Parameter No. Parameter No. Parameter No.
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243

Turning [T series] and machining [M series] with surface speed constant

Spindle max. speed at
Time constant Time constant
Gear signal rigid tapping
(Cutting in) (Cutting out)
Parameter No.
Parameter No. Parameter No.
GRs1* GRs2* T M
0 0 5261 5271 5241 5241
1 0 5262 5272 5242 5242
0 1 5263 5273 5243 5243
(*1) (*1) (*1)
1 1 5264 5274 5244 -
* First spindle: GR1, GR2 / Second spindle: GR21, GR22

NOTE
*1 This is not available for Machining (M series).

(2) The override at extracting.

5200 #4 0 : The override at extracting is not valid.
1 : The override at extracting is valid.
(Set override value at No. 5211)

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[Series 15i]
(1) Acc./Dec. type
5605 #1 0 : Exponential type Acc./Dec.
1 : Linear type Acc./Dec. (Standard setting)

NOTE
Usually, linear type acceleration/deceleration (bit 1 of
No. 5605 = 1) is used.

(2) Set Acc./Dec. the time constant of the rigid tapping mode.
<1> The time constant is a fixed value if bit 2 of parameter No.
5605 = 0.

Acc./Dec. time constant 5751

Spindle speed 5757

<2> When bit 2 of parameter No.5605 is set to 1, one of the four

acceleration/deceleration time constants is selected,
depending on the spindle speed.

Spindle speed Acc./Dec. time constant

Gear 1 5886 5884
Gear 2 5889 5887
Gear 3 5892 5890
Gear 4 - 5893

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2.3.9 Adjustment Procedure

(1) Parameters used for adjustment

The table below lists and describes the parameters used for adjusting
rigid tapping.

Parameter No.(FS16i) Description

Maximum spindle speed on rigid tapping (Depends on the GR signal. 5244 is for the
5241 to 5244
T series only.)
Acceleration/deceleration time constant on rigid tapping (Depends on the GR
5261 to 5264
signal. 5264 is for the T series only.)
Position gain of tapping axis on rigid tapping (5280 is for all gears. 5281 to 5284
5280 to 5284
depend on the GR signal. 5284 is for T series only.)
4065 to 4068 Spindle position gain on rigid tapping (depends on CTH1 and CTH2 signals)
4044 to 4045 Velocity proportional gain on rigid tapping (depends on CTH1A signal)
4052 to 4053 Velocity integral gain on rigid tapping (depends on CTH1A signal)
4085 Motor voltage on rigid tapping (Set to 60.)
4099 Delay time for motor excitation (Specify a value around 300 to 400.)

(2) Spindle data used for adjustment

For this item, see Item 2.3.9-(2), "Spindle data used for adjustment ",
in Part I.

(3) Adjustment procedure

For this item, see Item 2.3.9-(3), "Adjustment procedure ", in Part I.

2.3.10 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.3.10, "Diagnosis (Diagnosis
Screen)", in Part I.

2.3.11 Alarm
For this subsection, see Subsection 2.3.11, "Alarm", in Part I.

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2.4 SPINDLE SYNCHRONOUS CONTROL

Optional function

2.4.1 Start-up Procedure

A. Check that operation in velocity control mode is ready.

B. Prepare and check the ladder programs for the spindle synchronous control function.

C. Set the parameters related to spindle synchronous control.

D. Connect a position coder and check the feedback signal.

E. Check the spindle synchronous speed.

F. Check the direction of spindle rotation when spindle synchronous control is applied.
- Direction of spindle motor rotation when spindle synchronous control is applied.

G. Check that errors such as overshoot or hunting do not occur before the spindle achieves the
maximum speed for synchronization.
- Position gain for spindle synchronous control
- Acceleration/deceleration time constant used for spindle synchronous control

H. Check that the error pulse difference between the spindles is within ±5 pulses.
- Position gain for spindle synchronous control
- Spindle-to-motor gear ratio data
- Velocity loop proportional gain for spindle synchronous control
- Velocity loop integral gain for spindle synchronous control
- Bell-shaped acceleration/deceleration time constant for spindle synchronous control
- Motor voltage for spindle synchronous control

I. Check the operation of spindle phase synchronization control.

- Shift amount for spindle phase synchronization
- Compensation data for spindle phase synchronization

J. End the checking of spindle synchronous control operation.

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2.4.2 Overview
For this subsection, see Subsection 2.5.2, " Overview ", in Part I.

2.4.3 System Configuration

The system configurations that enable the use of the spindle
synchronous control function are shown below.

(1) When the α position coder is used

1st spindle
Temperature
sensor
CNC αCi spindle motor

JA7B Spindle
JYA2 α position coder
SPMC

JYA3
JA7A
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

2nd spindle
Temperature
sensor αCi spindle motor

JA7B Spindle
JYA2 α position coder
SPMC

JYA3

Directly connected or connected with a gear or timing

belt at a ratio of 1:1

NOTE
The spindle sensor (separate detector) usable with
the αCi series spindle amplifier is a position coder
only.

2.4.4 Explanation of Operation

For this subsection, see Subsection 2.5.4, "Explanation of Operation ",
in Part I.

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2.4.5 I/O Signals (CNC ↔ PMC)

(1) Address list of input signals (PMC → CNC)

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G038 G038 SPPHS SPSYC
Common to all axes G032 G032 R08I R07I R06I R05I R04I R03I R02I R01I
Common to all axes G033 G033 SSGN R12I R11I R10I R09I

1st- G070 G070 SFRA SRVA CTH1A CTH2A

2nd- G074 G074 SFRB SRVB CTH1B CTH2B

1st- G071 G071 INTGA

2nd- G075 G075 INTGB

(2) Details of input signals (PMC → CNC)

With the αCi series, the signals indicated in the item above are valid.
For details of each signal, see Item 2.5.5-(2), "Details of input signals
(PMC → CNC)", in Part I.

(3) Address list of output signals (CNC → PMC)

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F044 F044 SYCAL FSPPH FSPSY

1st- F045 F045 SARA

2nd- F049 F049 SARB

(4) Details of output signals (CNC → PMC)

With the αCi series, the signals indicated in the item above are valid.
For details of each signal, see Item 2.5.5-(4), "Details of output signals
(CNC → PMC)", in Part I.

2.4.6 Examples of Sequences

For this subsection, see Subsection 2.5.6, "Examples of Sequences", in
Part I.

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2.4.7 Related Parameters

Parameter No.
Description
16i 16i
Direction of rotation of the 1st spindle motor while spindle synchronous control is
4800#0 -
applied
Direction of rotation of the 2nd spindle motor while spindle synchronous control is
4800#1 -
applied
- 4801#0 Direction of rotation of each spindle motor while spindle synchronous control is applied
Error pulse difference between the two spindles for turning on the spindle phase
4810 4810
synchronous completion signal
Error pulse difference between the two spindles for issuing an alarm on spindle
4811 4811
synchronous control
Whether to enable the rotation direction signal (SFR/SRV) function on spindle
4002#6 4002#6
synchronous control
4005#0 4005#0 Setting of the velocity feedback method
4006#1 4006#1 Gear ratio increment system
Setting for disabling automatic one-rotation signal detection at spindle synchronous
4006#3 4006#3
control mode switching time
Acceleration used for spindle synchronous control
4032 4032
(The same value must be set for both the 1st and 2nd spindles.)
4033 4033 Spindle synchronous speed arrival level
4034 4034 Shift amount for spindle phase synchronous control
4035 4035 Compensation data for spindle phase synchronous control

4044 4044 Velocity proportional gain on spindle synchronous control

4045 4045 (A parameter is selected by the CTH1A PMC input signal.)

4052 4052 Velocity integral gain on spindle synchronous control

4053 4053 (A parameter is selected by the CTH1A PMC input signal.)

Spindle-to-motor gear ratio data

4056 to 4059 4056 to 4059
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
Position gain on spindle synchronous control
4065 to 4068 4065 to 4068 (The same value must be specified for both the 1st and 2nd spindles.)
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
4085 4085 Motor voltage on spindle synchronous control
Magnetic flux switching point used for calculating an acceleration/deceleration time
4336 4336 constant used on spindle synchronous control
(The same value must be specified for both the 1st and 2nd spindles.)
Bell-shaped acceleration/deceleration time constant on spindle synchronous control
4340 4340
(The same value must be specified for both the first and second spindles.)

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part III.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part III.

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2.4.8 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i and 30i) among the parameters related to spindle
synchronous control. For details of other parameters, refer to the
parameter manual of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.12 “SPINDLE SYNCHRONOUS
CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.13 “SPINDLE SYNCHRONOUS
CONTROL.”
(c) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Section 9.11 “SPINDLE SYNCHRONOUS
CONTROL.”

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT

SYCDRT Whether to enable the rotation direction signal (SFR/SRV) function

on spindle synchronous control
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW direction when the input
signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW direction when the input
signal SRV (bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle
rotates in the CCW direction when the input signal SFR = 1 or
SRV = 1.

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4005 4005 VCTLPC

VCTLPC Sets the velocity feedback method.

0 : Exercises velocity control with an estimated velocity only.
1 : Uses a velocity calculated from the position coder signal to
exercise velocity control.
Set to 1.

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16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4006 4006 SYCREF GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor speed increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor speed increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.
Parameter No.
Description
16i 30i
4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

NOTE
1 Usually, use the 1/100 unit (setting "0").
2 When the 1/100 unit is set as the gear ratio setting
resolution (with the bit set to 0), a steady-state
synchronous error may be indicated due to the
fraction of the gear ratio.
In such a case, the synchronous error can be
improved when the 1/1000 unit is set as the gear
ratio setting resolution (with the bit set to 1).

SYCREF Setting for function performing automatic detection of the

one-rotation signal on spindle synchronous control
0 : Automatic detection of the one-rotation signal carried out
1 : Automatic detection of the one-rotation signal not carried out.
(When spindle phase synchronization is not carried out)
When the mode is switched to spindle synchronous control mode after
power-on, the two spindles automatically perform a one-rotation
signal detection operation. So, the spindles automatically make two to
three turns even if such turns are not intended.
This operation is required because the one-rotation signal must be
detected to enable spindle phase synchronous control.
If the two spindles are mechanically connected to disable each spindle
from performing a one-rotation signal detection operation, or if
spindle phase synchronous control is not exercised, the operation
above can be disabled by setting this bit to 1.
When this parameter is set to 1, check that the one-rotation signal has
been detected for both spindles (output signal PC1DTA = 1) before
applying the spindle phase synchronous control signal (SPPHS).
If the one-rotation signal is not detected, specify a speed of several ten
min-1 or higher in spindle synchronous control mode, and wait until
the one-rotation signal is detected. (See sequence example (4).)

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16i 30i
4032 4032 Acceleration at spindle synchronous control

Unit of data : 1min-1/sec

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets an acceleration value for linear
acceleration/deceleration when the synchronous speed command for
spindle synchronous control is changed.
NOTE
1 Set exactly the same data for 1st spindle and 2nd
spindle. When different data is set, synchronization
between the two spindles is not guaranteed.
2 When this parameter is set to 0, the spindle doesn’t
accelerate or decelerate, so, be sure to set proper
value in this parameter.
16i 30i
4033 4033 Spindle synchronous speed arrival level

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 10
For the synchronous speed command at spindle synchronous control,
if the error of the respective spindle motor speeds are within the
setting level, the spindle synchronous control complete signal
(FSPSY) becomes "1".

16i 30i
4034 4034 Shift amount at spindle phase synchronous control

Unit of data : 1 pulse unit (360°/4096)

Valid data range : 0 to 4095
Standard setting : 0
Sets the shift amount from the reference point at spindle phase
synchronous control (one-rotation signal).

16i 30i
4035 4035 Spindle phase synchronous compensation data

Unit of data : 1 pulse/2msec

Valid data range : 0 to 4095
Standard setting : 10
This parameter reduces speed fluctuations when aligning phase of
spindles in spindle phase synchronous control.
When this parameter is "0", since the phase alignment amount is only
issued once, the position error quickly becomes large, and there are
large speed changes on phase alignment.
It is possible to perform smooth phase alignments through issuing
separate commands for phase alignment amounts for the number of 2
msec pulses set in this parameter.

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16i 30i
Velocity loop proportional gain on servo mode/on spindle synchronous control
4044 4044
(HIGH) CTH1A=0
Velocity loop proportional gain on servo mode/on spindle synchronous control
4045 4045
(LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : Varies with the motor model.
This parameter sets a velocity loop proportional gain on servo mode
(rigid tapping/spindle positioning) or spindle synchronous control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected
LOW when CTH1A=1 of input signal.

16i 30i
Velocity integral gain on servo mode/on spindle synchronous control (HIGH)
4052 4052 CTH1A=0

Velocity integral gain on servo mode/on spindle synchronous control (LOW)

4053 4053 CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : Depend on motor model.
This parameter sets a velocity loop integral gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected
LOW when CTH1A=1 of input signal.

NOTE
For velocity loop gain setting on spindle synchronous
control and servo mode, the common parameters
are used.

16i 30i
4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor to the spindle.
When the motor rotates 2.5 times for each turn of the spindle, for
example, set 250 in the parameter.

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NOTE
1 A parameter is selected by the input signals CTH1A
and CTH2A. Ensure that the gear or clutch state
corresponds to the input signals CTH1A and
CTH2A. When the signals are not input correctly, the
overcurrent alarm (SPM alarm 12) can be issued.
2 When using a position coder, be sure to set this
parameter. If this parameter is not set correctly, the
velocity error excess alarm (SPM alarm 02), motor
binding alarm (SPM alarm 31), or gear ratio
parameter setting error alarm (SPM alarm 35) may
be detected.

16i 30i
Position gain on servo mode/on spindle synchronous control (HIGH)
4065 4065
CTH1A=0, CTH2A=0
Position gain on servo mode/on spindle synchronous control (MEDIUM HIGH)
4066 4066
CTH1A=0, CTH2A=1
Position gain on servo mode/on spindle synchronous control (MEDIUM LOW)
4067 4067
CTH1A=1, CTH2A=0
Position gain on servo mode/on spindle synchronous control (LOW)
4068 4068
CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 1000
This sets position gain on servo mode (rigid tapping/spindle
positioning). It is selected by CTH1A or CTH2A of input signal.

NOTE
For velocity loop gain setting on spindle synchronous
control and servo mode, the common parameters
are used.

16i 30i
4085 4085 Motor voltage setting on spindle synchronous control

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 60
Set a motor voltage for spindle synchronous control.
Usually, set to 60.

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16i 30i
4336 4336 Acceleration switch point on spindle synchronous control

Unit of data 1min-1

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a switching speed for acceleration on spindle
synchronous control.
• Area above the set speed
Linear acceleration/deceleration is performed according to the
acceleration value set in the acceleration parameter (No. 4032)
on spindle synchronous control.
• Area below the set speed
Acceleration changes according to the torque characteristics of
the spindle motor.

NOTE
1 Set the same data for the first spindle and second
spindle. If different data is set, synchronization
between the two spindles is not guaranteed.
2 When this parameter is set to 0, linear
acceleration/deceleration is performed.

16i 30i
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340
control

Unit of data : 1msec

Valid data range : 0 to 512
Standard setting : 0
Set a bell-shaped acceleration/deceleration time constant used when
the specified synchronous speed for spindle synchronous control is
changed.
This parameter is applied to a move command after the
acceleration/deceleration time constant at spindle synchronous control
set in parameter No. 4032 is applied. Consequently, linear
acceleration/deceleration is performed according to the time constant
set in this parameter when 0 is set in parameter No. 4032.
When this parameter is set, the spindle synchronous speed control
completion signal (FSPSY), output when the synchronous speed is
first reached after the spindle synchronous control mode is entered, is
delayed by the set time.

NOTE
Set the same data for the first spindle and second
spindle. If different data is set, synchronization
between the two spindles is not guaranteed.

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2.4.9 Number of Error Pulses in Spindle Synchronous Control

For this subsection, see Subsection 2.5.9, "Number of Error Pulses in
Spindle synchronous Control", in Part I.

2.4.10 Specifying a Shift Amount for Spindle Phase Synchronous

Control
For this subsection, see Subsection 2.5.10, "Specifying a Shift
Amount for Spindle Phase Synchronous Control", in Part I.

2.4.11 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.5.11, "Diagnosis (Diagnosis
Screen)", in Part I.

2.4.12 Alarm
For this subsection, see Subsection 2.5.12, "Alarm ", in Part I.

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2.5 SPECIFICATIONS COMMON TO ALL OPERATION MODES

2.5.1 Overview
This section describes the I/O signals (CNC ↔ PMC), parameters,
diagnosis signals, and alarms common to all operation modes.

2.5.2 List of I/O Signals (CNC ↔ PMC)

This subsection provides a list of the I/O signals related to spindle
speed control only. For details of each signal, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(d) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part I.

(1) Input signals (PMC → CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

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NOTE
*1 These signals are valid in multi-spindle control.

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A

2nd- G272 GS4B GS2B GS1B

(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
1st- G227 G070 G070 (*1)
MRDYB SFRB SRVB CTH1B CTH2B TLMHB TLMLB
2nd- G235 G074 G074 (*1)

1st- G226 G071 G071 *ESPA ARSTA

2nd- G234 G075 G075 *ESPB ARSTB

1st- G228 G073 G073 MPOFA

2nd- G236 G077 G077 MPOFB

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NOTE
*1 The signal functions of the αCi series differ from
those of the αi series. For details, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part III.

(2) Output signals (CNC → PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
1* These signals are valid with the M series only.

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
1* These signals are valid with the M series only.

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(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F045 SRSRDY

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B

1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F231 F047 F047 PC1DTA

2nd- F247 F051 F051 PC1DTB

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2.5.3 Parameters
This subsection describes those parameters that are common to all
operation modes by dividing them into several types.

NOTE
For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part III.

(1) List of parameters specific to spindle motor driving

This item provides a list of the motor parameters specific to spindle
motor driving. Usually, the settings of these parameters need not be
changed. Use the values indicated on a parameter table for each motor
model without modification.
Parameter No.
Description
15i 16i 30i
3011#3 4011#3 4011#3 Sets the number of motor polarities.
3011#4 4011#4 4011#4 Sets a maximum output for acceleration/deceleration.
3011#7 4011#7 4011#7 Sets the number of motor polarities.
3012#2,#1,#0 4012#2,#1,#0 4012#2,#1,#0 Sets a PWM carrier frequency.
3013#6 to #2 4013#6 to #2 4013#6 to #2 Sets current dead-band data.
3020 4020 4020 Maximum motor speed
3080 4080 4080 High-speed area regenerative power limit/regenerative power limit
3083 4083 4083 Motor voltage on velocity control motor
3100 4100 4100 Base speed for motor output specification
3101 4101 4101 Torque limitation value for motor output specification
3102 4102 4102 Excitation voltage saturation speed with no load
3103 4103 4103 Base speed limit ratio
3104 4104 4104 Current loop proportional gain
3105 4105 4105 Current loop integral gain
3106 4106 4106 D-axis current loop gain
3107 4107 4107 Q-axis current loop gain
3108 4108 4108 Q-axis current deviation limitation coefficient
3109 4109 4109 Filter time constant in voltage command saturation processing
3110 4110 4110 Current conversion constant
3111 4111 4111 Secondary current coefficient
3112 4112 4112 Voltage command saturation decision level/PWM command clamp value
3113 4113 4113 Slip constant
3115 4115 4115 PWM command clamp value at deceleration time
3116 4116 4116 Motor leakage constraint
Voltage compensation coefficient for a high-speed area in steady
3117 4117 4117
state/motor voltage coefficient in steady state
Voltage compensation coefficient for a high-speed area at deceleration
3118 4118 4118
time/motor voltage coefficient at deceleration time
Time constant for excitation current change at deceleration time/time
3119 4119 4119
constant for excitation current change
3120 4120 4120 Dead-band compensation data
3127 4127 4127 Load meter indication value at maximum output time
Compensation coefficient between the specification and true
3128 4128 4128
base/maximum torque curve compensation coefficient

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Parameter No.
Description
15i 16i 30i
Current loop proportional gain velocity coefficient/current phase delay
3130 4130 4130
compensation constant
3131 4131 4131 Dead-band compensation hysteresis
3133 4133 4133 Motor model code
3134 4134 4134 Motor overheat level (2 words)

(2) List of parameters related to alarm detection

This item provides a list of the parameters related to alarm detection
conditions.
Parameter No.
Description
15i 16i 30i
Motor power turn-off method when SPM alarm 24 (serial data transfer error)
3009#2 4009#2 4009#2
is issued
3086 4086 4086 Gear ratio parameter setting error alarm (SPM alarm 35) detection level
3088 4088 4088 Velocity error excess detection level when the motor is bound
3089 4089 4089 Velocity error excess detection level when the motor is rotating
3090 4090 4090 Overload detection level
3123 4123 4123 Short-time overload detection period

(3) Other parameters

This item provides a list of the parameters common to all operation
modes except the parameters listed in Items (1) and (2) above.
Parameter No.
Description
15i 16i 30i
 3706#1,#0  Gear ratio between the spindle and position coder (cases of ×1, ×2, ×4, ×8)
5602#3   Whether to indicate an alarm detected by the spindle amplifier (Usually, set 0.)
5807#0   Enables/disables the spindle alarms (SPxxxx) of all spindles. (Usually, set 0.)
5842  3720 Number of position coder pulses
5850   Spindle number selected at power-on/reset time
3001#0 4001#0 4001#0 Whether to use the MRDY signal (machine ready signal)
3002#4 4002#4 4002#4 SM pin output data selection
3005#0 4005#0 4005#0 Setting of the velocity feedback method
3006#1 4006#1 4006#1 Gear ratio increment system
3006#2 4006#2 4006#2 Sets the unit of speed.
Whether to output the load detection signal (LDT1A) during
3009#4 4009#4 4009#4
acceleration/deceleration
3019#7 4019#7 4019#7 Automatic parameter setting function
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection signal
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Sets a torque limitation value.
3026 4026 4026 Load detection level 1
3056 4056 4056 Gear ratio (High)
3057 4057 4057 Gear ratio (Medium High)
3058 4058 4058 Gear ratio (Medium Low)
3059 4059 4059 Gear ratio (Low)
3078 4078 4078 Gear switch timer
3095 4095 4095 Speedometer output voltage adjustment value
3121 4121 4121 Torque change time constant (torque command filter time constant)

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2.5.4 Details of parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, in the four thousands for 30i, and in the three
thousands for 15i) among the parameters common to all operation
modes. For details of other parameters, refer to the parameter manual
of each CNC.

(1) List of parameters specific to spindle motor driving

Usually, the settings of the motor parameters specific to spindle motor
driving need not be changed. Their details are omitted.

(2) List of parameters related to alarm detection

This item details the parameters related to alarm detection conditions.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 ALSP

ALSP Motor power turn-off method when serial data transfer error (SPM
alarm 24) is issued
0 : Turns off the power after the motor is decelerated and stopped.
1 : Turns off the power to the motor immediately.
Set this parameter to 1 to turn off the power to the motor immediately
when any spindle alarm is issued

15i 16i 30i

3086 4086 4086 Gear ratio parameter setting error alarm (SPM alarm 35) detection level

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0 (equivalent to 500 min-1)
This parameter sets the detection level of the gear ratio parameter
setting error alarm (SPM alarm 35).
When the difference between the motor speed calculated from the
position coder feedback and gear ratio parameters (No. 4056 to No.
4059) and the estimated motor speed calculated with control software
becomes equal to or greater than the setting, the gear ratio parameter
setting error alarm (SPM alarm 35) is issued.
When the standard setting (0) is used, the setting of 500 min-1 is
assumed.

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15i 16i 30i

3088 4088 4088 Velocity error excess detection level when the motor is bound

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a velocity error excess (SPM alarm 31) detection
level when the motor is bound.
If a velocity error equal to or greater than [maximum motor speed (No.
4020) × setting data (%)] occurs when the motor is bound, for example,
the motor binding alarm (SPM alarm 31) is issued.

15i 16i 30i

3089 4089 4089 Velocity error excess detection level when the motor is rotating

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 200
This parameter sets a velocity error excess detection level when the
motor is rotating.
If a velocity error equal to or greater than [maximum motor speed (No.
4020) × setting data (%)] occurs, the velocity error excess alarm (SPM
alarm 02) is issued.

15i 16i 30i

3090 4090 4090 Overload detection level

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 90
This parameter sets a condition for detecting the short-time overload
alarm (spindle alarm 29).
If the state where a load equal to or greater than setting data (%)
(maximum motor output = 100%) is imposed on the spindle motor
lasts for a specified period (set in No. 4123) or more, the short-time
overload alarm (SPM alarm 29) is issued.

15i 16i 30i

3123 4123 4123 Short-time overload detection period

Unit of data : 1sec

Valid data range : 0 to 500
Standard setting value : 30
This parameter sets the timing for detecting the short-time overload
alarm (SPM alarm 29).
If the state where a load equal to or greater than the value (set in No.
4090) is imposed on the spindle motor lasts for a specified period
(sec) or more, the short-time overload alarm (SPM alarm 29) is issued.

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(3) Other parameters

This item details the parameters common to all operation modes
except the parameters listed in Items (1) and (2) above.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 4001 MRDY1

MRDY1 Whether to use the MRDYA signal (machine ready signal)

0 : Does not uses the MRDYA signal (MRDYA = 1 at all times).
1 : Uses the MRDYA signal.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 SMORLM

SMORLM SM pin output data selection

0 : Speedometer data
1 : Load meter data

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 VCTLPC

VCTLPC Sets the velocity feedback method.

0 : Exercises velocity control with an estimated velocity only.
1 : Uses a velocity calculated from the position coder signal to
exercise velocity control.
The feedback signal from a position coder attached to a spindle on a
1:1 basis is converted to motor speed data for velocity control. Set this
bit to 1 when performing orientation, rigid tapping, or spindle
synchronous control.
By setting this bit to 1 even in ordinary velocity control, the response
characteristics and stability of velocity control can be improved.

NOTE
1 The feature may not be fully utilized, depending on
the connection ratio between the spindle and spindle
motor or between the spindle and position coder, the
rigidity of the connection, the precision of position
coder attachment, and so forth.
2 When this bit is set to 1 with a spindle that has a
gear switch mechanism, the torque limitation
command signal (TLMLA) must be input at the start
of gear switching. For details, see Chapter 3, "I/O
SIGNALS (CNC ↔ PMC)", in Part III.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 SPDUNT GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor speed increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor speed increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.

Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

NOTE
Usually, use the 1/100 unit (setting "0").

SPDUNT Sets the unit of speed.

Set to 0.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 LDTOUT

LDTOUT Whether to output the load detection signal (LDT1A) during

acceleration/deceleration
0 : Does not output the load detection signals during acceleration/
deceleration (standard setting value).
1 : Outputs the load detection signals during acceleration/
deceleration (at all times) when the parameter-set level is
exceeded.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3019 4019 4019 PRLOAD SSTTRQ

SSTTRQ Whether to perform torque clamping when the speed is zero

0 : Performs clamping.
1 : Does not perform clamping.

NOTE
Usually, set this parameter to 1 not to perform
clamping.

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PRLOAD Automatic parameter setting function

0 : Does not perform automatic parameter setting (standard setting
value).
1 : Performs automatic parameter setting.
After setting a desired motor model code in parameter No. 4133 and
setting this bit to 1, turn off the power to the CNC, then turn on the
power to the CNC again. The parameters (No. 4000 to No. 4175) for
the αCi series spindle corresponding to the model code are
automatically initialized. Upon completion of automatic setting, this
bit is automatically set to 0.

NOTE
With FS15i, the parameter address of this function is
different, namely, bit 0 of No. 5607 is used.
Moreover, note that the meanings of settings are
reversed as follows.
0: Performs automatic parameter setting.
1: Does not perform automatic parameter setting.
In this case, set a model code in parameter No.
3133.

15i 16i 30i

3020 4020 4020 Maximum motor speed

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.

15i 16i 30i

3022 4022 4022 Speed arrival detection signal

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 150
This parameter sets a speed arrival signal (SARA) detection range.
When the motor speed (estimated value) reaches within ±(setting
data/10)% of a specified speed, the speed arrival signal (SARA) is set
to 1.

15i 16i 30i

3023 4023 4023 Speed detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 30
This parameter sets a speed detection signal (SDTA) detection range.
When the motor speed (estimated value) is (setting data/10)% of a
maximum speed or less, the speed detection signal (SDTA) is set to 1.

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15i 16i 30i

3024 4024 4024 Speed zero detection level

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a speed zero detection signal (SSTA) detection
range.
When the motor speed (estimated value) is (setting data/100)% of a
maximum speed or less, the speed zero detection signal (SSTA) is set
to 1.

15i 16i 30i

3025 4025 4025 Sets a torque limitation value.

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the
torque limitation command HIGH (TLMHA) is specified.
The data indicates limitation values when the maximum torque is
100%.

Torque limitation command

Description
HIGH (TLMHA)
0 No torque limitation is imposed.
The torque is limited to the value set in this
1
parameter.

15i 16i 30i

3026 4026 4026 Load detection level 1

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection
range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 1 (LDT1A) is set to 1.

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15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting value : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.

NOTE
1 A parameter is selected by the input signals CTH1A
and CTH2A. Ensure that the gear or clutch state
corresponds to the input signals CTH1A and
CTH2A. When the signals are not input correctly, the
overcurrent alarm (SPM alarm 12) can be issued.
2 When using a position coder, be sure to set this
parameter. If this parameter is not set correctly, the
velocity error excess alarm (SPM alarm 02), motor
binding alarm (SPM alarm 31), or gear ratio
parameter setting error alarm (SPM alarm 35) may
be detected.
3 When an improper value is set in this parameter, an
unexpected operation can occur. For example, the
spindle can continue rotating without stopping at the
time of orientation. So, be sure to set a proper gear
ratio.

15i 16i 30i

3078 4078 4078 Gear switch timer

Unit of data : 1sec

Valid data range : 0 to 500
Standard setting value : 0
For a spindle that has a gear switch mechanism, this parameter sets a
period of time from the start of a gear switch sequence (input of the
TLML signal) until the gear shifter is actually started. For details, see
Chapter 3, "I/O SIGNALS (CNC ↔ PMC)", in Part III.
For a spindle that has no gear switch mechanism, set this parameter to
0.

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15i 16i 30i

3095 4095 4095 Speedometer output voltage adjustment value

Unit of data : 0.1%

Valid data range : -1000 to +100(-100% to +10%)
Standard setting value : 0
Set this parameter when making a fine adjustment of speedometer
terminal output voltage.
Positive (+) data increases the output voltage.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3121 4121 4121 Torque command filter time constant

Unit of data : 0.5msec

Valid data range : 0 to 32767
Standard setting value : 5
Basically, use the standard setting value 5 (time constant of 2.5 ms).

2.5.5 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.6.5, "Diagnosis (Diagnosis
Screen)", in Part I.

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3.I/O SIGNALS (CNC ↔ PMC) FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

3 I/O SIGNALS (CNC ↔ PMC)

This chapter explains the functions of the signals directly input from
the PMC to SPM via the CNC and the signals directly output from the
SPM to PMC. For other spindle-related I/O signals, refer to the
Connection Manual (Function) of the relevant CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 3.I/O SIGNALS (CNC ↔ PMC)

3.1 INPUT SIGNALS (PMC→CNC→SPM)

This section explains the functions of the signals directly input from
the PMC to SPM via the CNC. For other spindle-related input
signals, refer to the Connection Manual (Function) of the relevant
CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Chapter 11 “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”

3.1.1 List of Input Signals

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 INTGA *ESPA ARSTA

2nd- G234 G075 G075 INTGB *ESPB ARSTB

1st- G229 G072 G072 INCMDA OVRA NRROA ROTAA INDXA

2nd- G237 G076 G076 INCMDB OVRB NRROB ROTAB INDXB

1st- G228 G073 G073 MPOFA

2nd- G236 G077 G077 MPOFB

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3.1.2 Explanation of Input Signals

For information about the signals listed in Subsection 3.1.1, "List of
Input Signals", in Part III, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.
Those signals that are not listed in Subsection 3.1.1, "List of Input
Signals", in Part III are not used with the αCi series spindle.
This subsection describes only those signals that have different
specifications for use with the αCi spindle.

Symbol Name Description

TLMLA, Torque limitation Switches to a speed control method that uses speed estimation during gear switching.
TLMLB command LOW 0: -
1: Performs speed control using only speed estimation. (However, there is the delay
set by the gear switching timer [No.4078].)

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 3.I/O SIGNALS (CNC ↔ PMC)

3.1.3 Details of Input Signals

For information about the signals listed in Subsection 3.1.1, "List of
Input Signals", in Part III, see Subsection 3.1.3, "Details of input
signals", in Part I.
Those signals that are not listed in Subsection 3.1.1, "List of Input
Signals", in Part III are not used with the αCi series spindle.
This subsection describes only those signals that have different
specifications for use with the αCi spindle.

(a) Torque limitation command signals (TLMLA)

If gear switching is performed with the setting (No.4005#0="1") that
uses motor speed calculated from the position coder signal to perform
speed control, the state of machine gear may not match the state of the
gear ratio parameter. This can cause an alarm to occur due to speed
control using incorrect speed data. Therefore, switch to a control
method that uses the speed estimation during gear switching by
inputting the torque limitation command signal (TLMLA) upon start
of gear switching so that gear switching is performed smoothly. In
addition, set the time from when a gear switching sequence starts to
when the gear shifter actually operates for parameter No.4078 (gear
switching timer). (See below.)

Gear switching timer operating

Torque limitation command signals
(TLMLA)

Control by the motor speed

calculated from the position Control by speed Control by the motor speed
coder signal estimation calculated from the position
coder signal

(Example of a recommended sequence)

Torque limitation 1
command (TLMLA)
0
Software internal timer

Gear shifter LOW

HIGH
LOW
Gear state
HIGH
Clutch/gear signals 1
(CTH1A,CTH2A) 0

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3.I/O SIGNALS (CNC ↔ PMC) FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

3.2 OUTPUT SIGNALS (SPM→CNC→PMC)

This section explains the functions of the signals directly output from
the SPM to PMC via the CNC. For other spindle-related output signals,
refer to the Connection Manual (Function) of the relevant CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”

3.2.1 List of Output Signals

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA TLMA LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 ORARB TLMB LDT1B SARB SDTB SSTB ALMB

1st- F231 F047 F047 INCSTA PC1DTA

2nd- F247 F051 F051 INCSTB PC1DTB

3.2.2 Explanation of Output Signals

For information about the signals listed in Subsection 3.2.1, "List of
Output Signals", in Part III, see Subsection 3.2.2, "Explanation of
Output Signals", in Part I.
Those signals that are not listed in Subsection 3.2.1, "List of Output
Signals", in Part II are not used with the αCi series spindle.

3.2.3 Details of Output Signals

For information about the signals listed in Subsection 3.2.1, "List of
Output Signals", in Part III, see Subsection 3.2.3, "Details of Output
Signals", in Part I.
Those signals that are not listed in Subsection 3.2.1, "List of Output
Signals", in Part II are not used with the αCi series spindle.

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4 ADJUSTMENT

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

4.1 VELOCITY LOOP GAIN ADJUSTMENT

4.1.1 Overview
Optimum adjustment of the velocity loop gain increases the position
loop gain, therefore significantly enhancing disturbance suppression
performance, positioning speed and accuracy. So, the adjustment of
the velocity loop gain is very important in servo adjustments, and it
should be performed first. This section explains the parameters for
velocity loop gain adjustment and the adjustment procedure.
To check the waveform of a torque command, position error, or so on,
use the spindle check board and an oscilloscope, or the servo guide
(see Appendix F).

4.1.2 Parameters
There are four operation modes in spindle control: velocity control
mode, orientation, servo mode (rigid tapping and spindle positioning),
and spindle synchronous control. There are parameters corresponding
to each operation mode and to the clutch/gear signals (CTH1A and
CTH2A). The following shows the parameters for each operation
mode.

(1) Velocity control mode

15i 16i 30i
3040 4040 4040 Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0
3041 4041 4041 Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

15i 16i 30i

3047 4047 4047 Velocity loop integral gain on velocity control mode (HIGH) CTH1A=0
3048 4048 4048 Velocity loop integral gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 4.ADJUSTMENT

(2) Orientation
15i 16i 30i
3042 4042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

15i 16i 30i

3050 4050 4050 Velocity loop integral gain on normal mode (HIGH) CTH1A=0
3051 4051 4051 Velocity loop integral gain on normal mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

(3) Servo mode (Rigid tapping and spindle positioning)

15i 16i 30i
3044 4044 4044 Velocity loop proportional gain on servo mode (HIGH) CTH1A=0
3045 4045 4045 Velocity loop proportional gain on servo mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

15i 16i 30i

3052 4052 4052 Velocity loop integral gain on servo mode (HIGH) CTH1A=0
3053 4053 4053 Velocity loop integral gain on servo mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

(4) Spindle synchronous control

15i 16i 30i
- 4044 4044 Velocity loop proportional gain on spindle synchronous control (HIGH)CTH1A=0
- 4045 4045 Velocity loop proportional gain on spindle synchronous control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

15i 16i 30i

- 4052 4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
- 4053 4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

NOTE
For the velocity loop gain on spindle synchronous
control and on the servo mode, common parameters
are used.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αCi series 4.ADJUSTMENT

4.1.3 Adjustment Procedure

(1) Start of each operation mode

In preparation for the adjustment, settings must be made so that a
stable operation takes place in each mode without overshoot or
oscillation.
See Chapter 2, "EXPLANATION OF OPERATION MODES",
temporarily set parameters (acceleration/deceleration time constant,
position gain, and so on) to make operations stable in each operation
mode, and confirm operations.

NOTE
When the rigidity of the spindle is low, the standard
setting of the velocity loop gain may be so high that
oscillation can occur. In such a case, decrease the
velocity loop gain.

(2) Adjustment
When adjusting the velocity loop gain, check the operation mode and
clutch/gear signal, and modify corresponding parameters. Follow the
steps below to adjust the parameters:

<1> Determining the oscillation limit

Basically, determine the oscillation limit based on torque
commands, position errors, vibration, sound, and so on when the
motor is stopped (for orientation, after completion of the
operation) or when the motor rotates at a certain speed not higher
than the base speed. Usually, increase the settings of the
proportional gain and integral gain in steps of about 10. As the
settings are increased gradually, the symptoms below start to
appear at a certain setting level. The settings at this level are
determined to be the oscillation limit:
• The machine vibrates or produces large sound.
• Vibration of a torque command becomes large.
• Position errors at stop time vary largely.

NOTE
The oscillation limit varies with the spindle inertia. In
a machine in which the inertia varies largely
according to the tool and workpiece used,
adjustment must be made in the smallest inertia
state.

<2> Final settings

Set proportional gain of approximately 70% of the oscillation
limit. Make an adjustment to set an integral gain that is about
four to ten times greater than the proportional gain.

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4.ADJUSTMENT FANUC AC SPINDLE MOTOR αCi series B-65280EN/05

4.1.4 Additional Information (Position Gain Adjustment)

Although the limit value of the position gain is determined basically

depending on the velocity loop characteristics, the setting standards
may vary depending on the operation mode. See Chapter 2,
"EXPLANATION OF OPERATION MODES", and make
adjustments accordingly.

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IV. FANUC BUILT-IN SPINDLE MOTOR Bis
series
B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 1.START-UP

1 START-UP

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1.START-UP FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

1.1 START-UP PROCEDURE

A. Check the spindle-related specifications.

- CNC model
- Spindle motor
- Power supply module
- Spindle amplifier module
- Sub module SM (SSM)
- Detector system

B. Check all connections. (See DESCRIPTIONS.)

C. Prepare and check the PMC ladder program.

D. Check the CNC parameter setting for using the Bis series
(Serial) spindle. (See Subsection 1.2.1.)

E. Perform automatic Bis series (Serial) spindle parameter

initialization. (See Subsection 1.2.2.)
- Set a motor model code “300” and the parameter enabling H. When using a machine in a system
use of the automatic parameter initialization function, then that has already been started, load all
turn the CNC off and then on again. CNC parameters for the machine.

F. Change parameter data.

- Perform automatic initialization by specifying “300”, then
change the parameter data according to the parameter list
for the motor.

G. Set the parameters related to the detectors. (See Section 1.3.)

I. Check the waveforms of the feedback signals from detectors.

(Refer to the MAINTENANCE MANUAL.)

J. When using the sub module SM (SSM), set and check the
related parameters. (See Section 1.4.)

K. Set and check the parameters related to magnetic pole

detection and set an AMR offset. (See Section 1.5.)

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 1.START-UP

1.2 SPINDLE SERIAL INTERFACE Optional function

1.2.1 Parameters Related to Spindle Serial Output

For this subsection, see Subsection 1.2.1, "Parameters Related to
Spindle Serial Output", in Part I.

1.2.2 Automatic Spindle Parameter Initialization

(1) Parameter list

Parameter No.
15i 16i 30i Description
5607#0 4019#7 4019#7 Function for automatically initializing spindle parameters
3133 4133 4133 Spindle motor model code

(2) Procedure for automatic spindle parameter initialization

Perform spindle parameter initialization by following the procedure
below.
<1> Set model code "300".
Parameter No.
15i 16i 30i Description
3133 4133 4133 Model code

<2> Set the relevant parameter to enable automatic spindle parameter

initialization.
Parameter No.
15i 16i 30i Description
 4019#7 4019#7 1
5607#0   0

NOTE
This bit is reset to its original value after
automatic parameter initialization.
<3> Turn off then turn on again the power to the CNC. The spindle
parameter data common to each model is automatically
initialized.
<4> Input parameters manually according to the model-by-model
parameter list.
<5> Set detector-related parameters according to the detector
configuration.

1.2.3 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 1.2.3, "Diagnosis (Diagnosis
Screen)", in Part I.

1.2.4 Alarm
For this subsection, see Subsection 1.2.4, "Alarm", in Part I.
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1.START-UP FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

1.3 PARAMETERS RELATED TO DETECTORS

NOTE
1 Note that the specifications of parameters related
to detectors for the αi series spindle amplifiers
differ from those of parameters for the α series
spindle amplifiers.
2 The sensor used with the Bis series spindle is a
BZi sensor or CZi sensor.

1.3.1 List of Parameters for Detectors

For this subsection, see Subsection 1.3.1, "List of Parameters for
Detectors", in Part I.

1.3.2 Details of Parameters for Detectors

For this subsection, see Subsection 1.3.2, "Details of Parameters for
Detector", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 1.START-UP

1.3.3 Typical Detector Configurations

This subsection describes the detector configuration of the Bis series
spindle and the parameter setting procedure applicable to the detector
configuration.
With the Bis series spindle, the detector circuitry hardware is set
according to the parameter setting. For this reason, an alarm such as a
disconnection alarm may be output while parameters related to
detectors are being set.
To initialize the hardware, after setting the parameters related to
detectors, turn the power to the amplifier off once.

(1) When the BZi or CZi sensor is used

[Sample system configuration]
BZi sensor or CZi sensor

Spindle +
built-in motor

Parameter Settings Description

4000 #0 0 Rotation directions of the spindle and motor
4002 #3,#2,#1,#0 0,0,0,1 Uses the motor sensor for position feedback.
4010 #2,#1,#0 0,0,1 Uses the BZi or CZi sensor as the motor sensor.
Depends on
4011 #2,#1,#0 Sets the number of motor sensor gear teeth.
the detector.
Gear ratio between the spindle and motor
4056 to 4059 100 or 1000
1:1

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1.START-UP FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

1.4 SUB MODULE SM

1.4.1 Overview
The sub module SM (SSM) protects the amplifier and motor against
an overvoltage caused by the motor counter electromotive voltage of
the Bis series spindle (synchronous built-in spindle motor), for
example, when a spindle alarm is issued.
Depending on the motor model and maximum speed used, the sub
module SM must always be connected.

CAUTION
This section provides information important to safe
use of the Bis series spindle (synchronous built-in
spindle motor). Be sure to read this section even
when the sub module SM (SSM) is not used.

1.4.2 Series and Editions of Applicable Spindle Software

Series 9D53/B(02) and subsequent editions
Series 9D70/A(01) and subsequent editions

1.4.3 Configuration
The configuration for using the sub module SM is shown below.

For the specifications of the sub module SM and connection details,

refer to "FANUC SERVO AMPLIFIER αi series DESCRIPTIONS
(B-65282EN)".

Speed feedback
SPM JYA2 BZi / CZi Bis series Spindle
TYPE B sonsor spindle motor
JYA4 CX31

TB2
or
CZ2
Power line terminal
SSM (sub module SM)

NOTE
When the sub module SM is used, an SPM of
TYPE B must be used.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 1.START-UP

1.4.4 Related Parameters

CAUTION
This subsection describes the parameters related
to the sub module SM (SSM). If the SSM is not
used (or the SSM cannot be used), the maximum
motor speed (parameter No. 4020) needs to be
limited.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3008 4008 4008 SSMUSE

SSMUSE This parameter sets whether to use the sub module SM (SSM).
0 : Does not use the sub module SM.
1 : Uses the sub module SM. (Set this bit to 1.)
If the SSM is not used, set this bit to 0. In this case, the maximum
motor speed (parameter No. 4020) needs to be limited.

15i 16i 30i

3020 4020 4020 Maximum motor speed

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.
If the SSM is not used, the maximum motor speed needs to be limited
so that the counter electromotive voltage at a speed where the
excessive speed alarm (SPM alarm 07) is detected is lower than the
allowable voltage level of the SPM.
The standard setting (maximum value) of an excessive speed alarm
detection level is 115%, so that the maximum motor speed must
satisfy the following expression:

(Maximum motor speed)×1.15×Ke/1000 ≤ (Allowable voltage level)

Allowable voltage level :

636Vrms (SPM for 400 V system)
318Vrms (SPM for 200 V system)
Counter electromotive voltage coefficient :
Ke [Vrms/1000min-1] (between lines)

Example)
When a synchronous built-in spindle motor with the counter
electromotive voltage Ke = 180 [Vrms/1000 min-1] (between lines)
is driven by an SPM of 400 V system, the following maximum
value can be set as the maximum motor speed (parameter No.
4020):

(Maximum value of No. 4020) = 636 / 180 × 1000 / 1.15

= 3072 [min-1]

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1.START-UP FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

1.4.5 Stop Processing When a Sub Module SM Error Occurs

CAUTION
This subsection describes stop processing to be
performed when a sub module SM (SSM) error
occurs. When an SSM error occurs, the protection
function is lost. So, when a spindle alarm is issued,
the SSM cannot operate normally, resulting in a
dangerous situation. Ensure that when an SSM
error occurs, the motor is stopped according to the
descriptions of this subsection.

(a) Output signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F230 F048 F048 SSMBRKA
2nd- F246 F052 F052 SSMBRKB

Symbol Name Description

Output when a sub module SM (SSM) error is detected.
SSMBRKA, Sub module SM (SSM)
0: Normal state
SSMBRKB error state signal
1: The sub module SM (SSM) is abnormal.

(b) Stop processing

When an SSM error is detected, the SSM error signal SSMBRK is set
to 1, and the SPM has state error 36 turned on. At this time, the PMC
needs to decelerate the motor to a stop safely according to the
procedure below.
(1) First, the spindle where an SSM error occurred should be
mechanically disconnected from other axes. This processing is
needed to eliminate a mechanical shock that can occur when the
spindle motor is decelerated.
(2) Next, the PMC decelerates the spindle to a stop.
(3) When the motor is decelerated and the speed zero state (SST = 1)
is detected, SPM alarm 89 is issued.

(Timing chart)

SSMBRK

(1) Disconnection processing

Motor speed (2) Deceleration is started by the PMC.

(3) Alarm 89 after the motor stops

Alarm 89

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1.4.6 Alarm and Status Error

With the sub module SM (SSM), the following alarm and error can
arise:
(1) When the SPM detects an SSM error, or an SSM error is detected
in a self test with the MCC turned on, SPM alarm 89 is issued.
(2) When a disconnection of the interface signal between the SPM
and SSM is detected in the state where the motor is driven, state
error 36 is issued (SPM alarm 89 is issued after a stop). For PMC
processing at this time, see Subsection 1.4.5, "Stop Processing
When a Sub Module SM Error Occurs", in Part IV.

(a) Spindle alarm

Alarm No. LED display
Description Measure
15i 16i 30i SPM
The SSM is abnormal.
Alarm 89 cannot be reset.
(1) The SPM cannot
After turning off the power, check the
match the SSM.
connection of an SSM, the connection
(2) No SSM is installed or
between the SSM and SPM, and so
SP0089 9089 SP9089 89 connected.
forth.
(3) The interface signal
If the SSM is faulty, replace the SSM.
between the SPM and
When an SSM is used, an SPM of
SSM is disconnected.
TYPE B needs to be used.
(4) The SSM is faulty.

(b) Status error

Status error No. Description Measure
The SSM is abnormal.
For PMC processing to be performed when error 36 is
(1) The interface signal between the
36 issued, see Subsection 1.4.5, "Stop Processing When a
SPM and SSM is disconnected.
Sub Module SM Error Occurs", in Part IV.
(2) The SSM is faulty.

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1.4.7 Caution

CAUTION
This subsection provides notes on using the Bis
series spindle safely. Carefully follow the notes
described in this subsection when using the Bis
series spindle.

(1) When the sub module SM (SSM) is not used

(1) When the SSM is not used, the maximum motor speed
(parameter No. 4020) needs to be limited. If this requirement is
ignored, the SPM can be damaged. For details, see Subsection
1.4.4, "Related Parameters", in Part IV.

(2) When the sub module SM (SSM) is used

(1) To check that the SSM operates normally, conduct an SSM self
test at least once a day. An SSM self test is conducted on the
rising edge of the emergency stop signal *ESP. The execution
period of a self test (equivalent to "t" in the figure below) is
about 250 msec.
*ESP (emergency stop)

SSM self test

MCC t

MCC: The MCC is connected between the power supply and PSM, and the MCC
switch signal line is connected to the CX3 of the PSM. The MCC is turned
on/off by the emergency stop signal *ESP (G071#1).

(2) By conducting the test described below at least once after SSM
installation, check that the SSM self test function operates
normally. If this test is not conducted, the function for protecting
the SSM amplifier and motor can be lost, resulting in damage to
the amplifier or motor, for example, when a power failure occurs.
Step 1. Turn off the power to the machine.
Step 2. To prevent the power to the motor from being turned on
during testing, detach the CX3 connector on the PSM
connected to the SSM and also detach the CX31 connector
on the sub module SM.
Step 3. Turn on the power to the machine.
Step 4. After the CNC starts up and the indication of "-" on the
SPM is turned on, set the emergency stop signal (*ESP) to
1.
Step 5. The self test function is operating normally if SPM alarm
89 is issued at emergency stop cancellation time. If the
alarm is not issued, the cable, parameter, or SPM is
abnormal.
Step 6. Turn off the power to the machine. Be sure to reinstall the
CX3 and CX31 connectors.

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(3) If a spindle alarm is issued and the SPM detects the input of the
motor power turn-off signal (MPOF), the SSM is activated and
the motor is decelerated to a stop. This deceleration, however, is
different from ordinary deceleration because the SSM is
operating. If the SSM is faulty at this time, the SPM can be
damaged.
(4) If the SSM is activated, the SPM ignores an attempt to reset the
alarm for 120 seconds after the activation. For resetting of the
alarm, the speed zero state (SST = 1) needs to be set.
(5) An attempt to reset the alarm is ignored for 120 seconds after the
SSM is activated.
When 120 seconds has elapsed after the SSM is activated, reset
the alarm. If the alarm is reset in the state where a command is
input, the motor can abruptly start rotation. So, specify such a
sequence that all commands are cleared when an alarm is issued
or MPOF is input, and the cleared commands are specified again
upon completion of alarm resetting.
(6) If the motor power turn-off signal MPOF is input, the SSM is
activated. So, a deceleration to a stop (different from ordinary
deceleration) occurs instead of a free-run stop.
(7) When the motor power turn-off signal MPOF is input if the SSM
has been damaged, the SPM can be damaged. So, ensure that
MPOF is not input in a high-speed area where the SSM is
needed.
(8) Do not insert a switch element such as an electromagnetic
contactor in the power line between the SPM and synchronous
built-in spindle motor. If the power line is broken during rotation,
the amplifier or motor can be damaged.

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1.5 MAGNETIC POLE DETECTION

1.5.1 Overview
To control the synchronous built-in spindle motor, information about
the magnetic pole position (phase) of the rotor is needed. Operation
for detecting the magnetic pole position (phase) of the rotor is referred
to as magnetic pole detection. Immediately after the power is turned
on or if magnetic pole position information is lost for a cause such as
an alarm, magnetic pole detection needs to be performed before the
motor can be driven.
Two magnetic pole detection modes are available:
• Automatic mode (usable with 9D53/C edition or later and
9D70/B edition or later)
• Direct current activation mode

By setting the phase difference between the magnetic pole position

(phase) of the rotor and the one-rotation signal generation position
beforehand in a parameter, control can be exercised using a
parameter-set offset value and one-rotation signal position as
reference data after one-rotation signal detection (AMR offset
function).

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1.5.2 Magnetic Pole Detection Operation

(1) Automatic mode (usable with 9D53/C edition or later and 9D70/B edition or
later)
In the automatic mode, a current is flown occasionally to make very
small vibrations (at a machine angle of 5 deg or less, about 4 Hz) for
magnetic pole detection when the motor is not locked.

Example of magnetic pole detection: Automatic mode

Parameters No. 4083=5030, No. 4398#2(SELMET)=1, No. 4449=0, No. 4450=0

IINORM

Motor speed

Magnetic pole detection activation Normal end of magnetic pole detection

In the automatic mode, magnetic pole position detection is possible

even when the motor is locked. When the motor is locked, however,
the precision of detection may be degraded if the following conditions
are not satisfied:
• The electric saliency of the motor is sufficiently large.
(Lq-Ld>1mH)
• At about 70% of the maximum current, a magnetic saturation of
5% or more is generated (the torque constant decreases by 5% or
more.)

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(2) Direct current activation mode

In the direct current activation mode, magnetic pole detection is
performed while the motor is vibrating to a large extent.
When the motor is locked, magnetic pole detection is disabled.
Operation in the direct current activation mode is as follows:
<1> Perform direct current activation at a phase of the electric angle 0
deg.
<2> Check that the motor is stopped. The motor is assumed to be
stopped when a stop confirmation time (specified using the lower
two digits of parameter No. 4083) has elapsed after the motor
speed becomes 5 min-1 or below.
<3> After checking that the motor is stopped, perform direct current
activation at a phase of the electric angle 90 deg.
<4> Check that the motor is stopped.
<5> After checking that the motor is stopped, the SPM alarm 65 is
issued if the phase difference of the rotor between the cases
where direct current activation is performed at the electric angle
0 deg and at the electric angle 90 deg is not within the range 80
to 100 deg.
The maximum travel distance from the start to end of magnetic pole
detection is the electric angle 270 deg.
Example of magnetic pole detection: Direct current activation mode
Parameter No. 4083=5030

Magnetic pole detection IINORM Normal end of magnetic

activation pole detection

Motor speed

Example of magnetic pole detection: Direct current activation mode Example of magnetic pole detection: Direct current activation mode
Parameter No. 4083=5030 Parameter No. 4083=5030

Stop confirmation Stop confirmation time

time 3sec
3sec

Enlarged view Enlarged view

(activation with the magnetic pole at 0-deg position) (activation with the magnetic pole at 90-deg position)

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1.5.3 AMR Offset Function

The AMR offset function is used to reduce magnetic pole detection
position variation. When the motor rotates after magnetic pole
detection and a one-rotation signal is first detected, the magnetic pole
position (reference magnetic pole detection position) corresponding to
the one-rotation signal position is converted to an AMR offset
parameter value.
It is recommended to use the AMR offset function according to this
subsection.
The AMR offset function is functionally equivalent to the AMR offset
function of the servo software.

NOTE
This function can be used with 9D53 series C (03)
edition or later and 9D70 series B (02) edition or
later.

(1) AMR offset function operation

When bit 6 (NEGREF) of parameter No. 4008 is set to 0, the AMR
offset function operates as described below.
M agnetic pole position

(1)

(2) (A)

Tim e
O ne-rotation
M agnetic pole detection com pleted
signal detected

Thin solid line (1) : Indicates the m ovem ent of the m agnetic pole position after
com pletion of the first m agnetic pole detection.
Thin dashed line (2) : Indicates the m ovem ent of the m agnetic pole position after
com pletion of a second m agnetic pole detection
H eavy solid line (3) : Indicates the m ovem ent of the m agnetic pole position after AM R
offsetting is perform ed.

<1> Turn on the power then perform and complete magnetic pole
detection.
<2> A rotation command rotates the motor. At this time, the magnetic
pole position is counted according to the operation of the motor
sensor. The reference magnetic pole position at this time is the
position where the magnetic pole is detected.
<3> When the motor rotates and the SPM detects a one-rotation
signal from the motor sensor, the SPM calculates the magnetic
pole position corresponding to the one-rotation signal position.
This calculated value can be checked(*) on the diagnosis screen or
spindle check board as a candidate value to be set as an AMR
offset value (this value is preserved until the magnetic pole
position is forgotten). This processing is performed only once if a
one-rotation signal is first detected after magnetic pole detection.

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(*) AMR offset candidate value check

• On the diagnosis screen (9D53/F (06) edition or later,
9D70/E (05) edition or later):
Set parameter No. 4532 to 2. An AMR offset candidate
value is displayed in No. 720 (first spindle) on the
diagnosis screen. For details, see Item (2) in
Subsection 1.5.5.
• On the spindle check board:
Make a setting for display. (d-01=977, d-02=0, d03=0,
d-04=0)

<4> At this time, one of the following processing options is selected

according to the setting of AMR offset parameter No. 4084:
• When No. 4084 = 0
The SPM executes processing <3> only and continues
magnetic pole position count operation.
• When No. 4084 ≠ 0
After performing processing <3>, the SPM calculates the
difference between the setting of AMR offset parameter No.
4084 and the magnetic pole position corresponding to the
one-rotation signal position counted relative to the magnetic
pole detection position. The SPM then adds the calculated
value ((A) in the figure above) to the current magnetic pole
position. As the result, the movement of the magnetic pole
position of the motor changes from the thin dashed line (2)
to the heavy solid line (3) then becomes the same as the thin
solid line (1).

(2) Setting of the AMR offset parameters

Set the parameters according to the procedure below.
<1> Set bit 6 (NEGREF) of parameter No. 4008 to 0 and set
parameter No. 4084 (AMR offset) to 0.
<2> After magnetic pole detection, rotate the motor at about 100
min-1 to check an AMR offset candidate value. When a
one-rotation signal is detected, the data changes from 0 to the
magnetic pole position corresponding to the one-rotation signal
position.
<3> Perform <2> above several times to find an average AMR offset
candidate value.
<4> To protect against an operation error due to an incorrect setting,
set and check the average value found in <3> in parameter No.
4084 after turning off the activation.
<5> Turn off the power.

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1.5.4 I/O Signals (CNC ↔ PMC)

(1) Address list of Input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA SFRA SRVA
2nd- G235 G074 G074 MRDYB SFRB SRVB

1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB

1st- G228 G073 G073 EPFSTRA MPOFA

2nd- G236 G077 G077 EPFSTRB MPOFB

(2) Details of input signals (PMC → CNC)

(a) Machine ready signal (MRDYA)
This signal needs to be set to 1 before magnetic pole detection is
started by SFR/SRV or EPFSTR.

(b) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
When bit 7 (EPFSIG) of parameter No. 4007 is set to 0, one of these
signals starts magnetic pole detection operation. Input one of the
signals. At this time, the command is ignored while the magnetic pole
detection state signal EPFIX = 0 (magnetic pole not detected).
However, as soon as EPFIX is set to 1 (magnetic pole detection
completed), the command is accepted to start rotation.
When bit 7 (EPFSIG) of parameter No. 4007 is set to 1, EPFSTR
functions as a start signal. Before starting magnetic pole detection
operation (EPFSTR = 1), input one of the SFR and SRV signals. Until
completion of magnetic pole detection, this signal functions as an
activation-on signal not specifying any rotation direction.

(c) Emergency stop signal (*ESPA)

This signal needs to be set to 1 before magnetic pole detection is
started by SFR/SRV or EPFSTR.

(d) Magnetic pole detection operation start signal (EPFSTRA)

This signal is a signal for starting magnetic pole detection operation.
This signal is valid when bit 7 (EPFSIG) of parameter No. 4007 is set
to 1. To make the operator concerned with magnetic pole detection
operation, this signal can be used together with EPFIX (magnetic pole
detection state signal).
While this signal is input, the spindle software ignores a command and
displays error 30 (on the SPM). So, this signal needs to be turned off
when EPFIX is set to 1.
This signal is invalid when SFR or SRV is used as a start signal. In
this case, do not input this signal.

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(e) Motor power turn-off signal (MPOFA)

Do not input this signal at magnetic pole detection time. Otherwise,
the motor is not activated and magnetic pole detection is disabled.

(3) Address list of output signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F230 F048 F048 EPFIXA
2nd- F246 F052 F052 EPFIXB

(4) Details of output signals (CNC → PMC)

(a) Magnetic pole detection state signal (EPFIXA)
This signal indicates the state of magnetic pole detection.
0 : Magnetic pole undetected
In this state, magnetic pole detection operation is started by a
start signal.
1 : Magnetic pole detection completed
This signal is reset to 0 if an alarm indicating the loss of the
magnetic pole position due to trouble such as a motor sensor
disconnection is issued.
If this signal state is indicated using a lamp on the operator's panel, the
operator can recognize the magnetic pole detection state.
If any of the following spindle alarms is issued, the SPM loses the
magnetic pole position and turns off the magnetic pole detection state
signal (EPFIX = 0).
SPM alarm Nos. : 01, 24, 26, 37, 65, 73

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1.5.5 Related Parameters

(1) Parameters related to magnetic pole detection

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3007 4007 4007 EPFSIG

EPFSIG Selects a magnetic pole detection start signal.

0 : Uses SFR or SRV as a magnetic pole detection start signal.
1 : Uses EPFSTR as a magnetic pole detection start signal.
Set this parameter to select a desired start signal.
This parameter is valid in the automatic mode or direct current
activation mode.

15i 16i 30i

3083 4083 4083 Current ratio/motor stop confirmation time in magnetic pole detection operation

The upper three digits (ten thousands, thousands, and hundreds)

indicate a current ratio in magnetic pole detection, and the lower two
digits (tens and ones) indicate a motor stop confirmation time.

Current ratio in magnetic pole detection (upper three digits)

Unit of data : 1%
Valid data range : 0 to 99
Standard setting value : Depends on the motor model.
Set the magnitude of a current command value in magnetic pole
detection operation as a ratio to the maximum current value.
This parameter is valid in the automatic mode or direct current
activation mode.

Motor stop confirmation time (lower two digits)

Unit of data : 0.1sec
Valid data range : 0 to 99
Standard setting value : Depends on the motor model.
Set a period of time for confirming the stop of the motor in the direct
current activation mode.
This parameter is valid in the direct current activation mode.

Usually, this parameter need not be adjusted.

NOTE
If magnetic pole detection position precision is
insufficient for a cause such as friction, the motor
output torque may decrease. In such a case, this
parameter needs to be adjusted.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3398 4398 4398 SELMET

SELMET Selects a magnetic pole detection mode.

0 : Performs magnetic pole detection in the direct current activation
mode.
1 : Performs magnetic pole detection in the automatic mode.

NOTE
This parameter is valid with 9D53 Series C (03)
edition or later and 9D70 series B (02) edition or
later.

15i 16i 30i

3449 4449 4449 Direction detection current/polarity determination current

The upper three digits (ten thousands, thousands, and hundreds)

indicate a direction detection current, and the lower two digits (tens
and ones) indicate a polarity determination current.
Usually, this parameter need not be adjusted. (Set 0.)

Direction detection current (upper three digits)

Unit of data : 1%
Valid data range : 0 to 320
Standard setting value : 0
Set a current for magnetic pole direction detection in magnetic pole
detection operation. When 0 is set, 100% is set.
The guideline for setting when the detection current is about 3 A with
an inductance of 2.7 mH (5.3 mH) at 200 V (400 V) is 100%.
This parameter is valid in the automatic mode.

Polarity determination current (lower two digits)

Unit of data : 1%
Valid data range : 0 to 99
Standard setting value : 0
Set a detection current for determining the polarity of the magnetic
pole as a ratio to the maximum current value. When 0 is set, 70% is
set internally.
This parameter is valid in the automatic mode.

NOTE
This parameter is valid with 9D53 Series C (03)
edition or later and 9D70 series B (02) edition or
later.

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15i 16i 30i

3450 4450 4450 Travel distance allowance magnification/velocity feedback threshold

The upper three digits (ten thousands, thousands, and hundreds)

indicate a travel distance allowance magnification, and the lower two
digits (tens and ones) indicate a velocity feedback threshold.
Usually, this parameter need not be adjusted. (Set 0.)

Travel distance allowance magnification (upper three digits)

Unit of data : 1%
Valid data range : 0 to 200
Standard setting value : 0
Set a travel distance allowance magnification. Set a ratio relative to a
machine angle of 5 deg assumed to be 100%. When 0 is set, 100%
(machine angle of 5 deg) is set internally.
This parameter is valid in the automatic mode.

Velocity feedback threshold (lower two digits)

Unit of data : 1%
Valid data range : 0 to 99
Standard setting value : 0
Set a velocity feedback threshold for determining the stop of the
motor, assuming 100% = 110 min-1. When 0 is set, 10% (11 min-1) is
set internally.
This parameter is valid in the automatic mode.

NOTE
This parameter is valid with 9D53 Series C (03)
edition or later and 9D70 series B (02) edition or
later.

(2) Parameters related to AMR offset

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3008 4008 4008 NEGREF

NEGREF Sets whether to use a one-rotation signal from the motor sensor as
reference magnetic pole position data.
0 : Uses the one-rotation signal position of the motor sensor as
reference magnetic pole position data.
1 : Does not use the one-rotation signal position of the motor sensor
as reference magnetic pole position data.

When this parameter is set to 1, the magnetic pole position based on

magnetic pole detection operation is used as the reference position,
regardless of the one-rotation signal position of the motor sensor.
When using the AMR offset function, set this parameter to 0.

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15i 16i 30i

3084 4084 4084 AMR offset

Unit of data : 1 pulse (8192 pulses = electric angle 360 deg)

Valid data range : 0, 1 to 8192
Standard setting value : 0
Set an AMR offset.
This parameter is valid when bit 6 (NEGREF) of parameter No. 4008
is set to 0. When this parameter is set to 0, the AMR offset function is
disabled. When setting 0 pulse as an AMR offset, set 8192.

NOTE
1 This parameter is valid with 9D53 Series C (03)
edition or later and 9D70 series B (02) edition or
later.
2 When the spindle software edition is earlier than the
editions above, set this parameter to 0.

15i 16i 30i

3085 4085 4085 AMR offset adjustment value

Unit of data : 1 pulse (8192 pulses = electric angle 360 deg)

Valid data range : -300 to +300 (electric angle: -13.2deg to +13.2deg)
Standard setting value : 0
This parameter is used for AMR offset adjustment. The AMR offset
can be shifted by a specified number of pulses.
To protect against an operation error caused by directly modifying the
AMR offset (parameter No. 4084), the valid data range is limited to
-300 to +300 pulses.
Observe the torque command and actual speed when making forward
rotations and reverse rotations at the same speed, and make an
adjustment so that same acceleration time and deceleration time are
achieved with the same torque command, and the torque command in
a certain rotation is about the same.
After this adjustment, add the optimal value of this parameter to the
setting of parameter No. 4084 then set this parameter to 0.

NOTE
1 This parameter is valid with 9D53 Series C (03)
edition or later and 9D70 series B (02) edition or
later.
2 When the spindle software edition is earlier than the
editions above, set this parameter to 0.

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15i 16i 30i

3532 4532 4532 Arbitrary data output function number

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set this parameter to 2 when an AMR offset candidate value is to be
checked on the diagnosis screen of the CNC. An AMR offset
candidate value (magnetic pole position corresponding to a
one-rotation signal position counted relative to the magnetic pole
detection position) can be checked with the following numbers on the
diagnosis screen of the CNC:

Diagnosis No. (16i ) Diagnosis No. (30i )

1st spindle 720 720
2nd spindle 721 720
3rd spindle 740 720
4th spindle 741 720

NOTE
1 When this function is used, the following combinations of spindle software and CNC
software must be used:
For spindle software 9D53 series F (06) edition or later
FS16i /160i /160is-TB : B1HA series V (22) edition or later
FS16i /160i /160is-MB : B0HA series P (16) edition or later
FS18i /180i /180is-TB : BEHA series V (22) edition or later
FS18i /180i /160is-MB : BDHA series P (16) edition or later
FS18i /180i /180is-MB5 : BDHE series F (06) edition or later
FS21i /210i /210is-TB : DEHA series V (22) edition or later
FS21i /210i /210is-MB : DDHA series P (16) edition or later
For spindle software 9D70 series E (05) edition or later
FS30i /300i /300is-A : G002/G012/G022 series F (6.0) edition or later
FS31i /310i /310is-A5 : G121/G131 series F (6.0) edition or later
FS31i /310i /310is-A : G101/G111 series F (6.0) edition or later
FS32i /320i /320is-A : G201 series F (6.0) edition or later

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1.5.6 Sequence

(1) When SFR or SRV is used as a start signal (Parameter No.4007#7:EPFSIG=0)

Power-on 1)

MPOF=0
& EPFSTR=0

MRDY
2)
& *ESP

SFR/SRV
An alarm causing the magnetic
pole position to be lost is issued,
resulting in EPFIX = 0.
Speed command

Magnetic pole detection completed state

The speed command is accepted.
Magnetic pole undetected state 6)
EPFIX The speed command is ignored. 5)

3)
The magnetic pole position
4) is lost, so that the speed
command is ignored.
Motor speed

Magnetic pole detection completed

Magnetic pole 0 deg Magnetic pole 90 deg
Position movement Position movement

When SFR or SRV is input in the magnetic pole undetected state

(EPFIX = 0), the motor automatically starts magnetic pole detection
operation before the speed command is read. Then, upon completion
of magnetic pole detection (EPFIX = 1), the speed command is read
and the motor starts rotation. Do not input MPOF (motor power
turn-off signal) and EPFSTR (magnetic pole detection start signal).
(1) After turning on the power, the operator is to make a preparation
to activate the motor.
(2) Upon completion of preparation, set SFR (or SRV) to 1.
(3) The motor automatically starts magnetic pole detection in the
magnetic pole undetected state (EPFIX = 0).
(4) When magnetic pole detection operation is started, the motor
moves to the magnetic pole 0 deg position then moves to and
stops at the magnetic pole 90 deg position (machine angle 90
deg/number of magnetic poles), determining the magnetic pole.
(5) Upon magnetic pole determination, the magnetic pole detection
completed state (EPFIXA = 1) is set to enable the motor to be
driven. If a command is already input during magnetic pole
detection, the motor starts rotation at the same time as magnetic
pole determination. The operator may feel this motor operation
as an unexpected motion. So, provide an interlock so that a
command such as a rotation command can be input after the
magnetic pole detection completed state (EPFIX = 1) is
confirmed.
(6) If an alarm that causes the magnetic pole position to be lost is
issued, the magnetic pole undetected state (EPFIX = 0) is set.
When specifying the next rotation command, start all over again
from the beginning of the sequence.
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(2) When EPFSTR is used as a start signal (Parameter No.4007#7:EPFSIG=1)

Power-on

MPOF=0

MRDY 1)
& *ESP
An alarm causing the magnetic pole position
& SFR/SRV 2)
to be lost is issued, resulting in EPFIX = 0.
EPFSTR

5)

Speed command
Magnetic pole
undetected state Magnetic pole detection completed state
The speed The speed command is accepted.
command is 7)
EPFIX ignored.
6)
4)
The magnetic pole position
is lost, so that the speed
command is ignored.
3)
Motor speed

Magnetic pole 0 deg Magnetic pole 90 deg

Magnetic pole detection completed
Position movement Position movement
It is assumed that the magnetic pole determination state signal EPFIX
and the magnetic pole determination operation start signal EPFSTR
correspond to a lamp and button on the operator's panel. Do not input
MPOF (motor power turn-off signal).
(1) The operator recognizes EPFIX = 0 (the lamp turned off on the
operator's panel) then makes a preparation for magnetic pole
determination operation.
(2) Upon completion of preparation, set EPFSTR = 1 (turn on the
button on the operator's panel) to start magnetic pole
determination operation.
(3) The motor moves to the magnetic pole 0 deg position then moves
to and stops at the magnetic pole 90 deg position (machine angle
90 deg/number of magnetic poles), determining the magnetic
pole.
(4) Upon magnetic pole determination, EPFIX = 1 is set (the lamp
on the operator's panel is turned on).
(5) The operator recognizes the end of magnetic pole determination
and sets EPFSTR = 0 (turns off the button on the operator's
panel).
(6) When EPFSTR = 0 is set, the speed command is read and the
motor starts rotation. Ensure that a command such as a rotation
command and move command is input after the magnetic pole
detection completed state (EPFIX = 1) is confirmed.
(7) If an alarm that causes the magnetic pole position to be lost is
issued, EPFIX = 0 is set (the lamp on the operator's panel is
turned off). In this case, start all over again from the beginning of
the sequence.

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1.5.7 Causes of SPM Alarm 65

If magnetic pole detection fails, SPM alarm 65 is issued. This alarm
may be issued for the causes listed below. If SPM alarm 65 is issued,
check the following:
(1) Any of the following parameters is set incorrectly:
No.4011#2,#1,#0,No.4334 (Number of teeth of the motor sensor)
No.4011#7,#3,No.4368 (Number of motor poles)
(2) The activation current ratio in magnetic pole detection is small so
that friction impedes movement.
If SPM alarm 65 is issued for this cause, increase the value of the
upper three digits (activation current ratio) of parameter No.
4083.
(3) The motor stop confirmation time (lower two digits of parameter
No. 4083) is too short.
The motor vibrates when it stops. So, if the set value is too small,
an incorrect magnetic pole position is recognized. A sufficiently
long time is needed to confirm the stop of the motor.
(4) Motor feedback signal counting is performed incorrectly for a
cause such as noise.
(5) The motor is mechanically held and cannot move.
(6) The motor power line is not connected.
(7) The motor power line phase order does not match the motor
feedback signal connection phase order.

1.5.8 Cautions

CAUTION
This subsection provides notes on magnetic pole
detection. For safety, carefully follow the notes
described in this subsection.

(1) After the power is turned on or an alarm that causes the magnetic
pole position to be lost is issued, magnetic pole detection needs
to be performed.
(2) In the direct current activation mode, the motor vibrates to a
large extent when it stops. So, if the spindle undergoes gear
deceleration, the gear teeth surface is hit again and again. So,
when the direct current activation mode is used, ensure that the
motor can move freely.
(3) If the precision of magnetic pole detection is poor, the motor
output torque is small.
(4) If magnetic pole detection is not completed, all input rotation and
move commands are ignored. However, those commands become
valid upon completion of magnetic pole detection. So, if an input
command is left uncleared in the magnetic pole undetected state,
the motor abruptly starts moving upon completion of magnetic
pole detection, resulting in a dangerous situation. Prepare such a
sequence that commands are input after the magnetic pole
determination state signal (F048#7 (EPFIXA)) set to 1 is
confirmed.

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2 EXPLANATION OF OPERATION MODES

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2.1 VELOCITY CONTROL MODE

2.1.1 Start-up Procedure

For this subsection, see Subsection 2.1.1, "Start-up Procedure", in Part
I.

2.1.2 Overview
For this subsection, see Subsection 2.1.2, "Overview", in Part I.

2.1.3 System Configuration

The velocity control mode is applicable to all detector configurations.
For system configurations, see Subsection 1.3.3, "Typical Detector
Configurations", in Part IV.

2.1.4 List of I/O Signals (CNC↔PMC)

For this subsection, see Subsection 2.1.4, "List of I/O Signals
(CNC↔PMC)", in Part I.

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2.1.5 Related Parameters

Parameter No.
Description
15i 16i 30i
 3705#0 3705#0 Sets SF signal output and the S code for an S command.
 3705#2 3705#2 Gear switch method (M series only)
 3705#4 3705#4 Sets SF signal output and the S code for an S command (T series only).
Sets SF signal output when constant surface speed control is exercised
 3705#5 3705#5
and an S code is specified (M series only).
 3705#6 3705#6 Sets SF signal output (M series only).
 3706#4 3706#4 Spindle gear selection method (M series only)
 3706#7,#6 3706#7,#6 Spindle speed command polarity (valid when input signal SSIN = 0)
Number of sampling operations at spindle speed calculation time (T
 3709#0 3709#0
series only for 16i)
 3735 3735 Minimum clamp speed of the spindle motor (M series only)
 3736 3736 Maximum clamp speed of the spindle motor (M series only)
 3740 3740 Time until the spindle speed arrival signal is checked
 3741 3741 Maximum spindle speed for gear 1
 3742 3742 Maximum spindle speed for gear 2
 3743 3743 Maximum spindle speed for gear 3
 3744 3744 Maximum spindle speed for gear 4 (T series only)
Spindle motor speed at the switch point between gear 1 and gear 2 (M
 3751 3751
series only)
Spindle motor speed at the switch point between gear 2 and gear 3 (M
 3752 3752
series only)
 3772 3772 Maximum allowable spindle speed
2031 3031 3031 Allowable number of S code characters
2003#1   Sets an S code polarity.
2204#0   Sets the display of an actual spindle speed.
2402#6   Sets the S code specified in a block containing G92.
Whether to provide an indication for an alarm detected with the spindle
5602#3  
amplifier. (Set "0" usually.)
Number of sampling operations when an average spindle speed is to be
5611  
found.
5612   Unit of spindle speed output with the DO signal
Enables/disables the spindle alarms (SPxxxx) of all spindles. (Set "0"
5807#0  
usually.)
5842  3720 Number of position coder pulses
Number of gear teeth on the position coder side on velocity control (for
5847  3721
feed per revolution, threading, etc.)
Number of gear teeth on the spindle side on velocity control (for feed per
5848  3722
revolution, threading, etc.)
5850   Spindle number to be selected at power-on/reset time
5820#4   Sets the method of spindle speed calculation.
3006#5 4006#5 4006#5 Sets an analog override range.
Whether to output the load detection signals (LDT1, LDT2) during
3009#4 4009#4 4009#4
acceleration/deceleration
3009#6 4009#6 4009#6 Analog override type
3012#6 4012#6 4012#6 Sets whether to drive the synchronous built-in spindle motor. (Set "1".)
3012#7 4012#7 4012#7 Sets the spindle HRV function. (Set "1".)
5607#0 4019#7 4019#7 Automatic spindle parameter setting function
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.

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Parameter No.
Description
15i 16i 30i
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection level
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Sets a torque limitation value.
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3030 4030 4030 Soft start/stop setting time
3040 4040 4040 Velocity loop proportional gain on the velocity control mode
3041 4041 4041 (A parameter is selected by the PMC input signal CTH1A.)
3048 4048 4048 Velocity loop integral gain on the velocity control mode
3049 4049 4049 (A parameter is selected by the PMC input signal CTH1A.)
Spindle and motor gear ratio data
3056 to 3059 4056 to 4059 4056 to 4059
(A parameter is selected by the PMC input signals CTH1A and CTH2A.)
3081 4081 4081 Delay time until the motor power is turned off
3082 4082 4082 Sets an acceleration/deceleration time.
3508 4508 4508 Rate of change in acceleration at soft start/stop

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part IV.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part IV.

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2.1.6 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i , and in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to the velocity
control mode. For details of other parameters, refer to the Connection
Manual (Function) of each CNC.

(a) For Series 16i/18i/21i

“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 ALGOVR

ALGOVR Sets a spindle analog override range.

0 : 0 to 100% (standard setting value)
1 : 0 to 120%

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3008 4008 4008 SSMUSE

SSMUSE Sets whether to use the sub module SM (SSM).

0 : Does not use the sub module SM.
1 : Uses the sub module SM.

NOTE
If the SSM is not used (SSMUSE = 0), the maximum
motor speed (parameter No. 4020) needs to be
limited so that the counter electromotive voltage
from the synchronous built-in spindle motor does not
exceed the overvoltage alarm level of the SPM. If a
proper limit is exceeded, the SPM can be damaged.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 OVRTYP LDTOUT

LDTOUT Whether to output the load detection signals (LDT1 and LDT2) during
acceleration/deceleration
0 : Not output during acceleration/deceleration. (standard setting
value)
1 : Output (at all times) during acceleration/deceleration if the
parameter-set level is exceeded.

OVRTYP Analog override type

0 : Override of linear function type (standard setting value)
1 : Override of quadratic function type

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3012 4012 4012 SPHRV SYSP

SYSP Sets whether to drive the synchronous built-in spindle motor.

0 : Enables inductive spindle motor driving. (standard setting value)
1 : Enables synchronous built-in spindle motor driving.
Set to “1”.

SPHRV Sets the spindle HRV control function.

0 : Disables spindle HRV control.
1 : Enables spindle HRV control. (standard setting value)
Set to “1”.

NOTE
When driving the Bis series spindle (synchronous
built-in spindle motor), be sure to set both of the
SYSP and SPHRV bits to 1.

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4019 4019 PRLOAD

PRLOAD Automatic parameter setting function

0 : Does not perform automatic parameter setting. (standard setting
value)
1 : Performs automatic parameter setting.
After setting a desired motor model code in parameter No. 4133 and
setting this bit to 1, turn off the power to the CNC, then turn on the
power to the CNC again. The parameters (No. 4000 to No. 4175) for
the αi series spindle corresponding to the model code are
automatically initialized. Upon completion of automatic setting, this
bit is automatically set to 0.

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NOTE
With FS15i, the parameter address of this function is
different, namely, bit 0 of No. 5607 is used.
Moreover, note that the meanings of settings are
reversed as follows.
0 : Performs automatic parameter setting.
1 : Does not perform automatic parameter setting.
In this case, set a model code in parameter No.
3133.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 PKHALW

PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.

15i 16i 30i

3020 4020 4020 Maximum motor speed

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.

WARNING
1 The spindle motor may rotate at the maximum
spindle motor speed specified by this parameter.
Therefore, this parameter must not be set to a
value greater than the maximum rotation speed
indicated by the specification of the spindle motor.
2 If the sub module SM (SSM) is not used, the
maximum motor speed needs to be limited. Limit
the maximum motor speed according to Section
1.4, "SUB MODULE SM", in Part IV.

15i 16i 30i

3022 4022 4022 Speed arrival detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 150
This parameter sets a speed arrival signal (SARA) detection range.
When the motor speed reaches within ±(setting data/10)% of a
specified speed, the speed arrival signal (SARA) is set to 1.

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15i 16i 30i

3023 4023 4023 Speed detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 30
This parameter sets a speed detection signal (SDTA) detection range.
When the motor speed is (setting data/10)% of a maximum speed or
less, the speed detection signal (SDTA) is set to 1.

15i 16i 30i

3024 4024 4024 Speed zero detection level

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a speed zero detection signal (SSTA) detection
range.
When the motor speed is (setting data/100)% of a maximum speed or
less, the speed zero detection signal (SSTA) is set to 1.

NOTE
If a calculated speed zero detection level exceeds
200 min-1, the speed zero detection level is clamped
to 200 min-1. (9D53/B (02) edition or later, 9D70/A
(01) edition or later)

15i 16i 30i

3025 4025 4025 Sets a torque limitation value.

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the
torque limitation command HIGH (TLMHA) or the torque limitation
command LOW (TLMLA) is specified.
The data indicates limitation values when the maximum torque is
100%.
Torque limitation Torque limitation
command command Description
LOW(TLMLA) HIGH(TLMHA)
0 0 No torque limitation is imposed.
The torque is limited to the value
0 1
set in this parameter.
1 0 The torque is limited to a half of
1 1 the value set in this parameter.

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15i 16i 30i

3026 4026 4026 Load detection level 1

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection
range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 1 (LDT1A) is set to 1.

15i 16i 30i

3027 4027 4027 Load detection level 2

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets a load detection signal 2 (LDT2A) detection
range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 2 (LDT2A) is set to 1.

15i 16i 30i

3030 4030 4030 Soft start/stop setting time

Unit of data : 1min-1/sec

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets an acceleration value (speed change rate) when the
soft start/stop function is enabled (when the soft start/stop signal
SOCNA = 1).

NOTE
When 0 is set, the soft start/stop function is disabled.

15i 16i 30i

3040 4040 4040 Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0
3041 4041 4041 Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop proportional gain on velocity
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

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15i 16i 30i

3048 4048 4048 Velocity loop integral gain on velocity control mode (HIGH) CTH1A=0
3049 4049 4049 Velocity loop integral gain on velocity control mode (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop integral gain on velocity
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Usually, set 100.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

15i 16i 30i

3081 4081 4081 Delay time until the motor power is turned off

Unit of data : 10ms

Valid data range : 0 to 1000
Standard setting value : 20(200ms)
This parameter sets a period of time from the stop of the motor
(detection of the speed zero detection signal SSTA set to 1) until the
power to the motor is turned off if the SFR/SRV signal is off.

NOTE
When a small value is set in this parameter, the
motor can coast after the power to the motor is
turned off.

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15i 16i 30i

3082 4082 4082 Setting of acceleration/deceleration time

Unit of data : 1sec

Valid data range : 0 to 255
Standard setting value : 10
This parameter sets a period of time in which alarm detection is
disabled by assuming that the spindle motor is being accelerated or
decelerated even if the velocity error exceeds the velocity error excess
alarm (SPM alarm 02) level after start of acceleration/deceleration on
the velocity control mode.
In the velocity control mode, a step-by-step speed command is
specified. So, the spindle motor cannot follow up the command
immediately after start of acceleration/deceleration, and the velocity
error exceeds the velocity error excess alarm level. This parameter is
used to prevent the velocity error excess alarm (SPM alarm 02) from
being detected incorrectly immediately after start of
acceleration/deceleration.

NOTE
With a machine tool such as a lathe that has a large
load inertia, the acceleration/deceleration time
becomes longer. In such a case, set the value
corresponding to the acceleration/deceleration time
of the machine in this parameter.

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15i 16i 30i

3508 4508 4508 Rate of change in acceleration at soft start/stop

Unit of data : 10min-1/sec2

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets the jerk (the rate of change in acceleration) when
the soft start/stop function is enabled (soft start/stop signal SOCNA =
1).
Acceleration
-1
in velocity command
(min /sec)

Increase in
acceleration

Initial
acceleration

Time(sec)
T
Starts changing velocity command
issued from CNC at this point.

Increase in acceleration = 10 × setting in parameter No. 4508 × T

Initial acceleration = Setting in parameter No. 4030

NOTE
1 This parameter is valid with 9D53 Series B (02)
edition or later and 9D70 series A (01) edition or
later.
2 If 0 is set, a liner type velocity command is observed
when the soft start/stop function is enabled.

2.1.7 Troubleshooting
For this subsection, see Subsection 2.1.7, "Troubleshooting", in Part I.

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2.2 POSITION CODER METHOD SPINDLE ORIENTATION

Optional function

2.2.1 Start-up Procedure

For this subsection, see Subsection 2.2.1, "Start-up Procedure", in Part
I.

2.2.2 Overview
For this subsection, see Subsection 2.2.2, "Overview", in Part I.

2.2.3 Feature
For this subsection, see Subsection 2.2.3, "Feature", in Part I.

2.2.4 System Configuration

The system configurations that enable the use of the position coder
method orientation function are shown below.

(1) When the BZi sensor or CZi sensor is used

[Sample system configuration]
BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

2.2.5 Stop Position Specification Method

For this subsection, see Subsection 2.2.5, "Stop Position Specification
Method", in Part I.

2.2.6 I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.2.6, "I/O Signals (CNC ↔

PMC)", in Part I.

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2.2.7 Examples of Sequences

For this subsection, see Subsection 2.2.7, "Examples of Sequences", in
Part I.

2.2.8 Related Parameters

Parameter No.
Description
15i 16i 30i
Specifies whether to use the spindle orientation function. (Set this bit to 1.)
3015#0 4015#0 4015#0
(The CNC software option is required.)
Specifies whether to use the spindle orientation function with the stop
5609#2 3702#3,#2 3729#0 position external setting type. (For 16i, #2: First spindle, #3: Second
spindle)
3003#0 4003#0 4003#0 Choice of orientation method (Set this bit to 0.)
3003#3,#2 4003#3,#2 4003#3,#2 Direction of rotation in spindle orientation
3017#7 4017#7 4017#7 Shortcut function when orientation is specified in stop state
Stop position for position coder method orientation
3031 4031 4031 (This parameter is disabled when spindle orientation with an externally set
stop position or an externally set incremental command is used.)
3042 4042 4042 Velocity loop proportional gain for orientation
3043 4043 4043 (A parameter is selected by the CTH1A input signal.)
3050 4050 4050 Velocity loop integral gain for orientation
3051 4051 4051 (A parameter is selected by the CTH1A input signal.)
Spindle-to-motor gear ratio
3056 to 3059 4056 to 4059 4056 to 4059
(A parameter is selected by the CTH1A and CTH2A input signals.)
Position gain for orientation
3060 to 3063 4060 to 4063 4060 to 4063
(A parameter is selected by the CTH1A and CTH2A input signals.)
3064 4064 4064 Rate of change in the position gain upon completion of spindle orientation
3075 4075 4075 Detection level for the spindle orientation completion signal
3076 4076 4076 Speed limit ratio for spindle orientation
3077 4077 4077 Spindle orientation stop position shift
3038 4038 4038 Spindle orientation speed

NOTE
1 For the parameters related to detectors, see the
Section 1.3 “PARAMETERS RELATED TO
DETECTORS” in the Part IV.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part IV.

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2.2.9 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3003 4003 4003 DIRCT2 DIRCT1 PCMGSL

DIRCT2, DIRCT1 Setting of rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction at spindle orientation
By rotation direction immediately before
0 0
(It is CCW at the power on.)
By rotation direction immediately before
0 1
(It is CW at the power on.)
CCW (counterclockwise) direction looking from shaft of
1 0
motor
1 1 CW (clockwise) direction looking from shaft of motor

PCMGSL Selects the type of orientation.

Set this bit to 0 (orientation by a position coder).

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN

NRROEN Specifies whether to use the shortcut function when orientation is

specified in the stop state.
0 : Does not use the function.
1 : Uses the function.
When this bit is set to 1, short cut operation is performed when the
following conditions are satisfied:
• Bit 7 of parameter No. 4016 (RFCHK3) is set to 0.
• Zero speed detection output signal SSTA is set to 1.
• Shortcut command input signal NRROA is set to 1.

15i 16i 30i

3031 4031 4031 Position coder method orientation stop position

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4096
Standard setting : 0
This data is used to set the stop position of position coder method
spindle orientation. It can be set at every 360 degrees/4096.
When stop position external command type orientation and
incremental command external type orientation are set, this parameter
becomes invalid.
Stop position command (SHA11-SHA00) of input signal instructed
becomes valid.

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15i 16i 30i

3038 4038 4038 Spindle orientation speed

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets the orientation speed at the end of the spindle.
When 0 is specified for this parameter, the orientation speed is
determined depending on the position gain and the motor speed limit
ratio for orientation.

15i 16i 30i

3042 4042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This parameter sets the velocity loop proportional gain for spindle
orientation.
When the CTH1A input signal is set to 0, proportional gain for the
HIGH gear is selected. When the CTH1A input signal is set to 1,
proportional gain for the LOW gear is selected.

15i 16i 30i

3050 4050 4050 Velocity loop integral gain on orientation (HIGH) CTH1A=0
3051 4051 4051 Velocity loop integral gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This parameter sets the velocity loop integral gain for spindle
orientation.
When the CTH1A input signal is set to 0, integral gain for the HIGH
gear is selected. When the CTH1A input signal is set to 1, integral
gain for the LOW gear is selected.

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15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor relative to the
spindle.
Usually, set 100.

NOTE
When an improper value is set in these
parameters, an unexpected operation can occur.
For example, the spindle can continue rotating
without stopping at the time of orientation. So, be
sure to set a proper gear ratio.

15i 16i 30i

3060 4060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
3061 4061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
3062 4062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
3063 4063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 1000
These parameters set the position gain for orientation.
A parameter is selected by the CTH1A and CTH2A input signals.

15i 16i 30i

3064 4064 4064 Modification rate of position gain on orientation completion

Unit of data : 1%
Valid data range : 0 to 799
Standard setting : 100
This data is used to set the modification rate of position gain on
spindle orientation completion.

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15i 16i 30i

3075 4075 4075 Orientation completion signal detection level (limits of in-position)

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : 0 to 100
Standard setting : 10
This data is used to set the detecting level of orientation completion
signal (ORARA).
When the spindle position is located within the setting data on
orientation completion, the bit of orientation completion signal
(ORARA) in the spindle control signals is set to "1".
When the orientation command (ORCMA) is turned off (= 0), the
orientation completion signal (ORARA) is set to "0".

15i 16i 30i

3076 4076 4076 Motor speed limit ratio on orientation

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 33
This data is used to set motor speed limit ratio on orientation.
The value calculated from the position gain (No. 4060 to No. 4063)
and this parameter as indicated below is used as an orientation speed
and reference position return speed on servo mode (rigid
tapping/spindle positioning).
Orientation speed of motor (motor speed )
(Speed limit ratio)
= 60 × (Position gain ) / 100 × (Gear ratio ) × [min −1 ]
100

15i 16i 30i

3077 4077 4077 Orientation stop position shift value

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : -4095 to 4095
Standard setting : 0
In the position coder method orientation, set this data to shift stop
position.
Spindle is shift No. of setting pulse in CCW direction, and stops by
data (+).

2.2.10 Adjusting the Orientation Stop Position Shift Parameter

For this subsection, see Subsection 2.2.11, "Adjusting the Orientation
Stop Position Shift Parameter", in Part I.

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2.3 RIGID TAPPING Optional function

2.3.1 Start-up Procedure

For this subsection, see Subsection 2.3.1, "Start-up Procedure", in Part
I.

2.3.2 Overview
For this subsection, see Subsection 2.3.2, "Overview", in Part I.

2.3.3 System Configuration

The system configurations that enable the use of rigid tapping are
shown below.

(1) When the BZi sensor or CZi sensor is used

[Sample system configuration]
BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

2.3.4 List of I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.3.4, "List of I/O Signals (CNC
↔ PMC)", in Part I.

2.3.5 Sequence
For this subsection, see Subsection 2.3.5, "Sequence", in Part I.

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2.3.6 Related Parameters

Parameter No.
Description
15i 16i 16i
- 5210 5210 M code of rigid tapping command
5202#0 Whether to perform orientation (reference position return) when starting
5606#6 5202#0
(M series only) rigid tapping
3706#1,#0
- - Gear ratio between spindle and position coder, 1:1, 1:2, 1:4, 1:8
3707#1,#0
5842 - 3720 Number of pulse of the position coder
- 5200#1 - Selection of arbitrary gear ratio between spindle and position coder
5852 5221 5221
5855 5222 5222 Teeth number of spindle side at arbitrary gear ratio (command) setting
5858 5223 5223 (16i/30i: No. 5224 is used for the T series only.)
5861 5224 5224
5851 5231 5231
5854 5232 5232 Teeth number of position coder side at arbitrary gear ratio (command)
5857 5233 5233 setting (16i/30i: No. 5234 is used for the T series only.)
5860 5234 5234
5280 5280 Position gain of tapping axis at rigid tapping (16i/30i: No. 5284 is used for
3065 to 3068
5281 to 5284 5281 to 5284 the T series only.)
5605#1 - - Acc./Dec. type (Set to 1.)
5241 5241
5242 5242 Spindle maximum speed at rigid tapping (16i/30i: No. 5244 is used for the
5711
5243 5243 T series only.)
5244 5244
5605#2 - -
5757 - -
Spindle speed for determining an acceleration value for cutting feed on
5886 - -
rigid tapping
5889 - -
5892 - -
5605#2
5261 5261
5751
5262 5262
5886 Acc./Dec. time constant (16i/30i: No. 5264 is used for the T series only.)
5263 5263
5889
5264 5264
5892
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration on rigid
- -
5888 tapping
- -
5891
- -
5894
- 5200#4 5200#4 Override selection at extracting
5883 5211 5211 Override value at extracting
5201#2 5201#2
- Time constant at extracting (No. 5274 is used for the T series only.)
5271 to 5274 5271 to 5274
- - 5203#2 Feed-forward function at rigid tapping
1827 5300 5300 In-position width of tapping axis
5875 5301 5301 In-position width of spindle
5310
1837 5310 Allowable level of position error of tapping axis at moving
5341
5876 5311 5311 Allowable level of position error of spindle at moving
1829 5312 5312 Allowable level of position error of tapping axis at stop

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Parameter No.
Description
15i 16i 16i
5877 5313 5313 Allowable level of position error of spindle at stop
5853
Backlash of spindle
5856
5321 to 5324 5321 to 5324 (16i: No. 5322 and No. 5324 are used for the T series only.
5859
30i: No. 5324 is used for the T series only.)
5862
3000#4 4000#4 4000#4 Reference position return direction on servo mode
3002#5 4002#5 4002#5 Whether to enable the rotation direction signal (SFR/SRV) on servo mode
Setting of the command arbitrary gear ratio function (CMR) on rigid
3006#7 4006#7 4006#7
tapping
- - 4037 Velocity loop feed-forward coefficient
Velocity loop proportional gain on servo mode/spindle synchronous
3044 4044 4044
control
3045 4045 4045
(It is selected by input signal CTH1A/B.)
3052 4052 4052 Velocity loop integral gain on servo mode/spindle synchronous control
3053 4053 4053 (It is selected by input signal CTH1A/B.)
Gear ratio between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059
(It is selected by input signal CTH1A or CTH2A)
Spindle position gain on servo mode/spindle synchronous control
3065 to 3068 4065 to 4068 4065 to 4068
(It is selected by input signal CTH1A or CTH2A)
3073 4073 4073 Grid shift amount on servo mode
3074 4074 4074 Reference position return speed on Cs contouring control/servo mode
3091 4091 4091 Position gain change ratio at reference position return time on servo mode
- - 4344 Advanced preview feed-forward coefficient

NOTE
1 For the parameters related to detectors, see Section
1.3 “PARAMETERS RELATED TO DETECTORS”
in the Part I.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part I.

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2.3.7 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, and in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to rigid tapping. For
details of other parameters, refer to the Connection Manual (Function)
of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11 “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11 “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8 “RIGID TAPPING.”

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 4000 RETSV

RETSV Reference position return direction on servo mode (rigid

tapping/spindle positioning)
0 : The spindle performs a reference position return operation in the
CCW(counterclockwise) direction.
1 : The spindle performs a reference position return operation in the
CW(clockwise) direction.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 SVMDRT

SVMDRT Whether to enable the rotation direction signal (SFR/SRV) function

on servo mode (rigid tapping/spindle positioning)
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW direction when the input
signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW direction when the input
signal SRV (bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle
rotates in the CCW direction when the input signal SFR = 1 or
SRV = 1.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 RGTCMR

RGTCMR Sets the command arbitrary gear ratio function (CMR) on rigid
tapping.
0 : Disables the command arbitrary gear ratio function.
1 : Enables the specified arbitrary gear ratio function.
Set this parameter to 1 when rigid tapping is performed using a signal
from the sensor built-into the motor as a position feedback signal and
the gear ratio between the motor and spindle is other than 1:1.
When using the command arbitrary gear ratio function (CMR
function), set the following as well:
• Enabling an arbitrary gear ratio between the spindle and position
coder (bit 1 of No. 5200 = 1)
• Parameters for the number of gear teeth on the spindle side (No.
5221 to No. 5224)
• Parameters for the number of gear teeth on the position coder
side (No. 5231 to No. 5234)

30i
4037 Velocity loop feed-forward coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a velocity loop feed-forward coefficient for using
feed-forward control. Set the result of calculation of the following
expression:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)

15i 16i 30i

Velocity loop proportional gain on servo mode/spindle synchronous control
3044 4044 4044 (HIGH) CTH1A=0

Velocity loop proportional gain on servo mode/spindle synchronous control

3045 4045 4045
(LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop proportional gain on servo mode
(rigid tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

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15i 16i 30i

Velocity loop integral gain on servo mode/spindle synchronous control (HIGH)
3052 4052 4052 CTH1A=0

Velocity loop integral gain on servo mode/spindle synchronous control (LOW)

3053 4053 4053 CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop integral gain on servo mode
(rigid tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.Usually, set 100.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

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15i 16i 30i

Spindle position gain on servo mode/spindle synchronous control (HIGH)
3065 4065 4065 CTH1A=0, CTH2A=0

Spindle position gain on servo mode/spindle synchronous control (MEDIUM

3066 4066 4066 HIGH)
CTH1A=0, CTH2A=1

Spindle position gain on servo mode/spindle synchronous control

3067 4067 4067 (MEDIUM LOW) CTH1A=1, CTH2A=0

Spindle position gain on servo mode/spindle synchronous control (LOW)

3068 4068 4068 CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting value : 1000
These parameters set a position gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control. A
parameter is selected according to the input signals CTH1A and
CTH2A.

15i 16i 30i

3073 4073 4073 Grid shift amount on servo mode

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4095
Standard setting value : 0
This parameter is used to shift the reference position on servo mode
(rigid tapping/spindle positioning).
The reference position of the spindle is shifted in the CCW direction
by the specified number of pulses.

15i 16i 30i

3074 4074 4074 Reference position return speed on Cs contouring control/servo mode

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0
• When 0 is set
The value calculated from the position gain (No. 4065 to No.
4068) and orientation-time speed limit ratio (No. 4076) as
indicated below is used as a reference position return speed on
servo mode (rigid tapping/spindle positioning).
Reference position return speed (motor speed) =
Position gain Speed limit ratio
60× 100 ×Gear ratio× 100 [min-1]

• When a value other than 0 is set

The value set in this parameter is used as a reference position
return speed on servo mode (rigid tapping/spindle positioning).

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15i 16i 30i

3091 4091 4091 Position gain change ratio at reference position return time on servo mode

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter sets a position gain change ratio at reference position
return time on servo mode (rigid tapping, spindle positioning, and so
forth).

NOTE
An overshoot can occur at reference position return
time for a cause such as an excessively high
reference position return speed and an excessively
large spindle inertia. In this case, an overshoot can
be avoided by setting a small value in this
parameter.

30i
4344 Advanced preview feed-forward coefficient

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a feed-forward coefficient for using feed-forward
control. Set the same value as for the servo axis simultaneously
subjected to interpolation.

2.3.8 Parameter Setting Procedure

For this subsection, see Subsection 2.3.8, "Parameter Setting
Procedure", in Part I.

2.3.9 Adjustment Procedure

(1) Parameters used for adjustment

The table below lists and describes the parameters used for adjusting
rigid tapping.

Parameter No. (FS16i) Description

Maximum spindle speed on rigid tapping (Depends on the GR signal. No. 5244 is
5241 to 5244
for the T series only.)
Acceleration/deceleration time constant on rigid tapping (Depends on the GR
5261 to 5264
signal. No. 5264 is for the T series only.)
Position gain of tapping axis on rigid tapping (No. 5280 is for all gears. Nos. 5281 to
5280 to 5284
5284 depend on the GR signal. No. 5284 is for T series only.)
4065 to 4068 Spindle position gain on rigid tapping (depends on CTH1A and CTH2A signals)
4044 to 4045 Velocity loop proportional gain on rigid tapping (depends on CTH1A signal)
4052 to 4053 Velocity loop integral gain on rigid tapping (depends on CTH1A signal)

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(2) Spindle data used for adjustment

Adjust the parameters while observing the motor speed, torque
command, velocity error, synchronous error, and other waveform by
using a spindle check board and oscilloscope or SERVO GUIDE. The
table below lists spindle check board settings for observing the
waveform.

Check board setting address

Settings Observing data
Output to CH1 Output to CH2
d-05 d-09 25
Velocity error
d-06 d-10 12
±128 min-1 at ±5 V
d-07 d-11 0
±256min-1 at ±5 V if d-06 (d-10) is set to 13
d-08 d-12 1
d-05 d-09 90 Torque command
d-06 d-10 7 Maximum positive/negative torque command at ±5 V
d-07 d-11 0 Maximum positive/negative torque command at ±2.5 V
d-08 d-12 1 if d-06 (d-10) is set to 8
d-05 d-09 68 Synchronous error (value converted for the spindle:
d-06 d-10 0 4096 pulses/rev)
±128 pulses at ±5 V
d-07 d-11 0
±256 pulses at ±5 V if d-06 (d-10) is set to 1
d-08 d-12 1 ±512 pulses at ±5 V if d-06 (d-10) is set to 2
d-05 d-09 19 Motor speed
d-06 d-10 18 ±8192 min-1 at ±5 V
d-07 d-11 0 ±4096 min-1 at ±5 V if d-06 (d-10) is set to 17
d-08 d-12 1 ±2048 min-1 at ±5 V if d-06 (d-10) is set to 16

NOTE
When observing the synchronous error of Series 16i, set the
following parameters:
No. 3700, #7 = 1:
Uses the synchronous error output (maintenance function).
(Return the setting to 0 after the observation is completed.)
No. 5203, #7 = 1 :
Sets a synchronous error update cycle.
(Return the setting to 0 after the observation is completed.)
No. 5204, #0 = 0 :
Displays the synchronous error on the diagnosis screen.

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(3) Adjustment procedure

(3)-1 Specifying an acceleration/deceleration time constant (1):
Specifying a provisional value
Before optimizing the acceleration/deceleration time constant, adjust
the gain to improve the response. Following (a) or (b) below, specify a
provisional acceleration/deceleration time constant according to the
target maximum speed.

(a) Specifying a provisional time constant according to the velocity waveform in

actual acceleration/deceleration
Observe the motor velocity waveform (velocity control mode) in
acceleration up to the maximum rigid tapping speed. Specify such a
provisional time constant that the inclination (acceleration) during
rigid tapping acceleration becomes about a half of the inclination of a
tangent to the motor velocity waveform near the location of maximum
speed. See the sample waveform shown below.

Nr: Maximum rigid tapping speed (No. 5241 to 5244)

4000 min-1 in this example
ta: Time of acceleration by the maximum torque at Nr
About 400 ms in this example
tr: Rigid tapping acceleration/deceleration time constant
Motor speed
-1 Nr (No. 5261 to 5264) 800 ms, which is two times ta, in
4096 min / 5V
this example

ta

In this example, the maximum rigid tapping speed Nr is set to 4000

min-1. To determine the acceleration/deceleration time constant, the
motor velocity waveform in acceleration up to 4000 min-1 is observed.
If the acceleration is performed with the maximum motor torque at
4000 min-1, the acceleration time ta needed to attain 4000 min-1 is
about 400 ms, as shown above. This is the minimum value of
acceleration/deceleration time constant tr, which can be specified
without consideration of cutting load. A time constant that can be
specified in consideration of cutting load is usually about 1.2 to 1.5
times this value. As a provisional value for gain adjustment,
approximately double (800 ms) is specified here.

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(b) Specifying a value calculated from the relationship between the maximum
torque and spindle inertia
Specify an acceleration/deceleration time constant calculated from the
following expression:
Jm[ kgm2 ] + JL [ kgm2 ] 2π
tr [ms] = × × Nr [min −1 ] × GR × 1000 × 2
T max(Nr )[Nm] 60
tr[ms] : Acceleration/deceleration time constant on rigid
tapping (No. 5261 to 5264)
Nr[min-1]: Maximum spindle speed on rigid tapping (No. 5241
to 5244)
GR : Spindle-motor gear ratio (Motor rotation per spindle
rotation)
Tmax(Nr) [Nm]: Maximum torque of spindle motor at Nr
Jm[kgm2]: Rotor inertia of spindle motor
JL[kgm2]: Spindle load inertia(converted for the motor shaft)

(3)-2 Specifying a position gain

Specify an initial value of about 2000(20 sec-1) to 3000(30 sec-1), then
adjust the value as needed. Basically, specify identical values for the
spindle and tapping axis.
After specifying the position gain, check whether the spindle is
operating as designed. For that purpose, check that the position error
(value displayed on the CNC screen) during stable rotation at the
maximum speed is almost the same as the theoretical value. This
theoretical value is calculated as shown below. If the theoretical value
is substantially different, re-check the parameters related to position
gain, gear ratio, and detector.
Nr [min −1 ] 1
Perr (Nr )[ pulse ] = × 4096[ pulse / rev ] ×
60 PG [sec −1 ]
Perr(Nr) [pulse] : Position error in stable rotation at Nr
Nr [min-1] : Maximum speed on rigid tapping
PG [sec-1] : Position gain on rigid tapping

If the gear ratio is 1:1 at Nr=4000 min-1 and PG=3000 (30 sec-1), the
position error in stable rigid tapping at Nr is calculated as follows:
4000 1
Perr (Nr ) = × 4096 × = 9102[ pulse ]
60 30

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(3)-3 Specifying a velocity loop gain

Refer to Section 4.1 “VELOCITY LOOP GAIN ADJUSTMENT” for
details of the velocity loop proportional/integral gain. Adjust the
velocity loop proportional/integral gain so that the velocity error
decreases.
During the adjustment, observe the velocity error and motor speed.
Sample waveforms before and after the adjustment are shown below:

(a) Waveform before adjustment (No. 4044 = 10, (b) Waveform after adjustment (No. 4044 = 20,
No. 4052 = 10) No. 4052 = 60)

CH1 : Velocity deviation CH1 : Velocity deviation

-1
12.5 min /div 12.5 min-1/div

CH2 : Motor speed CH2 : Motor speed

2048 min-1/div 2048 min-1/div

(3)-4 Specifying an acceleration/deceleration time constant (2) :

Specifying an optimum value
Observing the torque command and motor speed, make a final
adjustment of the time constant. Adjust the time constant in
consideration of the actual cutting load, so that the peak torque at air
cut becomes about 70% to 80% (3.5 to 4.0 V) of the maximum value.
Sample waveforms before and after the adjustment are shown below:

(a) Waveform before adjustment (No. 5261 = 800) (b) Waveform after adjustment (No. 5261 = 480)

CH1 : Torque command CH1 : Torque command

50% / div 50% / div

CH2 : Motor speed CH2 : Motor speed

2048 min-1 / div 2048 min-1 / div

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(3)-5 Checking the synchronous error

The spindle adjustment ends when the adjustments described in above
procedures are completed. After the spindle adjustment, check the
synchronous error between the spindle and servo axis, which will be
an index of rigid tapping precision.
The synchronous error is a difference between the spindle position
error and the servo axis position error converted for the spindle.
SYNCER [pulse] = PERsp[pulse] − PERsv [pulse]
SYNCER [pulse]:Synchronous error
(4096 pulses per spindle rotation)
PERsp [pulse]:Spindle position error
PERsv [pulse]:Servo axis position error converted for the spindle

2.3.10 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.3.10, "Diagnosis (Diagnosis
Screen)", in Part I.

2.3.11 Alarm
For this subsection, see Subsection 2.3.11, "Alarm", in Part I.

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2.4 Cs CONTOURING CONTROL Optional function

2.4.1 Start-up Procedure

For this subsection, see Subsection 2.4.1, "Start-up Procedure", in Part
I.

2.4.2 Overview
For this subsection, see Subsection 2.4.2, "Overview", in Part I.

2.4.3 System Configuration

The system configurations that enable the use of the Cs contouring
control function are shown below.

[System configuration example]

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

2.4.4 List of I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.4.4, "List of I/O Signals (CNC
↔ PMC)", in Part I.

2.4.5 Examples of Sequences

For this subsection, see Subsection 2.4.5, "Examples of Sequences", in
Part I.

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2.4.6 Related Parameters

Parameter No.
Description
15i 16i 30i
1005#0 1005#0 1005#0 Whether to use the reference position return function
1005#2 - - Sets automatic reference position return (G28). (Set “0”.)
Set workpiece coordinate system preset at automatic reference position
1005#3 - -
return time. (Set “1”.)
1600#2,#1,#0 1006#2 1006#2 Sets a linear axis/rotation axis. (Set “1”.)
1600#3 - - Sets a radius for a move command/rotation axis. (Set “0”.)
1804#7 - - Sets a Cs contouring control axis with a serial spindle. (Set “1”.)
2203#1 - - Sets machine position display on the CRT. (Set “1”.)
Specifies whether to enable the reference position return function for the
- 3700#1 3700#1
first G00 command received after switching to Cs contouring control.
- 3712#2 3712#2 Sets the Cs axis coordinate establishment function.
1012 1004 1013 Increment system
#3,#2,#1,#0 #1,#0 #3,#2,#1,#0 (Usually, set and use IS-B.)
1020 1020 1020 Program axis name
- 1022 1022 Sets an axis of the basic coordinate system. (Set “0”.)
1023 1023 1023 Servo axis number (Set “-1”.)
1028 - - Spindle number of Cs contouring control axis
1260 - 1260 Movement per rotation of rotation axis (Set “360.0”.)
1420 1420 1420 Rapid traverse rate
1620 1620 1620 Linear acceleration/deceleration time constant for rapid feed
1820 1820 1820 Command multiplication (Usually, set "2" [= CMR 1].)
5879 1826 1826 In-position width
5880 1828 1828 Position error limit during movement
5881 1829 1829 Position error limit when stopped
5882 - - Position error limit when the servo system is off
Sets a position gain for a servo axis subject to interpolation with the Cs
5609#0 - - contouring control axis.
("0": Automatically set, "1": Not automatically set. Usually, set "0".)
3900 3900
3910 3910
Servo axis number subject to interpolation with the Cs contouring control
- 3920 3920
axis
3930 3930
3940 3940
3901 to 3904 3901 to 3904
3911 to 3914 3911 to 3914
Position gain of a servo axis subject to interpolation with the Cs contouring
- 3921 to 3924 3921 to 3924
control axis
3931 to 3934 3931 to 3934
3941 to 3944 3941 to 3944
5843 - - Number of pulses of position detector for Cs contouring control
Spindle rotation direction for a positive motion command on Cs contouring
3000#1 4000#1 4000#1
control mode
Direction of reference position return when the system enters Cs contouring
3000#3 4000#3 4000#3
control mode
Whether to use the rotation direction signal (SFR/SRV) function on Cs
3002#4 4002#4 4002#4
contouring control
3005#0 4005#0 - Sets the detection unit for Cs contouring control.
3016#3 4016#3 4016#3 Sets the smoothing function in feed-forward control.
3021 4021 4021 Maximum spindle speed on Cs contouring control mode
3036 4036 - Feed-forward coefficient

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Parameter No.
Description
15i 16i 30i
3037 4037 4037 Velocity loop feed-forward coefficient
3046 4046 4046 Velocity loop proportional gain on Cs contouring control mode
3047 4047 4047 (A parameter is selected by the CTH1A input signal sent from the PMC.)
3054 4054 4054 Velocity loop integral gain on Cs contouring control mode
3055 4055 4055 (A parameter is selected by the CTH1A input signal sent from the PMC.)
Spindle-to-motor gear ratio
3056 to 3059 4056 to 4059 4056 to 4059 (A parameter is selected by the CTH1A and CTH2A input signals sent from
the PMC.)
Position gain for axes subject to Cs contouring control
3069 to 3072 4069 to 4072 4069 to 4072
(A parameter is selected by the CTH1A input signal sent from the PMC.)
Feedrate for reference position return on Cs contouring control mode or
3074 4074 4074
servo mode
Rate of change in the position gain when reference position return is
3092 4092 4092
performed on Cs contouring control mode
3094 4094 4094 Disturbance torque compensating constant (acceleration feedback gain)
3131 4131 4131 Velocity detection filter time constant (on Cs contouring control)
3135 4135 4135 Grid shift on Cs contouring control mode
3162 4162 4162 Velocity loop integral gain for cutting feed on Cs contouring control
3163 4163 4163 (A parameter is selected by the PMC input signal CTH1A.)
- - 4344 Advanced preview feed-forward coefficient
- 4353#5 4353#5 Sets the Cs axis position data transfer function.
Acceleration/deceleration time constant for Cs control reference position
3406 4406 4406
return

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part IV.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part IV.

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2.4.7 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, in the four thousands for 30i, and in the three
thousands for 15i) among the parameters related to Cs contouring
control. For details of other parameters, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.9 “Cs CONTOUR CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.9 “Cs CONTOUR CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “Cs CONTOUR CONTROL.”

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 4000 RETRN ROTA2

ROTA2 Indicates the spindle direction by the move command (+). (Only
effective on Cs contouring control)
0 : When the value of a move command from the CNC is positive
(+), the spindle rotates in the CCW direction.
1 : When the value of a move command from the CNC is positive
(+), the spindle rotates in the CW direction.
Change the setting of this parameter when changing the rotation
direction of the spindle on Cs contouring control.

RETRN Indicates the reference position return direction on Cs contouring

control.
0 : Returns the spindle from the CCW direction to the reference
position (counterclockwise direction).
1 : Returns the spindle from the CW direction to the reference
position (clockwise direction).

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 CSDRCT

CSDRCT Whether to use the rotation direction signal (SFR/SRV) on Cs

contouring control
0 : Rotation direction function enabled
(1) When bit 1 (ROTA2) of No. 4000 = 0, and the value of a
move command from the CNC is positive (+)
(a) The spindle rotates counterclockwise when input
signal SFR(G70#5) is set to 1.
(b) Tthe spindle rotates clockwise when input signal
SRV(G70#4) is set to 1.
(2) When bit 1 (ROTA2) of No. 4000 = 1, and the value of a
move command from the CNC is positive (+)
(a) The spindle rotates clockwise when input signal
SFR(G70#5) is set to 1.
(b) The spindle rotates counterclockwise when input
signal SRV(G70#4) is set to 1.
1 : Rotation direction function disabled
The rotation direction function of the SFR/SRV signal is disabled.
Only the function for enabling spindle motor excitation is
available.
(1) When bit 1 (ROTA2) of parameter No. 4000 is set to 0
When the value of a move command from the CNC is
positive (+), and SFR/SRV = 1, the spindle rotates in the
CCW direction.
(2) When bit 1 (ROTA2) of parameter No. 4000 is set to 1
When the value of a move command from the CNC is
positive (+), and SFR/SRV = 1, the spindle rotates in the
CW direction.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 - CS360M

CS360M Sets the detection unit for Cs contouring control.

0 : 0.001°
1 : 0.0001°
Set 0 usually. When a CZi sensor is used as the position detector and
the setting unit IS-C is used, set 1.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3016 4016 4016 FFSMTH

FFSMTH Specifies whether to use the smoothing function under feed-forward

control.
0 : Don’t use the smoothing function.
1 : Uses the smoothing function.
This bit specifies whether to use the smoothing function under
feed-forward control on Cs contouring control mode.

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15i 16i 30i

3021 4021 4021 Maximum speed on Cs contouring control mode

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 100
This parameter specifies the maximum speed of a spindle operating on
Cs contouring control mode.
When 0 is specified as the parameter for the feedrate for reference
position return on Cs contouring control mode (parameter No. 4074),
reference position return is performed at the speed specified as the
maximum speed in this parameter.

15i 16i 30i

3036 4036 - Feed-forward coefficient

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 0
Set the feed-forward coefficient when feed-forward control is
executed on Cs contouring control.

15i 16i 30
3037 4037 4037 Velocity loop feed-forward coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set a velocity loop feed-forward coefficient when feed-forward
control is executed on Cs contouring control. Use the following
expression to determine a value to be set:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)

15i 16i 30i

3046 4046 4046 Velocity loop proportional gain on Cs contouring control (HIGH) CTH1A=0
3047 4047 4047 Velocity loop proportional gain on Cs contouring control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 30
These parameters specify the proportional gains of the velocity loop
on Cs contouring control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

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15i 16i 30i

3054 4054 4054 Velocity loop integral gain on Cs contouring control (HIGH) CTH1A=0
3055 4055 4055 Velocity loop integral gain on Cs contouring control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 50
These parameters specify the integral gains of the velocity loop for Cs
contouring control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor to the spindle.
Usually, set 100.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle does not stop but keeps rotating at the
time of orientation. So, be sure to set a proper gear
ratio.

15i 16i 30i

3069 4069 4069 Position gain on Cs contouring control (HIGH) CTH1A=0, CTH2A=0
3070 4070 4070 Position gain on Cs contouring control (MEDIUM HIGH) CTH1A=0, CTH2A=1
3071 4071 4071 Position gain on Cs contouring control (MEDIUM LOW) CTH1A=1, CTH2A=0
3072 4072 4072 Position gain on Cs contouring control (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 3000
These parameters specify the position gains used on Cs contouring
control mode.
A parameter is selected by the input signals CTH1A and CTH2A.

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15i 16i 30i

Speed for return to reference position on Cs contouring control mode/servo
3074 4074 4074 mode

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 0
• When 0 is set
The value set in No. 4021 (maximum spindle speed) is used as a
reference position return speed on Cs contouring control.
• When a value other than 0 is set
The value set in this parameter is used as a reference position
return speed on Cs contouring control.

NOTE
An overshoot can occur at reference position return
time for a cause such as an excessively high
reference position return speed by setting the
parameter No. 4021 (maximum spindle speed on Cs
contouring control mode). In this case, set this
parameter.

15i 16i 30i

The reduction rate of position loop gain in returning to the reference position
3092 4092 4092 on Cs contouring mode

Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
This parameter specifies a rate of change in the position gain used for
reference position return on Cs contouring control mode.

NOTE
An overshoot can occur at reference position return
time for a cause such as an excessively high
reference position return speed and an excessively
large spindle inertia. In this case, an overshoot can
be avoided by setting a small value in this
parameter.

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15i 16i 30i

The constant of the torque disturbance compensating (Acceleration feedback
3094 4094 4094 gain)

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
This parameter specifies the constant for compensating for a
disturbance torque on Cs contouring control mode.

NOTE
By setting this parameter, stability in cutting can be
improved.
In this parameter, set a value from 500 to 2000.
Do not set a value exceeding 4000.

15i 16i 30i

3131 4131 4131 Velocity detection filter time constant (on Cs contouring control)

Unit of data : 0.1ms

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a filter time constant for the velocity feedback
signal on Cs contouring control. Usually, set 0.

15i 16i 30i

3135 4135 4135 Grid shift amount on Cs contouring control

Unit of data : 1 pulse unit (=0.001°) (0.0001° when bit 0 (CS360M) of parameter No.
4005 is set to 1)
Valid data range : -360000 to +360000
(When parameter No. 4005 #0 (CS360M) is 1, -3,600,000 to
+3,600,000)
Standard setting value : 0
Use this parameter to shift the machine reference position on Cs
contouring control.
The machine reference position of the spindle shifts by the set number
of pulses in the CCW direction.

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15i 16i 30i

Velocity loop integral gain for cutting feed on Cs contouring control(HIGH)
3162 4162 4162 CTH1A=0

Velocity loop integral gain for cutting feed on Cs contouring control(LOW)

3163 4163 4163 CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set a velocity loop integral gain for cutting feed
(G01, G02, G03) on Cs contouring control.
When the input signal CTH1A = 0, (HIGH) is selected. When the
input signal CTH1A = 1, (LOW) is selected.

NOTE
When 0 is set in these parameters, the values set in
No. 4054 and No. 4055 (velocity loop integral gain
on Cs contouring control) are valid.

15i 16i 30i

- - 4344 Advanced preview feed-forward coefficient

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a feed-forward coefficient for exercising
feed-forward control when Cs contouring control is used.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

- 4353 4353 CSPTRE

CSPTRE Sets the Cs axis position data transfer function.

0 : Disables the Cs axis position data transfer function.
1 : Enables the Cs axis position data transfer function.
Set this parameter to 1 when using the Cs axis coordinate
establishment function.

NOTE
This parameter is valid with 9D53 Series B (02)
edition or later and 9D70 series A (01) edition or
later.

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15i 16i
Acceleration/deceleration time constant at return to the reference position in
3406 4406 Cs contouring control

Unit of data : 1msec

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets the acceleration to be used for returning to the
reference position in Cs contouring control. Use of this parameter can
reduce the shock due to acceleration/deceleration during return to the
reference position. The spindle speed command during return to the
reference position is then given as follows:
One-rotation signal detected

Reference
position return
speed
(min-1)

Setting in Setting in
parameter No. parameter No.
4406 4406
(msec) (msec)

Start of reference position return End of reference position return

NOTE
1 When 0 is set in this parameter, a velocity command
is assumed as follows.
• Before detecting the one-rotation signal:
Reference position return speed (step-type
velocity command)
• After detecting the one-rotation signal:
Distance to the reference position × Position gain
2 This parameter is enabled when soft start/stop signal
SOCNA is 1.

2.4.8 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.4.8, "Diagnosis (Diagnosis
Screen)", in Part I.

2.4.9 Alarm
For this subsection, see Subsection 2.4.9, "Alarm", in Part I.

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2.5 SPINDLE SYNCHRONOUS CONTROL Optional function

2.5.1 Start-up Procedure

For this subsection, see Subsection 2.5.1, "Start-up Procedure", in Part
I.

2.5.2 Overview
For this subsection, see Subsection 2.5.2, "Overview", in Part I.

2.5.3 System Configuration

The system configurations that enable the use of the spindle
synchronous control function are shown below.

1sat spindle
BZi sensor or CZi sensor
CNC
Spindle +
Built-in motor

JA7B
JYA2
SPM

JA7A

2nd spindle
BZi sensor or CZi sensor

Spindle +
Built-in motor

JA7B
JYA2
SPM

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2.5.4 Explanation of Operation

For this subsection, see Subsection 2.5.4, "Explanation of Operation",
in Part I.

2.5.5 I/O Signals (CNC ↔ PMC)

For this subsection, see Subsection 2.5.5, "I/O Signals (CNC ↔

PMC)", in Part I.

2.5.6 Examples of Sequences

For this subsection, see Subsection 2.5.6, "Examples of Sequences", in
Part I.

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2.5.7 Related Parameters

Parameter No.
Description
16i 30i
4800#0 - Direction of rotation of the 1st spindle motor while spindle synchronous control is applied
Direction of rotation of the 2nd spindle motor while spindle synchronous control is
4800#1 -
applied
- 4801#0 Direction of rotation of each spindle motor while spindle synchronous control is applied
Error pulse difference between the two spindles for turning on the spindle phase
4810 4810
synchronous completion signal
Error pulse difference between the two spindles for issuing an alarm on spindle
4811 4811
synchronous control
Whether to enable the rotation direction signal (SFR/SRV) function on spindle
4002#6 4002#6
synchronous control
4006#1 4006#1 Gear ratio increment system
Setting for disabling automatic one-rotation signal detection at spindle synchronous
4006#3 4006#3
control mode switching time
Acceleration used for spindle synchronous control
4032 4032
(The same value must be set for both the 1st and 2nd spindles.)
4033 4033 Spindle synchronous speed arrival level
4034 4034 Shift amount for spindle phase synchronous control
4035 4035 Compensation data for spindle phase synchronization
4044 4044 Velocity loop proportional gain for spindle synchronous control
4045 4045 (A parameter is selected by the CTH1A PMC input signal.)
4052 4052 Velocity loop integral gain for spindle synchronous control
4053 4053 (A parameter is selected by the CTH1A PMC input signal.)
Spindle-to-motor gear ratio data
4056 to 4059 4056 to 4059
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
Position gain for spindle synchronous control
4065 to 4068 4065 to 4068 (The same value must be specified for both the 1st and 2nd spindles.)
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
Magnetic flux switching point used for calculating an acceleration/deceleration time
4336 4336 constant used for spindle synchronous control
(The same value must be specified for both the 1st and 2nd spindles.)
Bell-shaped acceleration/deceleration time constant for spindle synchronous control
4340 4340
(The same value must be specified for both the first and second spindles.)
4346 4346 Incomplete integration coefficient
4515 4515 Excessive speed deviation alarm detection level on spindle synchronous control
4516 4516 Excessive positional deviation alarm detection level on spindle synchronous control

NOTE
1 For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part IV.
2 For velocity loop proportional/integral gain
adjustment, see Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT", in Part IV.

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2.5.8 Details of Related Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i and 30i) among the parameters related to spindle
synchronous control. For details of other parameters, refer to the
Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.12 “SPINDLE SYNCHRONOUS
CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.13 “SPINDLE SYNCHRONOUS
CONTROL.”

16i 30 #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT

SYCDRT Whether to enable the rotation direction signal (SFR/SRV) function

on spindle synchronous control
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW (counterclockwise)
direction when the input signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW (clockwise) direction when
the input signal SRV (bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle
rotates in the CCW (counterclockwise) direction when the input
signal SFR = 1 or SRV = 1.

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4006 4006 SYCREF GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor speed increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor speed increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.

Parameter No.
Description
16i 30i
4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

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NOTE
1 Usually, use the 1/100 unit (setting "0").
2 When the 1/100 unit is set as the gear ratio setting
resolution (with the bit set to 0), a steady-state
synchronous error may be indicated due to the
fraction of the gear ratio.
In such a case, the synchronous error can be
improved when the 1/1000 unit is set as the gear
ratio setting resolution (with the bit set to 1).

SYCREF Setting for function performing automatic detection of the

one-rotation signal on spindle synchronous control
0 : Automatic detection of the one-rotation signal carried out
1 : Automatic detection of the one-rotation signal not carried out.
(When spindle phase synchronization is not carried out)
When the mode is switched to spindle synchronous control mode after
power-on, the two spindles automatically perform a one-rotation
signal detection operation. So, the spindles automatically make two to
three turns even if such turns are not intended.
This operation is required because the one-rotation signal must be
detected to enable spindle phase synchronous control.
If the two spindles are mechanically connected to disable each spindle
from performing a one-rotation signal detection operation, or if
spindle phase synchronous control is not exercised, the operation
above can be disabled by setting this bit to 1.
When this parameter is set to "1", check that the one-rotation signal
has been detected for both spindles (output signal PC1DTA = 1)
before applying the spindle phase synchronous control signal
(SPPHS).
If the one-rotation signal is not detected, specify a speed of several ten
min-1 or higher in spindle synchronous control mode, and wait until
the one-rotation signal is detected. (See sequence example (4).)

16i 30i
4032 4032 Acceleration at spindle synchronous control

Unit of data : 1min-1/sec

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets an acceleration value for linear
acceleration/deceleration when the synchronous speed command for
spindle synchronous control is changed.

NOTE
1 Set exactly the same data for 1st spindle and 2nd
spindle. When different data is set, synchronization
between the two spindles is not guaranteed.
2 When this parameter is set to 0, motor doesn’t
accelerate/decelerate, so, be sure to set proper
value in this parameter.

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16i 30i
4033 4033 Spindle synchronous speed arrival level

Unit of data : 1min-1/sec

Valid data range : 0 to 32767
Standard setting : 10
For the synchronous speed command at spindle synchronous control,
if the error of the respective spindle motor speeds are within the
setting level, the spindle synchronous control complete signal
(FSPSY) becomes "1".

16i 30i
4034 4034 Shift amount at spindle phase synchronous control

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4095
Standard setting : 0
Sets the shift amount from the reference position (one-rotation signal)
at spindle phase synchronous control.

16i 30i
4035 4035 Spindle phase synchronous compensation data

Unit of data : 1 pulse/2msec

Valid data range : 0 to 4095
Standard setting : 10
This parameter reduces speed fluctuations when aligning phase of
spindles in spindle phase synchronous control.
When this parameter is "0", since the phase alignment amount is only
issued once, the position error quickly becomes large, and there are
large speed changes on phase alignment.
It is possible to perform smooth phase alignments through issuing
separate commands for phase alignment amounts for the number of 2
msec pulses set in this parameter.

16i 30i
Velocity loop proportional gain on spindle synchronous control (HIGH)
4044 4044
CTH1A=0
Velocity loop proportional gain on spindle synchronous control (LOW)
4045 4045
CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop proportional gain on spindle synchronous
control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected
LOW when CTH1A=1 of input signal.

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16i 30i
4052 4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
4053 4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop integral gain on spindle synchronous control. It
is selected HIGH when CTH1A=0 of input signal, and It is selected
LOW when CTH1A=1 of input signal.

16i 30i
4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These parameters set the gear ratio of the spindle motor to the spindle.
Usually, set 100.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle does not stop but keeps rotating at the
time of orientation. So, be sure to set a proper gear
ratio.

16i 30i
4065 4065 Position gain on spindle synchronous control (HIGH) CTH1A=0, CTH2A=0
Position gain on spindle synchronous control (MEDIUM HIGH)
4066 4066
CTH1A=0, CTH2A=1
Position gain on spindle synchronous control (MEDIUM LOW)
4067 4067
CTH1A=1, CTH2A=0
4068 4068 Position gain on spindle synchronous control (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting : 1000
This sets position gain in spindle synchronous control. It is selected by
CTH1A or CTH2A of input signal.

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16i 30i
4336 4336 Acceleration switch point on spindle synchronous control

Unit of data 1min-1

Valid data range : 0 to 32767
Standard setting : 0
The acceleration for spindle synchronous control changes according to
the speed set in this parameter as follows:
• Area where the spindle speed does not exceed the speed set in
this parameter
The acceleration for spindle synchronous control is constant (as
set in parameter No. 4032).
• Area where the spindle speed exceeds the speed set in this
parameter
The acceleration for spindle synchronous control decreases in
inverse proportion to the speed.

NOTE
1 Set the same data for the first spindle and second
spindle. If different data is set, synchronization
between the two spindles is not guaranteed.
2 When this parameter is set to 0, linear
acceleration/deceleration (constant acceleration) is
performed.

16i 30i
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340 control

Unit of data : 1msec

Valid data range : 0 to 512
Standard setting : 0
This parameter sets a bell-shaped acceleration/deceleration time
constant for spindle synchronous control.
This parameter is applied to the move command after "Acceleration at
spindle synchronous control" (parameter No. 4032) is applied.
When this parameter is set, the spindle synchronous speed control
completion signal (FSPSY), output when the synchronous speed is
first reached after the spindle synchronous control mode is entered, is
delayed by the set time.

NOTE
Set the same data for the first spindle and second
spindle. If different data is set, synchronization
between the two spindles is not guaranteed.

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16i 30i
4346 4346 Incomplete integration coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set this parameter to use incomplete integration for velocity loop
integration control.

NOTE
Usually, this parameter need not be adjusted.

16i 30i
Excessive speed deviation alarm detection level on spindle synchronous
4515 4515 control

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a level for detecting the excessive speed deviation
alarm under spindle synchronous control.
If the positional deviation (position error) or the difference between
the speed command for the spindle end calculated from the position
gain and the actual spindle speed exceeds the value set in this
parameter in the spindle synchronous control mode, the excessive
speed deviation alarm under spindle synchronous control (SPM alarm
C8) is detected. When this parameter is set to 0, alarm detection is
disabled.
If the speed integration control signal (INTG) is used, the speed
deviation increases for a cause such as acceleration/deceleration and
cutting load. The spindle speed deviation that causes torque command
saturation is indicated below. Set an alarm level by using a calculated
value as a guideline. (During spindle synchronous control, ensure that
torque command saturation does not take place.)

Spindle speed deviation [min-1] = 1024 × A / P × B / G

where
No.4006#1 No.4009#0 A B
0 0 1 100
0 1 16 100
1 0 1 1000
1 1 16 1000
P: Velocity loop proportional gain on spindle synchronous
control（No.4044, 4045）
G: Gear ratip (No.4056 to 4059)
NOTE
This parameter is valid with 9D53 Series E (05)
edition or later and 9D70 series D (04) edition or
later.
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16i 30i
Excessive positional deviation alarm detection level on spindle synchronous
4516 4516 control

Unit of data : 100 pulses (weight of 4096 pulses/rev)

Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a level for detecting the excessive positional
deviation alarm under spindle synchronous control.
If the positional deviation (position error) exceeds the value set in this
parameter in the spindle synchronous control mode, the excessive
positional deviation alarm under spindle synchronous control (SPM
alarm C9) is detected. When this parameter is set to 0, alarm detection
is disabled.
As an alarm level, set a value greater than the positional deviation
(position error) equivalent to the spindle speed specified in the spindle
synchronous control mode. The positional deviation equivalent to the
spindle speed can be calculated from the following expression:

Positional deviation [pulse] =

Spindle speed [min-1] / 60 × 4096 × 100 / PG
where
PG: Position gain on spindle synchronous control (No.4065 to
4068)

NOTE
This parameter is valid with 9D53 Series E (05)
edition or later and 9D70 series D (04) edition or
later.

2.5.9 Number of Error Pulses in Spindle Synchronous Control

For this subsection, see Subsection 2.5.9, "Number of Error Pulses in
Spindle Synchronous Control", in Part I.

2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous

Control
For this subsection, see Subsection 2.5.10, "Specifying a Shift
Amount for Spindle Phase Synchronous Control", in Part I.

2.5.11 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.5.11, "Diagnosis (Diagnosis
Screen)", in Part I.

2.5.12 Alarm
For this subsection, see Subsection 2.5.12, "Alarm", in Part I.
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2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES

2.6.1 Overview
For this subsection, see Subsection 2.6.1, "Overview", in Part I.

2.6.2 List of I/O Signals (CNC ↔ PMC)

This subsection provides a list of the I/O signals related to spindle
speed control only. For details of each signal, refer to the Connection
Manual (Function) of each CNC.

(a) For Series 16i/18i/21i

“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For details of the I/O signals common to the CNCs, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part IV.

(1) Input signals (PMC → CNC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

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(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A

2nd- G272 GS4B GS2B GS1B

(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 *ESPA ARSTA

2nd- G234 G075 G075 *ESPB ARSTB

1st- G228 G073 G073 EPFSTRA DSCNA MPOFA

2nd- G236 G077 G077 EPFSTRB DSCNB MPOFB

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(2) Output signals (CNC → PMC)

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O

NOTE
*1 These signals are valid with the M series only.

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(b) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F045 SRSRDY

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B

1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

(c) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F231 F047 F047 EXOFA PC1DTA

2nd- F247 F051 F051 EXOFB PC1DTB

1st- F230 F048 F048 EPFIXA SSMBRKA PC1DTA

2nd- F246 F052 F052 EPFIXB SSMBRKB PC1DTB

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2.6.3 Parameters
This subsection describes those parameters that are common to all
operation modes by dividing them into several types.

NOTE
For the detector-related parameters, see Section
1.3, "PARAMETERS RELATED TO DETECTORS",
in Part IV.

(1) List of parameters specific to synchronous built-in spindle motor driving

This item provides a list of the motor parameters specific to
synchronous built-in spindle motor driving. Usually, the settings of
these parameters need not be changed. Use the values indicated on a
parameter table for each motor model without modification.

Parameter No.
Description
15i 16i 30i
3006#4 4006#4 4006#4 Sets the d-phase current command.
3008#3 4008#3 4008#3 Sets the current command.
3008#4 4008#4 4008#4 Sets the method of output control.
3009#5 4009#5 4009#5 Sets base speed (for B160L4/6000is)
3011#3 4011#3 4011#3 Sets the number of motor poles.
3011#4 4011#4 4011#4 Sets a maximum output for acceleration/deceleration.
3011#7 4011#7 4011#7 Sets the number of motor poles.
3012#2,#1,#0 4012#2,#1,#0 4012#2,#1,#0 Sets a PWM carrier frequency.
3012#6 4012#6 4012#6 Sets whether to drive the synchronous built-in spindle motor.
3012#7 4012#7 4012#7 Sets the spindle HRV function.
3013#6 to #2 4013#6 to #2 4013#6 to #2 Sets current dead-band data.
3020 4020 4020 Maximum motor speed
3080 4080 4080 Limits regenerative power.
Current step selection/activation current ratio/stop confirmation
3083 4083 4083
time in magnetic pole detection
3084 4084 4084 AMR offset
3085 4085 4085 AMR offset fine adjustment
3086 4086 4086 Inductance ratio
3100 4100 4100 Base speed for motor output specification
3101 4101 4101 Torque limitation value for motor output specification
3102 4102 4102 Base speed at maximum load
3103 4103 4103 Magnetic flux reduction start speed
3104 4104 4104 Current loop proportional gain
3106 4106 4106 Current loop integral gain
3108 4108 4108 Current loop integral gain zero speed
3109 4109 4109 Filter time constant in voltage command saturation processing
3110 4110 4110 Current conversion constant
3111 4111 4111 Maximum current coefficient
Voltage command saturation decision level/PWM command clamp
3112 4112 4112
value
3113 4113 4113 Current coefficient for magnetic flux reduction
3115 4115 4115 PWM command clamp value at deceleration time

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2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

Parameter No.
Description
15i 16i 30i
3116 4116 4116 Counter electromotive voltage compensation coefficient
3117 4117 4117 Interference voltage compensation coefficient
3119 4119 4119 Interference voltage compensation
Dead-band rectangular wave component zero voltage/dead-band
3120 4120 4120
data
3127 4127 4127 Load meter indication value at maximum output time
3130 4130 4130 Current phase delay compensation constant
3133 4133 4133 Motor model code
3134 4134 4134 Motor overheat level (2 words)
3362 4362 4362 Load meter compensation 1
3363 4363 4363 Load meter compensation 2
3364 4364 4364 Load meter compensation 3

(2) List of parameters related to alarm detection

This item provides a list of the parameters related to alarm detection
conditions.

Parameter No.
Description
15i 16i 30i
Motor power turn-off method when SPM alarm 24 (serial data
3009#2 4009#2 4009#2
transfer error) is issued
3087 4087 4087 Excessive speed level
3088 4088 4088 Velocity error excess detection level when the motor is bound
3089 4089 4089 Velocity error excess detection level when the motor is rotating
3090 4090 4090 Overload detection level
3123 4123 4123 Short-time overload detection period

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(3) Other parameters

This item provides a list of the parameters common to all operation
modes except the parameters listed in Items (1) and (2) above.

Parameter No.
Description
15i 16i 30i
 3706#1,#0 - Gear ratio between the spindle and position coder (cases of ×1, ×2, ×4, ×8)
5602#3   Whether to indicate an alarm detected by the spindle amplifier (Usually, set 0.)
5807#0   Enables/disables the spindle alarms (SPxxxx) of all spindles. (Usually, set 0.)
5842  3720 Number of position coder pulses
5850   Spindle number selected at power-on/reset time
3001#0 4001#0 4001#0 Whether to use the MRDY signal (machine ready signal)
3006#1 4006#1 4006#1 Gear ratio increment system
3009#0 4009#0 4009#0 Velocity loop gain increment system
Whether to output the load detection signals (LDT1, LDT2) during
3009#4 4009#4 4009#4
acceleration/deceleration
3012#6 4012#6 4012#6 Sets whether to drive the synchronous built-in spindle motor.
3012#7 4012#7 4012#7 Sets the spindle HRV function.
3019#2 4019#2 4019#2 Whether to perform torque clamping when the speed is zero
3019#7 4019#7 4019#7 Automatic parameter setting function
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.
3395#3 4395#3 4395#3 Sets parameter transfer from the CNC to spindle software.
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection signal
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Sets a torque limitation value.
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3056 4056 4056 Gear ratio (High)
3057 4057 4057 Gear ratio (Medium High)
3058 4058 4058 Gear ratio (Medium Low)
3059 4059 4059 Gear ratio (Low)
3095 4095 4095 Speedometer output voltage adjustment value
3096 4096 4096 Load meter output voltage adjustment value
3122 4122 4122 Speed detection filter time constant
3170 4170 4170 Overload current alarm detection level
3345 4345 4345 Detection level of the spindle motor speed command
3346 4346 4346 Incomplete integral coefficient
3351 4351 4351 Current detection offset compensation

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2.6.4 Details of Parameters

This subsection details the serial spindle parameters (in the four
thousands for 16i, in the four thousands for 30i, and in the three
thousands for 15i) among the parameters common to all operation
modes. For details of other parameters, refer to the Connection
Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

(1) List of parameters specific to spindle motor driving

Usually, the settings of the motor parameters specific to synchronous
built-in spindle motor driving need not be changed. Their details are
omitted.

(2) List of parameters related to alarm detection

This item details the parameters related to alarm detection conditions.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 ALSP

ALSP Motor power turn-off method when SPM alarm 24 (serial data transfer
error) is issued
0 : Turns off the power after the motor is decelerated and stopped.
1 : Turns off the power to the motor immediately.
Set this parameter to 1 to turn off the power to the motor immediately
when any SPM alarm is issued

15i 16i 30i

3087 4087 4087 Excessive speed level

Unit of data : 1%
Valid data range : 0 to 200
Standard setting value : 115
This parameter sets an excessive speed level.
When the speed exceeds [maximum motor speed (No. 4020) × setting
data (%)], the excessive speed alarm (SPM alarm 07) is issued.
WARNING
Make sure this parameter is set to the standard
setting value. Do not change the value.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 2.EXPLANATION OF OPERATION MODES

15i 16i 30i

3088 4088 4088 Velocity error excess detection level when the motor is bound

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a velocity error excess (SPM alarm 31) detection
level when the motor is bound.
If a velocity error equal to or greater than [maximum motor speed (No.
4020) × setting data (%)] occurs when the motor is bound, for
example, the motor binding alarm (SPM alarm 31) is issued.

15i 16i 30i

3089 4089 4089 Velocity error excess detection level when the motor is rotating

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 200
This parameter sets a velocity error excess detection level when the
motor is rotating.
If a velocity error equal to or greater than [maximum motor speed (No.
4020) × setting data (%)] occurs, the velocity error excess alarm (SPM
alarm 02) is issued.

15i 16i 30i

3090 4090 4090 Overload detection level

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 90
This parameter sets a condition for detecting the short-time overload
alarm (spindle alarm 29).
If the state where a load equal to or greater than setting data (%)
(maximum motor output [load meter full scale] = 100%) is imposed
on the spindle motor lasts for a specified period (set in No. 4123) or
more, the short-time overload alarm (SPM alarm 29) is issued.

15i 16i 30i

3123 4123 4123 Short-time overload detection period

Unit of data : 1sec

Valid data range : 0 to 500
Standard setting value : 30
This parameter sets the timing for detecting the short-time overload
alarm (SPM alarm 29).
If the state where a load equal to or greater than the value (set in No.
4090) is imposed on the spindle motor lasts for a specified period
(sec) or more, the short-time overload alarm (SPM alarm 29) is issued.

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2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

(3) Other parameters

This item details the parameters common to all operation modes
except the parameters listed in Items (1) and (2) above.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 4001 MRDY1

MRDY1 Whether to use the MRDYA signal (machine ready signal)

0 : Does not uses the MRDYA signal (MRDYA = 1 at all times).
1 : Uses the MRDYA signal.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit
1 : 1/1000 unit
Select a gear ratio data setting resolution from the following:
(a) Resolution based on motor speed increased by a factor of 100
relative to one spindle rotation
(b) Resolution based on motor speed increased by a factor of 1000
relative to one spindle rotation
Depending on the setting of this parameter, the increment system of
the parameters indicated in the table below changes.

Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

NOTE
Usually, use the 1/100 unit (setting "0").

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 LDTOUT VLPGAN

VLPGAN Velocity control loop gain increment system

0 : Uses ordinary setting.
1 : Divides ordinary setting data by 16 for processing.

NOTE
Usually, set this parameter to 0.

LDTOUT Whether to output the load detection signals (LDT1, LDT2) during
acceleration/deceleration
0 : Does not output the load detection signals during acceleration/
deceleration (standard setting value).
1 : Outputs the load detection signals during acceleration/
deceleration (at all times) when the parameter-set level is
exceeded.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3012 4012 4012 SPHRV SYSP

SYSP Sets whether to drive the synchronous built-in spindle motor.

0 : Enables inductive spindle motor driving. (standard setting value)
1 : Enables synchronous built-in spindle motor driving.
Set this parameter to 1.

SPHRV Sets the spindle HRV control function.

0 : Disables spindle HRV control.
1 : Enables spindle HRV control. (standard setting value)
Set this parameter to 1.

NOTE
When driving the Bis series spindle (synchronous
built-in spindle motor), be sure to set both of the
SYSP and SPHRV bits to 1.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3019 4019 4019 PRLOAD SSTTRQ

SSTTRQ Whether to perform torque clamping when the speed is zero

0 : Performs clamping.
1 : Does not perform clamping.

NOTE
Usually, set this parameter to 1 not to perform
clamping.

PRLOAD Automatic parameter setting function

0 : Does not perform automatic parameter setting (standard setting
value).
1 : Performs automatic parameter setting.
After setting a desired motor model code in parameter No. 4133 and
setting this bit to 1, turn off the power to the CNC, then turn on the
power to the CNC again. The parameters (No. 4000 to No. 4175) for
the αi series spindle corresponding to the model code are
automatically initialized. Upon completion of automatic setting, this
bit is automatically set to 0.

NOTE
With FS15i, the parameter address of this function is
different, namely, bit 0 of No. 5607 is used.
Moreover, note that the meanings of settings are
reversed as follows.
0: Performs automatic parameter setting.
1: Does not perform automatic parameter setting.
In this case, set a model code in parameter No.
3133.

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15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 PKHALW

PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3395 4395 4395 PRIMED

PRIMED Sets parameter transfer from the CNC to spindle software.

0 : Regards parameters as valid one second after they are transferred
from the CNC. (Standard setting value)
1 : Regards parameters as valid as soon as they are transferred from
the CNC.

NOTE
This parameter is valid with 9D53 Series B (02)
edition or later and 9D70 series A (01) edition or
later.

15i 16i 30i

3020 4020 4020 Maximum motor speed

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.

15i 16i 30i

3022 4022 4022 Speed arrival detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 150
This parameter sets a speed arrival signal (SARA) detection range.
When the motor speed reaches within ±(setting data/10)% of a
specified speed, the speed arrival signal (SARA) is set to 1.

15i 16i 30i

3023 4023 4023 Speed detection level

Unit of data : 0.1%

Valid data range : 0 to 1000
Standard setting value : 30
This parameter sets a speed detection signal (SDTA) detection range.
When the motor speed is (setting data/10)% of a maximum speed or
less, the speed detection signal (SDTA) is set to 1.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 2.EXPLANATION OF OPERATION MODES

15i 16i 30i

3024 4024 4024 Speed zero detection level

Unit of data : 0.01%

Valid data range : 0 to 10000
Standard setting value : 75
This parameter sets a speed zero detection signal (SSTA) detection
range.
When the motor speed is (setting data/100)% of a maximum speed or
less, the speed zero detection signal (SSTA) is set to 1.

15i 16i 30i

3025 4025 4025 Torque limitation value.

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the
torque limitation command HIGH (TLMHA) or the torque limitation
command LOW (TLMLA) is specified.
The data indicates limitation values when the maximum torque is
100%.
Torque limitation Torque limitation
command command Description
LOW (TLMLA) HIGH (TLMHA)
0 0 No torque limitation is imposed.
The torque is limited to the value
0 1
set in this parameter.
1 0 The torque is limited to a half of
1 1 the value set in this parameter.

15i 16i 30i

3026 4026 4026 Load detection level 1

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 1 (LDT1A) is set to 1.

15i 16i 30i

3027 4027 4027 Load detection level 2

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets a load detection signal 2 (LDT2A) detection range.
When the output of the spindle motor is (setting data)% of the
maximum output or more, load detection signal 2 (LDT2A) is set to 1.

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2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.
A parameter is selected with the CTH1A and CTH2A input signals.
Set the gear or clutch status to correspond to the clutch/gear signal
(CTH1A, CTH2A) in input signals.

NOTE
When an improper value is set in these parameters,
an unexpected operation can occur. For example,
the spindle can continue rotating without stopping at
the time of orientation. So, be sure to set a proper
gear ratio.

15i 16i 30i

3095 4095 4095 Speedometer output voltage adjustment value

Unit of data : 0.1%

Valid data range : -1000 to +100(-100% to +10%)
Standard setting value : 0
Set this parameter when making a fine adjustment of speedometer
output voltage.
Positive (+) data increases the output voltage.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3096 4096 4096 Load meter output voltage adjustment value

Unit of data : 0.1%

Valid data range : -1000 to +100(-100% to +10%)
Standard setting value : 0
Set this parameter when making a fine adjustment of load meter
output voltage.
Positive (+) data increases the output voltage.

NOTE
Usually, this parameter need not be adjusted.
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15i 16i 30i

3122 4122 4122 Speed detection filter time constant

Unit of data : 0.1ms

Valid data range : 0 to 10000
Standard setting value : 0
This parameter sets a time constant for a filter to be applied to the
velocity feedback signal.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3170 4170 4170 Overload current alarm detection level

Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.

NOTE
Usually, this parameter need not be adjusted.

15i 16i 30i

3345 4345 4345 Specified detection level of the spindle motor speed

Unit of data : 1 min-1

Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets the detection level of the spindle motor speed
detection function. If the specified spindle motor speed is greater than
the set value, the level of the speed specification detection signal
output from the spindle amplifier to the CNC becomes 1.
If the set value is 0, the level of the speed specification detection
signal is always 0.

15i 16i 30i

3346 4346 4346 Incomplete integral coefficient

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set this parameter to use incomplete integral function for velocity loop
integral control.

NOTE
Usually, this parameter need not be adjusted.

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15i 16i 30i

3351 4351 4351 Current detection offset compensation

Unit of data :
Valid data range : 0 to ±32767
Standard setting value : 0

NOTE
Usually, this parameter need not be adjusted.

2.6.5 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 2.6.5, "Diagnosis (Diagnosis
Screen)", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 3.I/O SIGNALS (CNC ↔ PMC)

3 I/O SIGNALS (CNC ↔ PMC)

This chapter explains the functions of the signals directly input from
the PMC to SPM via the CNC and the signals directly output from the
SPM to PMC. For other spindle-related I/O signals, refer to the
Connection Manual (Function) of the relevant CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Chapter 11 “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”

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3.I/O SIGNALS (CNC ↔ PMC) FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

3.1 INPUT SIGNALS (PMC→CNC→SPM)

This section explains the functions of the signals directly input from
the PMC to SPM via the CNC. For other spindle-related input
signals, refer to the Connection Manual (Function) of the relevant
CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Chapter 11 “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”

3.1.1 List of Input Signals

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 INTGA SOCNA *ESPA ARSTA

2nd- G234 G075 G075 INTGB SOCNB *ESPB ARSTB

1st- G229 G072 G072 INCMDA OVRA NRROA ROTAA INDXA

2nd- G237 G076 G076 INCMDB OVRB NRROB ROTAB INDXB

1st- G228 G073 G073 EPFSTRA DSCNA SORSLA MPOFA

2nd- G236 G077 G077 EPFSTRB DSCNB SORSLB MPOFB

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 3.I/O SIGNALS (CNC ↔ PMC)

3.1.2 Explanation of Input Signals

The signals whose names are not listed in Subsection 3.1.1, "List of
Input Signals", in Part IV are not supported by the Bis series spindle.

Symbol Name Description

These signals limit the output torque of the spindle motor.
Torque limitation
TLMLA, B The limit value is set in spindle parameter No. 4025.
command LOW
TLML TLMH
0 0 : Torque not limited
Torque limitation 0 1 : Limited to the parameter-set value
TLMHA, B
command HIGH 1 0 : Limited to about half of the parameter-set value
1 1 : Limited to about half of the parameter-set value
These signals set the conditions listed below according to the clutch or gear
status.
The signals can also be used for selecting spindle control parameters.
The names such as HIGH GEAR are given for convenience, and the
CTH1A, B correspondence to the actual gears is free.
Clutch/gear signal
CHT2A, B CTH1 CTH2
0 0 : HIGH GEAR
0 1 : MEDIUM HIGH GEAR
1 0 : MEDIUM LOW GEAR
1 1 : LOW GEAR
Reverse rotation These signals set the rotation direction of the spindle motor when viewed from
SRVA, B
command the shaft side.
SRV SFR
0 0 : Stopped
Forward rotation
SFRA, B 0 1 : Forward rotation (CCW: Counterclockwise direction)
command
1 0 : Reverse rotation (CW: Clockwise direction)
1 1 : Stopped
This signal is used to perform spindle orientation control.
Spindle orientation
ORCMA, B 0: Turns off the spindle orientation command.
command
1: Performs spindle orientation control.
0: Motor excitation is off.
MRDYA, B Machine ready signal
1: Ready for operation
This signal is used to reset spindle alarms.

Spindle alarm reset 32 msec min.

ARSTA, B
signal
“1” An alarm is reset when the signal status changes from "1" to
“0” "0".
0: Emergency stop
*ESPA, B Emergency stop signal
1: Normal operation
0: Disables the soft start/stop function.
SOCNA, B Soft start/stop signal
1: Enables the soft start/stop function.
Velocity integral control 0: Enables velocity integral control.
INTGA, B
signal 1: Disables velocity integral control.
This signal is used in orientation with the stop position set
Orientation stop “1” external setting type. When the status of this signal changes
INDXA, B position change “0” from "1" to "0", new position stop data is input, and a
command
movement to the new position then a stop take place.
Rotation direction This signal is used in orientation with the stop position set external setting type.
ROTAA, B command at orientation 0: CCW (counterclockwise)
stop position change 1: CW (clockwise)

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3.I/O SIGNALS (CNC ↔ PMC) FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

Symbol Name Description

Shortcut command at This signal is used in orientation with the stop position set external setting type.
NRROA, B orientation stop position 0: The rotation direction depends on the ROTA signal setting.
change 1: Shortcut control (within ±180°)
Analog override 0: Disables analog override.
OVRA, B
command 1: Enables analog override.
1: Incremental command spindle orientation
INCMDA, B Incremental command
0: Ordinary orientation
Motor power turn-off
MPOFA, B 1: Turns off the motor power.
signal
Synchronous This signal requests a synchronous orientation operation.
SORSLA, B orientation request 0: Cancels synchronous orientation.
command 1: Requests synchronous orientation.
This signal is used to detach the feedback cable between the amplifier and motor.
Disconnection detection
DSCNA, B 0: Enables disconnection and overheat detection.
disable signal
1: Disables disconnection and overheat detection.
Signal for starting magnetic pole detection operation
Magnetic pole detection
EPFSTRA, B 0: Cancels magnetic pole detection operation.
operation start signal
1: Requests magnetic pole detection operation.

3.1.3 Details of Input Signals

(a) Torque limitation command signals (TLMLA, TLMHA)

For details of these signals, see Subsection 3.1.2, "Explanation of
Input Signals", in Part I.

(b) Clutch/gear signals (CTH1A, CTH2A)

For details of these signals, see Subsection 3.1.2, "Explanation of
Input Signals", in Part I.

(c) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
For details of these signals, see Subsection 3.1.2, "Explanation of
Input Signals", in Part I.
For these signals, see also Section 1.5, "MAGNETIC POLE
DETECTION", in Part IV.

(d) Spindle orientation command (ORCMA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.

(e) Machine ready signal (MRDYA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.
For this signal, see also Section 1.5, "MAGNETIC POLE
DETECTION", in Part IV.

(f) Spindle alarm reset signal (ARSTA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 3.I/O SIGNALS (CNC ↔ PMC)

(g) Emergency stop signal (*ESPA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.
For this signal, see also Section 1.5, "MAGNETIC POLE
DETECTION", in Part IV.

(h) Soft start/stop signal (SOCNA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.

(i) Velocity integral control signal (INTGA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.

(j) Orientation stop position change command (INDXA), rotation direction

command at orientation stop position change (ROTAA), shortcut
command at orientation stop position change (NRROA), and incremental
command (INCMDA)
For details of these signals, see Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION", in Part I and Section 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION",
in Part I.

(k) Spindle analog override command (OVRA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.

(l) Motor power turn-off signal (MPOFA)

For details of this signal, see Subsection 3.1.2, "Explanation of Input
Signals", in Part I.
For this signal, see also Section 1.4, "SUB MODULE SM" and
Section 1.5, "MAGNETIC POLE DETECTION", in Part IV.

(m) Synchronous orientation request command (SORSLA)

For details of this signal, see Section 5.5, "SPINDLE ORIENTATION
DURING SPINDLE SYNCHRONIZATION CONTROL", in Part I.

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3.I/O SIGNALS (CNC ↔ PMC) FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

(n) Disconnection detection disable signal (DSCNA)

NOTE
The specifications of this signal partly differ from
the specifications for the inductive spindle motor.

(1) This signal is used when the connection between the spindle
amplifier and spindle motor needs to be disconnected
temporarily.
SPM

Feedback
JYA2 Motor

Power line

(2) When this signal is used to detach the feedback signal, motor
overheat and the issuance of a feedback signal disconnection
alarm can be prevented.
(3) A motor excitation OFF state confirmation signal (EXOFA) is
provided to confirm that the motor is not excited before the
connected power line is detached.
(4) Before setting this signal to 1 and disconnecting the feedback
signals and power line, set all the SFRA, SRVA, ORCMA,
MRDYA, and *ESPA commands to 0, and confirm that the
motor excitation OFF state confirmation signal (EXOFA) has
been set to 1. After completing re-connection, reset this signal to
0.
(5) With the synchronous built-in spindle motor, the motor sensor
disconnection alarm (SPM alarm 73) is issued during activation
even if this signal is set to 1.
(6) With the synchronous built-in spindle motor, the motor sensor
feedback is monitored for a disconnection even while this signal
is set to 1. When a disconnection is detected, the magnetic pole
position undetected state (EPFIXA = 0) is set. So, while this
signal is set to 1 (not during activation, however,), the motor
sensor disconnection alarm (SPM alarm 73) is not detected even
if the motor sensor feedback disconnection state is detected. In
this case, however, the magnetic pole position undetected state is
set.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 3.I/O SIGNALS (CNC ↔ PMC)

(7) Sample sequence (for the synchronous built-in spindle motor)

Motor speed

Forward rotation
command
SFRA

Speed zero
detection signal
SSTA

Motor activation off

state signal
EXOFA

Disconnection
detection disable
signal
DSCNA Being
disconnected
Feedback cable
connection state
Connected Connected
Magnetic pole
detection state
signal
EPFIXA
Magnetic pole
Magnetic pole detection
detection operation operation
start signal
EPFSTRA

(o) Magnetic pole detection operation start signal (EPFSTRA)

For details of this signal, see Section 1.5, "MAGNETIC POLE
DETECTION", in Part IV.

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3.I/O SIGNALS (CNC ↔ PMC) FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

3.2 OUTPUT SIGNALS (SPM→CNC→PMC)

This section explains the functions of the signals directly output from
the SPM to PMC via the CNC. For other spindle-related output signals,
refer to the Connection Manual (Function) of the relevant CNC.

(a) For Series 16i/18i/21i

“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Chapter 11 “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”

3.2.1 List of Output Signals

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F231 F047 F047 EXOFA SORENA INCSTA PC1DTA

2nd- F247 F051 F051 EXOFB SORENB INCSTB PC1DTB

1st- F230 F048 F048 EPFIXA CSPENA SSMBRKA

2nd- F246 F052 F052 EPFIXB CSPENB SSMBRKB

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 3.I/O SIGNALS (CNC ↔ PMC)

3.2.2 Explanation of Output Signals

The signals whose names are not listed in Subsection 3.2.1, "List of
Output Signals", in Part IV are not supported by the Bis series spindle.

Symbol Name Description

This signal is output when a spindle alarm is issued.
ALMA, B Alarm signal 0: Normal state
1: Alarm state
This signal is output when the actual rotation speed of the spindle motor has
Zero speed detection decreased to the zero speed detection level or lower.
SSTA, B
signal 0: Rotating
1: Zero speed state
This signal is output when the actual rotation speed of the spindle motor has
decreased to a predetermined rotation speed or lower.
SDTA, B Speed detection signal
0: Above predetermined speed
1: Predetermined speed or lower
This signal is output when the actual rotation speed of the spindle motor has
achieved a predetermined range for a speed command.
SARA, B Speed arrival signal
0: Speed not achieved
1: Speed achieved
These signals are output when load at a set load detection level or higher is
LDT1A, B Load detection signal 1
detected. Different levels can be set for LDT1A and LDT2A.
0: Lower than the set load
LDT2A, B Load detection signal 2
1: Set load or higher
This signal is output when the torque is being limited by the TLMLA or TLMHA
Torque limitation signal.
TLMA, B
in-progress signal 0: Torque not being limited
1: Torque being limited
This signal is output when the spindle stops in the neighborhood of a
Orientation completion predetermined position after an orientation command is input.
ORARA, B
signal 0: Orientation not completed
1: Orientation completed
This signal is used to confirm whether the position coder one-rotation signal is
Position coder
detected or not.
PC1DTA, B one-rotation signal
0: Position coder one-rotation signal not detected
detection state signal
1: Position coder one-rotation signal detected
This signal is used to confirm whether incremental spindle orientation is being
Incremental orientation performed or not.
INCSTA, B
signal 0: Incremental spindle orientation is not in progress.
1: Incremental spindle orientation is in progress.
Synchronous This signal is used to confirm whether synchronous orientation is enabled or not.
SORENA, B orientation enable 0: Disables synchronous orientation.
signal 1: Enables synchronous orientation.
This signal is used to confirm whether motor excitation is off.
Motor excitation off
EXOFA, B 0: Motor excitation is in progress.
state signal
1: Motor excitation is off.
This signal is used to check the error state of the sub module SM (SSM).
Sub module SM (SSM)
SSMBRKA, B 0: The SSM is normal.
error state signal
1: The SSM is abnormal.

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3.I/O SIGNALS (CNC ↔ PMC) FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

Symbol Name Description

This signal is used to indicate whether Cs axis coordinate establishment
processing is possible.
Cs reference position
0: Coordinate establishment processing is impossible (with a reference position
CSPENA, B establishment state
not established).
signal
1: Coordinate establishment processing is possible (with a reference position
established).
This signal is used to check whether magnetic pole detection is completed or not.
Magnetic pole detection
EPFIXA, B 0: Magnetic pole detection is not completed.
state signal
1: Magnetic pole detection is completed.

3.2.3 Details of Output Signals

(a) Spindle alarm signal (ALMA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(b) Zero speed detection signal (SSTA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(c) Speed detection signal (SDTA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(d) Speed arrival signal (SARA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(e) Load detection signals (LDT1A, LDT2A)

For details of these signals, see Subsection 3.2.2, "Explanation of
Output Signals", in Part I.

(f) Torque limitation in-progress signal (TLMA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(g) Orientation completion signal (ORARA)

For details of this signal, see Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION", in Part I.

(h) Position coder one-rotation signal detection state signal (PC1DTA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(i) Incremental orientation signal (INCSTA)

For details of this signal, see Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 3.I/O SIGNALS (CNC ↔ PMC)

(j) Synchronous orientation enable signal (SORENA)

For details of this signal, see Section 5.5, "SPINDLE ORIENTATION
DURING SPINDLE SYNCHRONIZATION CONTROL", in Part I.

(k) Motor excitation off state signal (EXOFA)

For details of this signal, see (p), "Disconnection detection disable
signal", in Subsection 3.1.3 in Part I.

(l) Sub module SM (SSM) error state signal (SSMBRKA)

For details of this signal, see Section 1.4, "SUB MODULE SM", in
Part IV.

(m) Cs reference position establishment state signal (CSPENA)

For details of this signal, see Subsection 3.2.2, "Explanation of Output
Signals", in Part I.

(n) Magnetic pole detection state signal (EPFIXA)

For details of this signal, see Section 1.5, "MAGNETIC POLE
DETECTION", in Part IV.

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4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

4 ADJUSTMENT

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 4.ADJUSTMENT

4.1 VELOCITY LOOP GAIN ADJUSTMENT

4.1.1 Overview
For this subsection, see Subsection 4.1.1, "Overview", in Part I.

4.1.2 Parameters
For this subsection, see Subsection 4.1.2, "Parameters", in Part I.

4.1.3 Adjustment Procedure

For this subsection, see Subsection 4.1.3, "Adjustment Procedure", in
Part I.

4.1.4 Additional Information (Position Gain Adjustment)

For this subsection, see Subsection 4.1.4, "Additional Information
(Position Gain Adjustment)", in Part I.

4.2 MACHINE RESONANCE ELIMINATION

4.2.1 TCMD Filter

For this subsection, see Subsection 4.2.1, "TCMD Filter", in Part I.

4.2.2 HRV Filter

For this subsection, see Subsection 4.2.2, "HRV Filter", in Part I.

4.2.3 Disturbance Input Function

For this subsection, see Subsection 4.2.3, "Disturbance Input
Function", in Part I.

4.3 AMPLITUDE RATIO/PHASE DIFFERENCE

COMPENSATION FUNCTION

For this section, see Subsection 4.3, "AMPLITUDE RATIO/PHASE

DIFFERENCE COMPENSATION FUNCTION", in Part I.

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5 FUNCTION DESCRIPTIONS

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.1 SPEED RANGE SWITCHING CONTROL Optional function

The Bis series spindle (synchronous built-in spindle motor) does not
support this function.

5.2 SPINDLE SWITCHING CONTROL

The Bis series spindle (synchronous built-in spindle motor) does not
support this function.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION

(SPINDLE ROTATION SPEED CONTROL) Optional function

5.3.1 Overview
For this subsection, see Subsection 5.3.1, "Overview", in Part I.

5.3.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition A(01) and
Series 9D53 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

5.3.3 System Configuration

The incremental command type spindle orientation function can be
used in the following system configuration.

(1) When the BZi sensor or CZi sensor is used

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.3.4 I/O Signals(CNC↔PMC)

(1) Address list of input signals (PMC→CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 ORCMA CTH1A CTH2A
2nd- G235 G074 G074 ORCMB CTH1B CTH2B

1st- G229 G072 G072 INCMDA NRROA ROTAA INDXA

2nd- G237 G076 G076 INCMDB NRROB ROTAB INDXB

1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G231 G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G239 G081 G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC→CNC)

For this item, see Item (2), "Details of input signals (PMC→CNC)", in
Subsection 5.3.4 of Part I.

(3) Address list of output signals (CNC→PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA
2nd- F245 F049 F049 ORARB

1st- F221 F047 F047 INCSTA

2nd- F247 F051 F051 INCSTB

(4) Details of output signals (CNC→PMC)

For this item, see Item (4), "Details of output signals (CNC→PMC)",
in Subsection 5.3.4 of Part I.

5.3.5 Examples of Sequences

For this subsection, see Subsection 5.3.5, "Examples of Sequences", in
Part I.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.3.6 List of Related Parameters

Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to "1")
3015 #0 4015 #0 4015 #0
(The CNC software option is required.)
Whether the stop position external setting-type spindle orientation
5609#2 3702#3,#2 3729#0 function is available (to be set to "1")
(For 16i, #2: First spindle, #3: Second spindle)
3328 4328 4328 Command multiplier for incremental command external setting data

NOTE
This subsection describes only the parameters
specific to incremental command type spindle
orientation. See Section 2.2, "POSITION CODER
METHOD SPINDLE ORIENTATION" in Part I, for
parameters related to other types of spindle
orientation.

5.3.7 Details of Related Parameters

For this subsection, see Subsection 5.3.7, "Details of Related
Parameters", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.4 HIGH-SPEED SPINDLE ORIENTATION Optional function

5.4.1 Overview
For this subsection, see Subsection 5.4.1, "Overview", in Part I.

5.4.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition A(01) and
Series 9D53 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

5.4.3 System Configuration

Explained below is a system configuration in which the high-speed
spindle orientation function is usable.

(1) When the BZi sensor or CZi sensor is used

BZi sensor or CZi sensor

Spindle+
Bult-in motor

JYA2

SPM
TYPE A

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.4.4 I/O Signals (CNC↔PMC)

(1) Address list of input signals (PMC → CNC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 ORCMA CTH1A CTH2A
2nd- G235 G074 G074 ORCMB CTH1B CTH2B

1st- G229 G072 G072 INCMDA NRROA ROTAA INDXA

2nd- G237 G076 G076 INCMDB NRROB ROTAB INDXB

1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G231 G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G239 G081 G081 SHB11 SHB10 SHB09 SHB08

(2) Details of input signals (PMC → CNC)

(a) Spindle orientation command (ORCMA)
(b) Clutch/gear signals (CTH1A and CTH2A)
(c) Spindle orientation stop position change command (INDXA)
(d) Rotation direction command for spindle orientation stop position change
(ROTAA)
(e) Short-cut command for spindle orientation stop position change (NRROA)
(f) Incremental command data selection signal (INCMDA)
(g) Spindle orientation external stop position commands (SHA11 to SHA00)
The functions of the input signals ORCMA, CTH1A, CTH2A,
INDXA, ROTAA, NRROA, INCMDA, and SHA11 to SHA00 are the
same as for position coder-method spindle orientation and incremental
command type spindle orientation. See Sections 2.2, "POSITION
CODER-METHOD SPINDLE ORIENTATION," and 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION"
in Part I.

(3) Address list of input signals (CNC → PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA
2nd- F245 F049 F049 ORARB

1st- F221 F047 F047 INCSTA

2nd- F247 F051 F051 INCSTB

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

(4) Details of input signals (CNC → PMC)

(a) Incremental command mode status signal (INCSTA)
(b) Spindle orientation completion signal (ORARA)
The functions of the output signals ORARA and INCSTA are the
same as for position coder-method spindle orientation and incremental
command type spindle orientation. See Sections 2.2, "POSITION
CODER METHOD SPINDLE ORIENTATION," and 5.3,
"INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION"
in Part I.

5.4.5 Sequence
For this subsection, see Subsection 5.4.5, "Sequence", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.4.6 List of Related Parameters

Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to "1")
3015 #0 4015 #0 4015 #0
(The CNC software option is required.)
3018 #6 4018 #6 4018 #6 High-speed spindle orientation function (to be set to "1")
Whether the stop position external setting-type spindle orientation function
5609#2 3702#3,#2 3729#0 is available
(For 16i, #2: First spindle, #3: Second spindle)
3003 #0 4003#0 4003#0 Spindle orientation type selection (to be reset to "0")
Rotation direction for spindle orientation (to be reset to "0, 0" or to be set to
3003#3,#2 4003#3,2 4003#3,#2
"0, 1")
3017#7 4017#7 4017#7 Short-cut function when spindle orientation from stopped state is specified
Whether the speed command correction function for high-speed spindle
3018#5 4018#5 4018#5
orientation is available
Spindle orientation stop position
3031 4031 4031 (This parameter is invalid for stop position external setting type and
incremental command external setting type.)
3038 4038 4038 Orientation speed upper limit
3042 4042 4042 Velocity proportional gain on orientation
3043 4043 4043 (These parameters are selected with the input signal CTH1A.)
3050 4050 4050 Velocity integral gain on orientation
3051 4051 4051 (These parameters are selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059 (These parameters are selected with the input signals CTH1A and
CTH2A.)
Position gain on orientation
3060 to 3063 4060 to 4063 4060 to 4063 (These parameters are selected with the input signals CTH1A and
CTH2A.)
3064 4064 4064 Percentage limit to an acceleration during deceleration
3075 4075 4075 Orientation completion signal detection level
3077 4077 4077 Orientation stop position shift value
Acceleration during motor deceleration
3320 to 3223 4320 to 4323 4320 to 4323 (These parameters are selected with the input signals CTH1A and
CTH2A.)
3326 4326 4326 Acceleration limitation start speed during deceleration
3330 4330 4330 (These parameters are selected with the input signal CTH1A.)
3328 4328 4328 Command multiplier for orientation

NOTE
1 See Section 1.3, "PARAMETERS RELATED TO DETECTORS" in Part IV, for
parameters related to detectors.
2 See Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT" in Part IV, for velocity
loop proportional/integral gain tuning.
3 When using the high-speed spindle orientation function, set the parameters (bits 3
and 2 or parameter No. 4003) for rotation direction for spindle orientation with the
previous rotation direction (0, 0 or 0, 1).

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.4.7 Details of Related Parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3018 4018 4018 HSORI HSVCM

HSVCM : Velocity command compensation function in high-speed spindle

orientation is:
0 : Disabled.
1 : Enabled.
Usually, set this parameter to "1".

HSORI : High-speed spindle orientation function is :

0 : Disabled
1 : Enabled
Set to 1.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3003 4003 4003 DIRCT2 DIRCT1 PCMGSL

DIRCT1, DIRCT2 Rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction

By rotation direction immediately before (CCW for the
0 0 first-time spindle orientation after the power is switched
on)
By rotation direction immediately before (CW for the
0 1 first-time spindle orientation after the power is switched
on)
1 0 CCW direction looking from shaft of motor
1 1 CW direction looking from shaft of motor

NOTE
When using the high-speed spindle orientation
function, specify the rotation direction for spindle
orientation to be the previous rotation direction (bits
3 and 2 of parameter No. 4003 = 0 and 0 or 0 and 1).

PCMGSL : Orientation method selection

Set to 0.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN

NRROEN The short-cut function when spindle orientation from stopped state is
specified is:
0: Unavailable
1: Available
If the setting is "1", a short-cut is made provided that the following
conditions are satisfied.
i) Bit 7 of parameter No. 4016 (RFCHK3) = 0
ii) Zero-speed detection signal (output signal) SST = 1
iii) Short-cut command (input signal) NRROA = 1

15i 16i 30i

3031 4031 4031 Position coder method orientation stop position

Unit of data : 1 pulse unit (360 degrees/4096)

Valid data range : 0 to 4095
Standard setting value : 0
This data is used to set the stop position of position coder method
spindle orientation. This parameter is invalid for stop position external
setting-type and incremental command external setting-type spindle
orientation. Instead, the stop position commands (SHA11 to SHA00)
(input signals) are valid.

15i 16i 30i

3038 4038 4038 Spindle orientation speed upper limit

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0
This data is used to specify the upper limit to the orientation speed of
an spindle end. If the setting is "0", the parameter is assumed to be set
with a value converted for the spindle from the excitation voltage
saturation speed with no load on the motor (parameter No. 4102,
low-speed characteristic parameter No. 4140).

15i 16i 30i

3042 4042 4042 Velocity proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity proportional gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to set the velocity loop proportional gain on
orientation.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

15i 16i 30i

3050 4050 4050 Velocity integral gain on orientation (HIGH) CTH1A=0
3051 4051 4051 Velocity integral gain on orientation (LOW) CTH1A=1

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to specify a velocity loop integral gain for spindle
orientation.

15i 16i 30i

3056 4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
3057 4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
3058 4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
3059 4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : Number of motor rotations per spindle rotation / 100

(Number of motor rotations per spindle rotation / 1000 if bit 1 of
parameter No. 4006 (GRUNIT) = 1)
Valid data range : 3 to 3000
(33 to 30000 if bit 1 of parameter No. 4006 (GRUNIT) = 1)
Standard setting value : 100

NOTE
The range of gear ratios supported by this function is:
1:30 to 30:1

15i 16i 30i

3060 4060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
3061 4061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
3062 4062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
3063 4063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1

Unit of data : 0.01sec-1

Valid data range : 0 to 32767
Standard setting value : 1000
These data are used to set the position gain on spindle orientation.

15i 16i 30i

3064 4064 4064 Percentage limit to an acceleration during deceleration

Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This data is used to specify the percentage limit to an acceleration
during deceleration if spindle orientation is started when the spindle
speed is lower than or equal to the limitation start seed for an
acceleration during deceleration (parameter Nos. 4326 and 4330).
Usually, specify "100".

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

15i 16i 30i

Orientation completion signal detection level (effective area for in-position
3075 4075 4075 check)

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : 0 to 100
Standard setting value : 10
This data is used to set the detecting level of orientation completion
signal (ORARA). ORARA = 1 is satisfied if the position error is
within the setting.

15i 16i 30i

3077 4077 4077 Orientation stop position shift value

Unit of data : ±1 pulse unit (360 degrees/4096)

Valid data range : -4095 to 4095
Standard setting value : 0
This data is used to specify the shift amount of the spindle orientation
stop position. If a positive value is specified, the position where the
spindle stops is shifted counterclockwise.

15i 16i 30i

3320 4320 4320 Acceleration during motor deceleration (HIGH) CTH1A=0, CTH2A=0
3321 4321 4321 Acceleration during motor deceleration (MEDIUM HIGH) CTH1A=0, CTH2A=1
3322 4322 4322 Acceleration during motor deceleration (MEDIUM LOW) CTH1A=1, CTH2A=0
3323 4323 4323 Acceleration during motor deceleration (LOW) CTH1A=1, CTH2A=1

Unit of data : 10min-1/sec

Valid data range : 0 to 6400
Standard setting value : 0
This data is used to specify the acceleration during motor deceleration
for high-speed spindle orientation. If the setting is "0", the high-speed
spindle orientation function is disabled, and the standard-type spindle
orientation function is enabled. The setting for the parameter is
obtained, using:
τ 60
Acceleration during deceleration = × × (0.8to0.9)
J 2π
where τ(Nm) : Motor maximum torque at spindle orientation speed
upper limit (parameter No. 4038)
J(kgm2) : Motor inertia + load inertia

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15i 16i 30i

3326 4326 4326 Acceleration limitation start speed during deceleration (HIGH) CTH1A=0
3330 4330 4330 Acceleration limitation start speed during deceleration (LOW) CTH1A=1

Unit of data : 1min-1

Valid data range : 0 to 32767
Standard setting value : 0
This data is used to specify the motor speed at which limitation on the
acceleration during deceleration is started. If the setting is "0", the
parameter is assumed to be set with the spindle orientation lower limit
speed calculated within the software.

15i 16i 30i

3328 4328 4328 Command multiplier for spindle orientation by a position coder

Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set a command multiplier for the spindle orientation function with an
externally set incremental command.
When 0 is set in these parameters, 1 is assumed to have been
specified.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.4.8 Spindle Data Used in Tuning

For this subsection, see Subsection 5.4.8, "Spindle Data Used in
Tuning", in Part I.

5.4.9 Tuning Procedure

Tune the parameters according to the following procedure. The ability
of a motor to decelerate varies with the load inertia on the motor.
When tuning, mount a tool with the highest possible load inertia on
the spindle. If such a tool is unavailable, allow a considerable margin
in specifying an acceleration during deceleration.

(1) Parameter initialization

Initialize the parameters related to high-speed spindle orientation as
listed below.

No. Description Initial setting

4003#0 Selecting a spindle orientation type 0
4003#3,#2 Spindle rotation direction at orientation Select a rotation direction.
Specify an appropriate value depending
4006#1 Unit of gear ratio setting
on the system configuration.
Short-cut function when spindle orientation from Specify an appropriate value according to
4017#7
stopped state is specified the use of the machine.
Whether a speed command correction function for
4018#5 1
high-speed spindle orientation is available
4018#6 High-speed spindle orientation function 1
4031 Spindle orientation stop position Specify a stop position.
4038 Spindle orientation speed upper limit 0
4042 to 4043 Velocity proportional gain on orientation 10
4050 to 4051 Velocity integral gain on orientation 10
Specify an appropriate value depending
4056 to 4059 Gear ratio
on the system configuration.
4060 to 4063 Position gain on orientation 3000
4064 Percentage limit to an acceleration during deceleration 100
Specify an appropriate value according to
4075 Orientation completion signal detection level
the use of the machine.
4077 Orientation stop position shift value Specify a stop position.
4320 to 4323 Acceleration during motor deceleration Tune according to actual measurements.
4326,4330 Acceleration limitation start speed during deceleration 0
Specify an appropriate value according to
4328 Command multiplier for orientation
the use of the machine.

NOTE
1 SPM alarm 21 is issued if the relation (bit 0 of parameter No. 4000) between the
spindle and motor rotation direction and/or the setting of the spindle sensor
mounting direction (bit 4 of parameter No. 4001) is incorrect.
2 The time required for spindle orientation may get abnormally long if the gear ratio
resolution (bit 1 of parameter No. 4006) setting and/or gear ratio (parameter Nos.
4056 to 4059) setting is incorrect.

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(2) Initial setting of the acceleration during deceleration (parameter Nos. 4320
to 4323)
Run a real machine on the velocity control mode (regular operation
mode), and decelerate it from the base speed ωB (see the following
expression).
Base speed ωB = parameter No. 4102 × parameter No. 4117/100 (if
parameter No. 4038 = 0), or
= parameter No. 4038 (if parameter No. 4038 ≠ 0)
Then, measure the time the real machine takes to decelerate, set up the
initial acceleration during deceleration Tc from the measured
deceleration time according to the following expression (see the figure
below):
Acceleration during deceleration = base speed/time taken to decelerate
from the base speed to a halt/10 (in 10 min-1/s)

Example of setting an initial acceleration during deceleration

Base speed

Time taken to decelerate from the Motor speed

base speed to a halt (data No. 19)
Motor speed command
(data No. 16)

(3) Tuning the velocity loop proportional gain (parameter Nos. 4042 and 4043)
and integral gain (parameter Nos. 4050 and 4051)
Tune the velocity loop proportional/integral gain while referencing
Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT" in Part I.

(4) Tuning the position gain

Basically, the position gain needs no adjustment. If you want to
increase the setting for the position gain, do not increase it over 4000.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

(5) Tuning the acceleration during deceleration (parameter Nos. 4320 to 4323)
Start spindle orientation when the spindle is running at the spindle
maximum rotation speed, and tune the acceleration during
deceleration so that the torque command will not be saturated when
the motor starts linear deceleration (the beginning of interval C in the
sequence). (See the following figure.)

Example 1 of deceleration time constant adjustment (good case)

D D

C C
B B
A E E
Spindle orientation sequence
(data No. 298)

Enlarged

25%
OK.
Torque command
(data No. 90)

Example 2 of deceleration time constant adjustment (bad case)

Enlarged

N.G.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

(6) Tuning the percentage limit to an acceleration during deceleration

(parameter No. 4064)

(a) Deciding whether or not to tune the percentage limit to an acceleration during
deceleration
Start spindle orientation when the spindle is running at the
base speed ωB. (See the figure below.) If the torque command
is saturated in sequence intervals C or D, it is necessary to
tune the percentage limit to an acceleration during
deceleration.
If the torque command is not saturated, stop tuning the
spindle orientation.
Case in which parameter tuning is necessary Case in which parameter tuning is unnecessary

D
C
B
A
Spindle orientation sequence E
(data No. 298)

25%
Torque command
(data No. 90)
Not saturated

Saturated

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

(b) Tuning the percentage limit to an acceleration during deceleration

Specify the acceleration limitation start speed during deceleration ωLS
(parameter Nos. 4326 and 4330) as follows:
Acceleration limitation start speed during deceleration ωLS = 1.1 ×
base speed ωB
Then, decrease the percentage limit to an acceleration during
deceleration (parameter No. 4064) until the torque command will not
be saturated at the end of sequence interval C or in sequence interval
D. In this case, there is no problem even if the torque command is
about to be saturated at the beginning of sequence interval C. (See the
following figure.)
Example 1 of the percentage limit to an Example 2 of the percentage limit to an
acceleration during deceleration (bad case) acceleration during deceleration (good case)

D
C
B
A E
Spindle orientation
sequence
(data No. 298)

25%

Torque command
(data No. 90)

NG. OK.
OK.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

(7) Tuning the acceleration limitation start speed during deceleration

(parameter Nos. 4326 and 4330)
If you tuned the percentage limit to an acceleration during
deceleration as explained in item (6), tune also the acceleration
limitation start speed during deceleration.

(a) Deciding whether or not to tune the acceleration limitation start speed during
deceleration
Start spindle orientation when the spindle is running at 10 min-1
+ acceleration limitation start speed during deceleration ωLS,
which is an initial setting used when the percentage limit to an
acceleration during deceleration is tuned. (See the following
figure.) In this case, it is necessary to tune the percentage limit to
an acceleration during deceleration if the torque command is
saturated in sequence interval C or D.
If the torque command is not saturated, stop tuning the spindle
orientation.

Case in which parameter tuning is necessary Case in which parameter tuning is

unnecessary
D

C
B
A E
Spindle orientation
sequence (data No. 298)

Torque command 25%

(data No. 90)

O.K. N.G.

(b) Tuning the acceleration limitation start speed during deceleration

Increase the acceleration limitation start speed during
deceleration (parameter Nos. 4326 and 4330) until the torque
command will not be saturated at the end of sequence
interval C or in sequence interval D even when spindle
orientation is started when the spindle is running at 10 min-1
+ acceleration limitation start speed during deceleration ωLS.
Similarly to item (6), there is no problem even if the torque
command is about to be saturated at the beginning of
sequence interval C.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.5 SPINDLE ORIENTATION DURING SPINDLE

SYNCHRONOUS CONTROL Optional function

5.5.1 Overview
For this subsection, see Subsection 5.5.1, "Overview", in Part I.

5.5.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Usable CNC
Edition B(02) and
Series 9D53 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
Edition A(01) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

5.5.3 Specification
For this subsection, see Subsection 5.5.3, "Specification", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.5.4 I/O Signals (CNC ↔ PMC)

(1) Address list of input signals (PMC → CNC)

(a) For path 1
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
G038 G038 SPPHS SPSYC

1st- G072 G072 ROTAA

2nd- G076 G076 ROTAB

1st- G073 G073 SORSLA

2nd- G077 G077 SORSLB

1st- G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G079 G079 SHA11 SHA10 SHA09 SHA08

2nd- G081 G081 SHB11 SHB10 SHB09 SHB08

(b) For path 2

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
G1038 G1038 SPPHS SPSYC

1st- G1072 G1072 ROTAA

2nd- G1076 G1076 ROTAB

1st- G1073 G1073 SORSLA

2nd- G1077 G1077 SORSLB

1st- G1078 G1078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G1080 G1080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

1st- G1079 G1079 SHA11 SHA10 SHA09 SHA08

2nd- G1081 G1081 SHB11 SHB10 SHB09 SHB08

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

(2) Details of input signals (PMC → CNC)

(a) Spindle synchronous control command (SPSYC)
(b) Spindle phase synchronous control command or synchronous orientation
command (SPPHS)
(c) Synchronous orientation request command (SORSLA)
(d) Synchronous orientation external stop position command (SHA11 to SHA00)
(e) Rotation direction command for synchronous (ROTAA)
For the input signals SPSYC, SPPHS, SORSLA, SHA11 to SHA00,
and ROTAA, see Item (2), "Details of input signals (PMC → CNC)",
in Subsection 5.5.4 of Part I.

(3) Address list of output signals (CNC → PMC)

(a) For path 1
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
F044 F044 SYCAL FSPPH FSPSY

1st- F047 F047 SORENA

2nd- F051 F051 SORENB

(b) For path 2

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
F1044 F1044 SYCAL FSPPH FSPSY

1st- F1047 F1047 SORENA

2nd- F1051 F1051 SORENB

(4) Details of output signals (CNC → PMC)

(a) Synchronous orientation permission signal (SORENA)
(b) Spindle speed synchronous control completion signal (FSPSY)
(c) Spindle phase synchronous control completion signal or synchronous
orientation completion signal (FSPPH)
(d) Phase synchronous error monitor signal (SYCAL)
For the output signals SORENA, FSPSY, FSPPH, and SYCAL, see
Item (4), "Details of output signals (CNC → PMC)", in Subsection
5.5.4 of Part I.

5.5.5 Sequence
For this subsection, see Subsection 5.5.5, "Sequence", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.5.6 List of Related Parameters

Parameter No.
Description
16i 30i
Direction in which each of spindles rotates under spindle synchronous control
4800#1,#0 4801#0
(For 16i: #0: First spindle: #1: Second spindle. For 30i: Each spindle)
That error pulse difference between two spindles on which the spindle phase
4810 4810
synchronous completion signal is output
That error pulse difference between two spindles on which the spindle phase
4811 4811
synchronous error monitor signal is output
Whether the stop position external setting-type spindle orientation function is
3702#3,#2 3729#0 available
(For 16i: #0: First spindle: #1: Second spindle. For 30i: Each spindle)
Setting for disabling automatic detection of a one-rotation signal when the
4006#4 4006#4
spindle synchronous control mode is switched
4014#6 4014#6 Whether the synchronous orientation function is available
Acceleration at spindle synchronous control (It is necessary to specify the
4032 4032
same value for the first and second spindles.)
4033 4033 Spindle synchronous speed arrival level
4034 4034 Shift amount at spindle phase synchronous control
4035 4035 Spindle phase synchronous compensation data
4044 4044 Velocity proportional gain on spindle synchronous control
4045 4045 (This parameter is selected with the input signal CTH1A.)
4052 4052 Velocity integral gain on spindle synchronous control
4053 4053 (This parameter is selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
4056 to 4059 4056 to 4059
(These parameters are selected with the input signals CTH1A and CTH2A.)
Position gain on spindle synchronous control (It is necessary to specify the
4065 to 4068 4065 to 4068 same value for the first and second spindles.)
(These parameters are selected with the input signals CTH1A and CTH2A.)
4075 4075 Orientation completion signal detection level
Acceleration magnetic flux switching point for spindle synchronous control (It is
4336 4336
necessary to specify the same value for the first and second spindles.)
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340 control (It is necessary to specify the same value for the first and second
spindles.)
4369 4369 Synchronous orientation deceleration coefficient

NOTE
1 See Section IV-1.3, "PARAMETERS RELATED TO DETECTORS," for
parameters related to detectors.
2 See Section IV-4.1, "VELOCITY LOOP GAIN ADJUSTMENT," for velocity
loop proportional/integral gain tuning.
3 See "Function Description: Spindle Synchronous Control" for parameters
related to the spindle synchronous control function.

5.5.7 Details of Related Parameters

For this subsection, see Subsection 5.5.7, "Details of Related
Parameters", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION

5.6.1 Overview
For this subsection, see Subsection 5.6.1, "Overview", in Part I.

5.6.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Remark
Series 9D53 B(02) and subsequent editions

CNC software
Series Edition Remark
Series B0H1 M(13) and subsequent editions For the FANUC Series 16i/160i/160is-MB
Series BDH1 M(13) and subsequent editions For the FANUC Series 18i/180i/180is-MB
Series BDH5 C(03) and subsequent editions For the FANUC Series 18i/180i/180is-MB5
Series DDH1 M(13) and subsequent editions For the FANUC Series 21i/210i/210is-MB
Series B1H1 M(13) and subsequent editions For the FANUC Series 16i/160i/160is-TB
Series BEH1 M(13) and subsequent editions For the FANUC Series 18i/180i/180is-TB
Series DEH1 M(13) and subsequent editions For the FANUC Series 21i/210i/210is-TB

5.6.3 Block Diagram

For this subsection, see Subsection 5.6.3, "Block Diagram", in Part I.

5.6.4 Parameters
For this subsection, see Subsection 5.6.4, "Parameters", in Part I.

5.6.5 Diagnosis (Diagnosis Screen)

For this subsection, see Subsection 5.6.5, "Diagnosis (Diagnosis
Screen)", in Part I.

5.6.6 Status Errors

For this subsection, see Subsection 5.6.6, "Status Errors", in Part I.

5.6.7 Cautions
For this subsection, see Subsection 5.6.7, "Cautions", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION

FUNCTION Optional function

5.7.1 Overview
For this subsection, see Subsection 5.7.1, "Overview", in Part I.

5.7.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Remark
E(05) and
Series 9D53 FS16i / FS18i / FS21i / FS0i / FS15i
subsequent editions
D(04) and
Series 9D70 FS30i / FS31i / FS32i
subsequent editions

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.7.3 I/O Signals (CNC↔PMC)

(1) Address list of output signals (CNC → PMC)

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
F090 F090 ABTSP3 ABTSP2 ABTSP1
F091 F091 ABTSP4

15i
F155 AQSP2 AQSP1
F154 AQSP4 AQSP3

(2) Details of output signals (CNC → PMC)

(a) First-spindle unexpected disturbance torque detection signals
(ABTSP1 and AQSP1)
(b) Second-spindle unexpected disturbance torque detection signals
(ABTSP2 and AQSP2)
(c) Third-spindle unexpected disturbance torque detection signals
(ABTSP3 and AQSP3)
(d) Fourth-spindle unexpected disturbance torque detection signals
(ABTSP4 and AQSP4)
These signals are output when the estimated load torques on the
respective spindles become higher than or equal to the set level.
Refer to an applicable CNC Connection Manual (Function) for details.

(a) For Series 16i/18i/21i

“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 2.10 “ABNORMAL LOAD DETECTION.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 2.9 “UNEXPECTED DISTURBANCE
TORQUE DETECTION FUNCTION.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 2.9 “ABNORMAL LOAD DETECTION.”

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.7.4 List of Related Parameters

Parameter No.
Description
15i 16i 30i
Whether the unexpected disturbance
3015 #1 4015 #1 4015 #1 torque detection function is available
(The CNC software option is required.)
Torque constant for spindle load torque
3248 4248 4248 monitoring (for high-speed output
switching characteristics)
Torque constant for spindle load torque
3281 4281 4281 monitoring (for low-speed output switching
characteristics)
Observer gain 1 for spindle load torque
3249 4249 4249
monitoring
Observer gain 2 for spindle load torque
3250 4250 4250
monitoring
Unexpected disturbance torque detection
3341 4341 4341
level

5.7.5 Details of Related Parameters

For this subsection, see Subsection 5.7.5, "Details of Related
Parameters", in Part I.

5.7.6 Parameter Tuning Procedure

For this subsection, see Subsection 5.7.6, "Parameter Tuning
Procedure", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX)

Optional function

5.8.1 Overview
The spindle EGB function is intended to use one of spindles in a pair
as a tool axis (master axis) and the other as a workpiece axis (slave
axis) and cause the slave axis to rotate in synchronization with the
master axis at a specified synchronous ratio. Refer to an applicable
CNC Connection Manual (Function) for details of this function.

(a) For Series 16i/18i

“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 1.14.2 “Spindle Electronic Gear Box (M
series).”

NOTE
1 Using this function requires the CNC software option.
2 Using this function requires SPM type B for both the
master and slave axes.
3 This function cannot be used together with the
spindle fine Acc./Dec. (FAD) function.
4 This function cannot be used with the FANUC Series
15i-MODEL B.

5.8.2 Series and Editions of Applicable Spindle Software

Spindle software
Series Edition Remark
Series 9D53 B(02) and subsequent editions

CNC software
Series Edition Remark
B0H1 software A(01) and subsequent editions For FANUC Series 16i/160i/160is-MB
BDH1 software A(01) and subsequent editions For FANUC Series 18i/180i/180is-MB
BDH5 software A(01) and subsequent editions For FANUC Series 18i/180i/180is-MB5

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.8.3 System Configuration

The spindle EGB function is usable in the following system
configuration.

(1) System configuration with built-in motors

Speed/position
sensor
Built-in spindle motor

CNC First axis

(master axis)
Series
16i/160i/160is
JA7B JYA2
18i/180i/180is
MODEL B
SPM
TYPE B

JA7A
JX4
Speed/position
sensor

SPM-to-SPM
communication Built-in spindle motor

JX4
JA7B JYA2

SPM
TYPE B

Second axis
(slave axis)

Parameter settings related to detectors

Parameter Setting Description
4000#0 0 The spindle and motor rotates in the same direction.
4002#3,#2,#1,#0 0,0,0,1 The motor sensor is used for position feedback.
4003#7,#6,#5,#4 0,0,0,0 It is unnecessary to specify the number of the spindle sensor teeth.
4010#2,#1,#0 0,0,1 MZi/BZi/CZi sensor
4011#2,#1,#0 Depending on
Setting for the number of motor sensor (speed sensor) teeth
or 4334 the sensor.
The spindle-to-motor gear ratio is 1:1.
4056 to 4059 100 or 1000 (The settings for these parameters vary depending on the gear
ratio increment system specified in bit 1 or parameter No. 4006.)
Depending on Setting for the number of master-axis motor sensor (speed sensor)
4386 (*)
the sensor. teeth
(*) This parameter is valid only for the slave axis (second spindle).

5.8.4 Block Diagram

For this subsection, see Subsection 5.8.4, "Block Diagram", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.8.5 I/O Signals (CNC ↔ PMC)

This subsection lists only the input/output signals related to the
spindle EGB. Refer to an applicable CNC Connection Manual
(Function) for details of each signal.

(a) For Series 16i/18i

FANUC Series 16i/18i/21i-MODEL B
Connection Manual (Function): B-63523EN-1
Refer to Subsection 1.14.2, "Spindle Electronic Gear Box (M
series)."

(1) Input signals (PMC → CNC)

#7 #6 #5 #4 #3 #2 #1 #0
G066 RTRCT

(2) Output signals (CNC → PMC)

#7 #6 #5 #4 #3 #2 #1 #0
F065 SYNMOD RTRCTF

5.8.6 Examples of Sequences

Refer to an applicable CNC Connection Manual (Function) for spindle
EGB sequences.

(a) For Series 16i/18i

FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 1.14.2 “Spindle Electronic Gear Box (M
series).”

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.8.7 List of Related Parameters

Parameter No.
Description
16i
7700#0 Direction for helical compensation
7700#2 Setting for releasing the synchronous mode at a reset
7709 Axis number for helical gear axial feed axis
7710 Spindle EGB slave axis number
7771 Spindle EGB master axis number
The number of pulses the position sensor generates at each rotation of the tool
7772 axis (master axis)
(Specify 360,000 for the IS-B.)
The number of pulses the position sensor generates at each rotation of the
7773 workpiece axis (slave axis)
(Specify 360,000 for the IS-B.)
8005#4 Setting for the type of the PMC axis control constant-speed command function
Time constant for linear-shaped Acc./Dec. in speed command-based continuous
8028
feed for each axis in PMC-based axis control
Number of pulses the position sensor generates at each rotation of the spindle
8040 on a PMC-controlled axis
(Specify 360,000 for the IS-B.)
4016#3 Setting for the feed-forward smoothing function
4352#4 Feed-forward setting
4352#6 Inter-SPM communication slave axis setting
4352#7 Inter-SPM communication master axis setting
4036 Feed forward coefficient
4037 Velocity loop feed forward coefficient
4046 Velocity proportional gain on Cs contouring control
4047 (This parameter is selected with the PMC input signal CTH1A.)
4054 Velocity integral gain on Cs contouring control
4055 (This parameter is selected with the PMC input signal CTH1A.)
Position gain on Cs contouring control
4069 to 4072
(This parameter is selected with the PMC input signal CTH1A.)
4386 Number of master-axis spindle sensor teeth
4387 Synchronous ratio numerator
4388 Synchronous ratio denominator
4498 Denominator of the master-axis motor sensor-to-spindle arbitrary gear ratio
4499 Numerator of the master-axis motor sensor-to-spindle arbitrary gear ratio

NOTE
1 See Section IV-1.3, "PARAMETERS RELATED TO
DETECTORS," for parameters related to detectors.
2 See Section IV-4.1, "VELOCITY LOOP GAIN
ADJUSTMENT," for velocity loop
proportional/integral gain tuning.

5.8.8 Details of Related Parameters

For this subsection, see Subsection 5.8.8, "Details of Related
Parameters", in Part I.

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5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR Bis series B-65280EN/05

5.8.9 Diagnosis Signal Related to Spindle EGB

Address
Description Unit
16i
Synchronous error between master and slave axes.
0717 Pulse
(Weight is slave side)

NOTE
1 Displaying this data on the CNC diagnosis screen
requires the αi SPM type B and the i series model B
CNC.
2 Displaying this data on the CNC diagnosis screen
requires the following CNC software series/editions.
FS16i/160i/160is-MB :
Series B0H1/R(18) and subsequent editions
FS18i/180i/180is-MB :
Series BDH1/R(18) and subsequent editions
FS18i/180i/180is-MB5 :
Series BDH5/H(08) and subsequent editions

5.8.10 Status Errors Related to Spindle EGB

Error No. Description Measure

33 Invalid hardware configuration Check the model of the CNC in use.
An attempt was made to enable both the To use the spindle EGB function, disable the
34
spindle EGB and FAD functions. spindle FAD function.

5.8.11 Alarms
For this subsection, see Subsection 5.8.11, "Alarms", in Part I.

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B-65280EN/05 FANUC BUILT-IN SPINDLE MOTOR Bis series 5.FUNCTION DESCRIPTIONS

5.9 DIFFERENTIAL SPINDLE SPEED CONTROL

The Bis series spindle (synchronous built-in spindle motor) does not
support this function.

5.10 DUAL POSITION FEEDBACK FUNCTION Optional function

The Bis series spindle (synchronous built-in spindle motor) does not
support this function.

5.11 TORQUE TANDEM CONTROL FUNCTION Optional function

The Bis series spindle (synchronous built-in spindle motor) does not
support this function.

5.12 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION

Optional function

The Bis series spindle (synchronous built-in spindle motor) does not
support this function.

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APPENDIX
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

A SPINDLE PARAMETER TABLE

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A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

A.1 αi SERIES SPINDLE PARAMETER TABLE

αi series spindle parameters are classified into the following types:

A : Parameters related to the setup of detectors
B : Parameters related to the setup of various functions
(operating modes)
C : Unique parameters for the drive of spindle motors
(Set the parameter data according to the parameter list for each
motor model.)
D : Parameters related to the setting of alarm detection conditions

MH, ML, SH, and SL in the table represent the following:

MH: Parameter for speed range switch high-speed characteristics on
the main side of spindle switching (for standard motors)
ML: Parameter for speed range switch low-speed characteristics on
the main side of spindle switching
SH: Parameter for speed range switch high-speed characteristics on
the sub-side of spindle switching
SL: Parameter for speed range switch low-speed characteristics on
the sub-side of spindle switching

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
0H 3000 4000 4000 #0 0 Rotation direction relationship between the spindle O O A Ι-1.3.2
and motor
#1 0 Spindle rotation direction when a positive (+) move O O B Ι-2.4.7
command is specified on Cs contouring control
#3 0 Return direction for the reference position on Cs O O B Ι-2.4.7
contouring control mode
#4 0 Return direction for the reference position on servo O O B Ι-2.3.7
mode
0L 3001 4001 4001 #0 1 Whether to use MRDY (machine ready) signal O O B Ι-2.6.4
#3 0 Mounting direction of the magnetic sensor O O B Ι-5.12.6
#4 0 Mounting direction of the spindle sensor O O A Ι-1.3.2
1H 3002 4002 4002 #0 0 Spindle sensor type O O A Ι-1.3.2
#1 0 Spindle sensor type O O A Ι-1.3.2
#2 0 Spindle sensor type O O A Ι-1.3.2
#3 0 Spindle sensor type O O A Ι-1.3.2
#4 0 Whether to use the rotation direction signal O O B Ι-2.4.7
(SFR/SRV) function on Cs contouring control
#5 0 Whether to use the rotation direction signal O O B Ι-2.3.7
(SFR/SRV) function on servo mode
#6 0 Whether to use the rotation direction signal O O B Ι-2.5.8
(SFR/SRV) function on spindle synchronous control
#7 0 Whether to use the CMR (servo mode Cs O O B
contouring) function in servo mode
1L 3003 4003 4003 #0 0 Spindle orientation method O O B Ι-2.2.9
#2 0 Rotation direction during spindle orientation O O B Ι-2.2.9
#3 0 Rotation direction during spindle orientation O O B Ι-2.2.9
#4 0 Teeth number setting of spindle sensor O O A Ι-1.3.2
#5 0 Teeth number setting of spindle sensor O O A Ι-1.3.2
#6 0 Teeth number setting of spindle sensor O O A Ι-1.3.2
#7 0 Teeth number setting of spindle sensor O O A Ι-1.3.2
2H 3004 4004 4004 #2 0 Setting of external one-rotation signal O O A Ι-1.3.2
#3 0 Setting of external one-rotation signal O O A Ι-1.3.2

- 634 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
3H 3006 4006 4006 #1 0 Increment system of gear ratio O O A Ι-1.3.2
#2 Depends on Increment system of spindle speed O O C Ι-2.6.4
the model
#3 0 Automatic detection of one-rotation signal during O O B Ι-2.5.8
spindle synchronous control
#5 0 Setting of analog override range O O B Ι-2.1.6
#7 0 Whether to use the command arbitrary gear ratio O O B Ι-2.3.7
(CMR) function on rigid tapping
3L 3007 4007 4007 #5 0 Whether to detect a feedback signal disconnection O O A Ι-1.3.2

#6 0 Whether to detect the alarms (SPM alarms 41, 42, O O A Ι-1.3.2

47, 81, 82, 83, 85, 86, and 87) related to the position
feedback signal (when non-Cs contouring control
mode is set)
4H 3008 4008 4008 #0 0 Reserved O C
#1 0 Reserved O C
#2 0 Reserved O O C
#4 Depends on Setting of output limitation method O O C Ι-2.6.4
the model
4L 3009 4009 4009 #0 0 Increment system of velocity loop gain O O B Ι-2.6.4
#2 0 Motor power turn-off method when SPM alarm 24 O O D Ι-2.6.4
(serial data transfer error) is issued
#4 0 Whether to output the load detection signals (LDT1, O O B Ι-2.1.6
LDT2) during acceleration/deceleration
#6 0 Analog override type O O B Ι-2.1.6
5H 3010 4010 4010 #0 Depends on Motor sensor type O O A Ι-1.3.2
the model
#1 Depends on Motor sensor type O O A Ι-1.3.2
the model
#2 Depends on Motor sensor type O O A Ι-1.3.2
the model
5L 3011 4011 4011 #0 Depends on Teeth number setting of motor sensor O O A Ι-1.3.2
the model
#1 Depends on Teeth number setting of motor sensor O O A Ι-1.3.2
the model
#2 Depends on Teeth number setting of motor sensor O O A Ι-1.3.2
the model
#3 Depends on Number of motor poles O O C Ι-2.6.4
the model
#4 Depends on Setting of maximum output during O O C Ι-2.6.4
the model acceleration/deceleration
#7 Depends on Number of motor poles O O C Ι-2.6.4
the model
6H 3012 4012 4012 #0 Depends on Setting of PWM carrier frequency O O C Ι-2.6.4
the model
#1 Depends on Setting of PWM carrier frequency O O C Ι-2.6.4
the model
#2 Depends on Setting of PWM carrier frequency O O C Ι-2.6.4
the model
#7 1 Setting of spindle HRV function O O O O C Ι-2.6.4
6L 3013 4013 4013 #2 Depends on Current dead-band data O O C Ι-2.6.4
the model
#3 Depends on Current dead-band data O O C Ι-2.6.4
the model
#4 Depends on Current dead-band data O O C Ι-2.6.4
the model
#5 Depends on Current dead-band data O O C Ι-2.6.4
the model
#6 Depends on Current dead-band data O O C Ι-2.6.4
the model

- 635 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
#7 Depends on Setting of a PWM carrier frequency for low-speed O C Ι-2.6.4
the model characteristics area
7H 3014 4014 4014 #0 0 Whether to use the spindle switch function O O O O B Ι-5.2.9
#2 0 Whether to check both spindle switch main and sub O O O O B Ι-5.2.9
magnetic contactor contacts
#3 0 Whether to check both magnetic contactor contacts O O O O B Ι-5.1.7
for high-speed /low-speed characteristics in speed
range switching
#6 0 Whether to use the orientation function on spindle O O B Ι-5.5.6
synchronous control
#7 0 Setting of dual position feedback O O B Ι-5.10.4
7L 3015 4015 4015 #0 0 Whether to use the spindle orientation function O O O O B Ι-2.2.9
#1 0 Whether to use the unexpected disturbance torque O O O O B Ι-5.7.5
detection function
#2 0 Whether to use the speed range switching function O O O O B Ι-5.1.7
#3 0 Whether to use the spindle tandem function O O O O B Ι-5.11.6
8H 3016 4016 4016 #3 0 Setting of the smoothing function in feed-forward O O B Ι-2.4.7
control Ι-5.8.7
#4 0 Setting related to control characteristics on Cs O O B Ι-2.3.7
contouring control/servo mode Ι-2.4.7
#5 0 Whether to detect the alarms (SPM alarms 81, 82, O O A Ι-1.3.2
85, 86) related to position feedback (on Cs
contouring control mode)
#6 0 Whether to detect the alarm (SPM alarms 46) O O A Ι-1.3.2
related to feedback of the position detection signal
for threading
#7 0 Function for newly detecting the one-rotation signal O O A Ι-1.3.2
before entering position control mode
8L 3017 4017 4017 #0 0 This parameter sets speed integration operation when O O B Ι-5.9.8
differential spindle speed control is exercised.
#7 0 Setting of shortcut orientation from stop state in O O B Ι-2.2.9
position coder method spindle orientation
9H 3018 4018 4018 #5 0 Whether to use the velocity command compensation O O B Ι-5.4.6
function during high-speed orientation
#6 0 High-speed orientation function O O B Ι-5.4.6
9L 3019 4019 4019 #2 1 Whether to use torque clamp at zero speed O O B Ι-2.6.4
#4 0 Setting of the function for switching from high-speed O O B Ι-5.1.7
characteristics to low-speed characteristics with the
speed detection signal SDT = 1 at speed range
switching
#7 0 Automatic parameter setting function (16i) O O B Ι-1.1.2
Ι-2.6.4
10 3020 4020 4020 Depends on Maximum motor speed O O C Ι-2.6.4
the model
11 3021 4021 4021 100 Maximum speed on Cs contouring control mode O O B Ι-2.4.7
12 3022 4022 4022 150 Speed arrival detection level (SAR) O O B Ι-2.6.4
13 3023 4023 4023 30 Speed detection level (SDT) O O B Ι-2.6.4
14 3024 4024 4024 75 Zero speed detection level (SST) O O B Ι-2.6.4
15 3025 4025 4025 50 Limited torque (TLMH, TLML) O O B Ι-2.6.4
16 3026 4026 4026 83 Load detection level 1 (LDT1) O O B Ι-2.6.4
17 3027 4027 4027 95 Load detection level 2 (LDT2) O O O O B Ι-2.6.4
18 3028 4028 4028 0 Limited output pattern O O B Ι-2.1.6
19 3029 4029 4029 100 Output limit O O B Ι-2.1.6
20 3030 4030 4030 0 Soft start/stop time (SOCN) O O O O B Ι-2.1.6
21 3031 4031 4031 0 Stop position of position coder method orientation O O B Ι-2.2.9
22 3032 4032 4032 0 Acceleration on spindle synchronous control O O B Ι-2.5.8
23 3033 4033 4033 10 Spindle synchronous speed arrival level O O B Ι-2.5.8
24 3034 4034 4034 0 Shift during synchronous control of spindle phase O O B Ι-2.5.8

- 636 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
25 3035 4035 4035 10 Compensation data for spindle phase synchronous O O B Ι-2.5.8
control
26 3036 4036 4036 0 Feed-forward coefficient O O B Ι-2.4.7
Ι-5.8.8
27 3037 4037 4037 0 Feed-forward coefficient of velocity loop O B Ι-2.4.7
Ι-5.6.4
Ι-5.8.8
28 3038 4038 4038 0 Spindle orientation speed O O B Ι-2.2.9
Ι-5.4.6
29 3039 4039 4039 Depends on Slip compensation gain O C Ι-2.6.4
the model
30 3040 4040 4040 10 Velocity loop proportional gain on velocity control O O B Ι-2.1.6
mode (High)
31 3041 4041 4041 10 Velocity loop proportional gain on velocity control O O B Ι-2.1.6
mode (Low)
32 3042 4042 4042 10 Velocity loop proportional gain on orientation (High) O O B Ι-2.2.9
33 3043 4043 4043 10 Velocity loop proportional gain on orientation (Low) O O B Ι-2.2.9
34 3044 4044 4044 10 Velocity loop proportional gain on servo O O B Ι-2.3.7
mode/spindle synchronous control (High) Ι-2.5.8
35 3045 4045 4045 10 Velocity loop proportional gain on servo O O B Ι-2.3.7
mode/spindle synchronous control (Low) Ι-2.5.8
36 3046 4046 4046 30 Velocity loop proportional gain on Cs contouring O O B Ι-2.4.7
control (High)
37 3047 4047 4047 30 Velocity loop proportional gain on Cs contouring O O B Ι-2.4.7
control (Low)
38 3048 4048 4048 10 Velocity loop integral gain on velocity control mode O O B Ι-2.1.6
(High)
39 3049 4049 4049 10 Velocity loop integral gain on velocity control mode O O B Ι-2.1.6
(Low)
40 3050 4050 4050 10 Velocity loop integral gain on orientation (High) O O B Ι-2.2.9
41 3051 4051 4051 10 Velocity loop integral gain on orientation (Low) O O B Ι-2.2.9
42 3052 4052 4052 10 Velocity loop integral gain on servo mode/spindle O O B Ι-2.3.7
synchronous control (High) Ι-2.5.8
43 3053 4053 4053 10 Velocity loop integral gain on servo mode/spindle O O B Ι-2.3.7
synchronous control (Low) Ι-2.5.8
44 3054 4054 4054 50 Velocity loop integral gain on Cs contouring control O O B Ι-2.4.7
(High)
45 3055 4055 4055 50 Velocity loop integral gain on Cs contouring control O O B Ι-2.4.7
(Low)
46 3056 4056 4056 100 Gear ratio (High) O O A Ι-1.3.2
47 3057 4057 4057 100 Gear ratio (Medium High) O O A Ι-1.3.2
48 3058 4058 4058 100 Gear ratio (Medium Low) O O A Ι-1.3.2
49 3059 4059 4059 100 Gear ratio (Low) O O A Ι-1.3.2
50 3060 4060 4060 1000 Position gain on orientation (High) O O B Ι-2.2.9
51 3061 4061 4061 1000 Position gain on orientation (Medium High) O O B Ι-2.2.9
52 3062 4062 4062 1000 Position gain on orientation (Medium Low) O O B Ι-2.2.9
53 3063 4063 4063 1000 Position gain on orientation (Low) O O B Ι-2.2.9
54 3064 4064 4064 100 Ordinary orientation: Rate of change in position gain O O B Ι-2.2.9
upon completion of orientation Ι-5.4.6
High-speed orientation: Rate of change in position
gain upon completion of orientation
55 3065 4065 4065 1000 Position gain on servo mode/spindle synchronous O O B Ι-2.3.7
control (High) Ι-2.5.8
56 3066 4066 4066 1000 Position gain on servo mode/spindle synchronous O O B Ι-2.3.7
control (Medium High) Ι-2.5.8
57 3067 4067 4067 1000 Position gain on servo mode/spindle synchronous O O B Ι-2.3.7
control (Medium Low) Ι-2.5.8

- 637 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
58 3068 4068 4068 1000 Position gain on servo mode/spindle synchronous O O B Ι-2.3.7
control (Low) Ι-2.5.8
59 3069 4069 4069 3000 Position gain on Cs contouring control (High) O O B Ι-2.4.7
60 3070 4070 4070 3000 Position gain on Cs contouring control (Medium O O B Ι-2.4.7
High)
61 3071 4071 4071 3000 Position gain on Cs contouring control (Medium O O B Ι-2.4.7
Low)
62 3072 4072 4072 3000 Position gain on Cs contouring control (Low) O O B Ι-2.4.7
63 3073 4073 4073 0 Grid shift on servo mode O O B Ι-2.3.7
64 3074 4074 4074 0 Reference position return speed on Cs contouring O O O O B Ι-2.3.7
control/servo mode Ι-2.4.7
65 3075 4075 4075 10 Detection level for orientation completion signal O O B Ι-2.2.9
(ORAR)
66 3076 4076 4076 33 Ordinary orientation: Motor speed limit value on O O B Ι-2.2.9
orientation
High-speed orientation: Reserved
67 3077 4077 4077 0 Orientation stop position shift O O B Ι-2.2.9
68 3078 4078 4078 200 MS signal constant O O B Ι-5.12.6
69 3079 4079 4079 0 MS signal gain adjustment O O B Ι-5.12.6
70 3080 4080 4080 Depends on Regenerative power limit for high-speed O C Ι-2.6.4
the model zone/regenerative power limit
71 3081 4081 4081 20 Delay time until motor power is cut off O O B Ι-2.1.6
72 3082 4082 4082 10 Setting of acceleration/deceleration time O O B Ι-2.1.6
73 3083 4083 4083 Depends on Motor voltage on velocity control mode O C Ι-2.1.6
the model
74 3084 4084 4084 Depends on Motor voltage on orientation O O C Ι-2.2.9
the model Ι-5.4.6
75 3085 4085 4085 Depends on Motor voltage on servo mode/spindle synchronous O C Ι-2.3.7
the model control mode Ι-2.5.8
76 3086 4086 4086 100 Motor voltage on Cs contouring control O O C Ι-2.4.7
77 3087 4087 4087 115 Overspeed level O O O O D Ι-2.6.4
78 3088 4088 4088 75 Level for detecting excess velocity error when motor O O O O D Ι-2.6.4
is restrained
79 3089 4089 4089 200 Level for detecting excess velocity error when motor O O O O D Ι-2.6.4
rotates
80 3090 4090 4090 90 Overload detection level O O O O D Ι-2.6.4
81 3091 4091 4091 100 Rate of change in position gain during reference O O B Ι-2.3.7
position return on servo mode
82 3092 4092 4092 100 Rate of change in position gain during reference O O B Ι-2.4.7
position return on Cs contouring control
83 3093 4093 4093 Depends on Value displayed on load meter at maximum output O C App. B
the model
84 3094 4094 4094 0 Disturbance torque compensation constant O O B Ι-2.4.7
(acceleration feedback gain)
85 3095 4095 4095 0 Adjusted output voltage of speedometer O O O O B Ι-2.6.4
86 3096 4096 4096 0 Adjusted output voltage of load meter O O O O B Ι-2.6.4
87 3097 4097 4097 0 Feedback gain of spindle speed O O B Ι-2.4.7
88 3098 4098 4098 0 Maximum speed for position feedback signal O O O O A Ι-1.3.2
detection
89 3099 4099 4099 0 Delay time for motor excitation O O O O B Ι-2.3.7
Ι-2.4.7
90 3100 4100 4100 Depends on Base speed of motor output specifications O C Ι-2.6.4
the model
91 3101 4101 4101 Depends on Output limit for motor output specifications O C Ι-2.6.4
the model
92 3102 4102 4102 Depends on Excitation voltage saturation speed at no-load O C Ι-2.6.4
the model
93 3103 4103 4103 Depends on Base speed limit ratio O C Ι-2.6.4
the model

- 638 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
94 3104 4104 4104 Depends on Current loop proportional gain O C Ι-2.6.4
the model
95 3105 4105 4105 0 Reserved O C
96 3106 4106 4106 Depends on Current loop integral gain O C Ι-2.6.4
the model
97 3107 4107 4107 0 Reserved O C
98 3108 4108 4108 Depends on Velocity at which the current loop integral gain is O C Ι-2.6.4
the model zero
99 3109 4109 4109 Depends on Filter time constant for processing saturation related O C Ι-2.6.4
the model to the voltage command
100 3110 4110 4110 Depends on Current conversion constant O C Ι-2.6.4
the model
101 3111 4111 4111 Depends on Secondary current coefficient O C Ι-2.6.4
the model
102 3112 4112 4112 Depends on Criterion level for saturation related to the voltage O C Ι-2.6.4
the model command/PWM command clamp value
103 3113 4113 4113 Depends on Slip constant O C Ι-2.6.4
the model
104 3114 4114 4114 Depends on Slip compensation coefficient for a high-speed O C Ι-2.6.4
the model zone/slip compensation coefficient at deceleration
105 3115 4115 4115 Depends on PWM command clamp value at deceleration O C Ι-2.6.4
the model
106 3116 4116 4116 Depends on Motor leakage constant O C Ι-2.6.4
the model
107 3117 4117 4117 Depends on Regular-time voltage compensation coefficient for O C Ι-2.6.4
the model high-speed zone/regular-time motor voltage
coefficient
108 3118 4118 4118 Depends on Acceleration-time voltage compensation coefficient O C Ι-2.6.4
the model for high-speed zone/acceleration-time motor voltage
coefficient
109 3119 4119 4119 Depends on Deceleration-time excitation current change time O C Ι-2.6.4
the model constant/excitation current change time constant
110 3120 4120 4120 Depends on Dead-band rectangular wave component zero O O O O C Ι-2.6.4
the model voltage/dead-band data
111 3121 4121 4121 5 Time constant for changing the torque (TCMD filter O B Ι-4.2.1
time constant)
112 3122 4122 4122 0 Time constant for velocity detecting filter O O B Ι-2.6.4
113 3123 4123 4123 30 Short-time overload detection time O O O O D Ι-2.6.4
114 3124 4124 4124 0 Reserved O C
117 3127 4127 4127 Depends on Value displayed on load meter at maximum output O C Ι-2.6.4
the model
118 3128 4128 4128 Depends on Compensation coefficient between the specification O C Ι-2.6.4
the model and true base/maximum torque curve compensation
coefficient
119 3129 4129 4129 Depends on Secondary current coefficient for rigid tapping O C Ι-2.6.4
the model
120 3130 4130 4130 Depends on Current loop proportional gain speed O C Ι-2.6.4
the model coefficient/current phase delay compensation
coefficient
121 3131 4131 4131 0 Time constant for velocity detecting filter (on Cs O O B Ι-2.4.7
contouring control)
123 3133 4133 4133 Depends on Motor model code O O C Ι-1.1.2
the model Ι-2.6.4
124 3134 4134 4134 Depends on Motor overheat detect level (2-word) O O C Ι-2.6.4
125 the model
126 3135 4135 4135 0 Grid shift during Cs contouring control mode l O O B Ι-2.4.7
127 (2-word)
128 3136 4136 4136 Depends on Motor voltage on velocity control mode O C App. B
the model
129 3137 4137 4137 Depends on Motor voltage on servo mode/spindle synchronous O C App. B
the model control mode

- 639 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
130 3138 4138 4138 Depends on Base speed of motor output specifications O C App. B
the model
131 3139 4139 4139 Depends on Output limit for motor output specifications O C App. B
the model
132 3140 4140 4140 Depends on Excitation voltage saturation speed at no-load O C App. B
the model
133 3141 4141 4141 Depends on Base speed limit ratio O C App. B
the model
134 3142 4142 4142 Depends on Current loop proportional gain O C App. B
the model
135 3143 4143 4143 Depends on Current loop integral gain O C App. B
the model
136 3144 4144 4144 Depends on Velocity at which the current loop integral gain is O C App. B
the model zero
137 3145 4145 4145 Depends on Filter time constant for processing saturation related O C App. B
the model to the voltage command
138 3146 4146 4146 Depends on Current conversion constant O C App. B
the model
139 3147 4147 4147 Depends on Secondary current coefficient O C App. B
the model
140 3148 4148 4148 Depends on Criterion level for saturation related to the voltage O C App. B
the model command/PWM command clamp value
141 3149 4149 4149 Depends on Slip constant O C App. B
the model
142 3150 4150 4150 Depends on Slip compensation coefficient for a high-speed O C App. B
the model zone/slip compensation coefficient at deceleration
143 3151 4151 4151 Depends on PWM command clamp value at deceleration O C App. B
the model
144 3152 4152 4152 Depends on Motor leakage constant O C App. B
the model
145 3153 4153 4153 Depends on Regular-time voltage compensation coefficient for O C App. B
the model high-speed zone/regular-time motor voltage
coefficient
146 3154 4154 4154 Depends on Acceleration-time voltage compensation coefficient O C App. B
the model for high-speed zone/acceleration-time motor voltage
coefficient
147 3155 4155 4155 0 Reserved O C App. B
148 3156 4156 4156 Depends on Slip compensation gain O C App. B
the model
149 3157 4157 4157 5 Time constant for changing the torque (TCMD filter O B App. B
time constant)
150 3158 4158 4158 Depends on Compensation coefficient between the specification O C App. B
the model and true base/maximum torque curve compensation
coefficient
151 3159 4159 4159 Depends on Secondary current coefficient for rigid tapping O C App. B
the model
152 3160 4160 4160 0 Hysteresis of speed detection level O O O O B Ι-5.1.7
153 3161 4161 4161 Depends on Current loop proportional gain speed O C App. B
the model coefficient/current phase delay compensation
coefficient
154 3162 4162 4162 0 Integral gain of velocity loop during cutting feed on O O B Ι-2.4.7
Cs contouring control mode (High)
155 3163 4163 4163 0 Integral gain of velocity loop during cutting feed on O O B Ι-2.4.7
Cs contouring control mode (Low)
157 3165 4165 4165 Depends on Deceleration-time excitation current change time O C App. B
the model constant/excitation current change time constant
158 3166 4166 4166 Depends on Regenerative power limit for high-speed O C App. B
the model zone/regenerative power limit
160 3168 4168 4168 0 Current overload alarm detection level O D App. B
161 3169 4169 4169 Depends on Temperature monitoring time constant O O C Ι-2.6.4
the model

- 640 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
162 3170 4170 4170 0 Current overload alarm detection level O D Ι-2.6.4
163 3171 4171 4171 0 Denominator of arbitrary gear ratio between motor O O A Ι-1.3.2
sensor and spindle (High)
164 3172 4172 4172 0 Numerator of arbitrary gear ratio between motor O O A Ι-1.3.2
sensor and spindle (High)
165 3173 4173 4173 0 Denominator of arbitrary gear ratio between motor O O A Ι-1.3.2
sensor and spindle (Low)
166 3174 4174 4174 0 Numerator of arbitrary gear ratio between motor O O A Ι-1.3.2
sensor and spindle (Low)
168H 3176 4176 4176 #0 0 Rotation direction relationship between the spindle O O A App. B
and motor
#4 0 Return direction for the reference position on servo O O B App. B
mode
168L 3177 4177 4177 #0 1 Whether to use MRDY (machine ready) signal O O B App. B
#3 0 Mounting direction of the magnetic sensor O O B App. B
#4 0 Mounting direction of the spindle sensor O O A App. B
169H 3178 4178 4178 #0 0 Spindle sensor type O O A App. B
#1 0 Spindle sensor type O O A App. B
#2 0 Spindle sensor type O O A App. B
#3 0 Spindle sensor type O O A App. B
#5 0 Whether to use the rotation direction signal O O B App. B
(SFR/SRV) function on servo mode
169L 3179 4179 4179 #0 0 Spindle orientation method O O B App. B
#2 0 Rotation direction during spindle orientation O O B App. B
#3 0 Rotation direction during spindle orientation O O B App. B
#4 0 Teeth number setting of spindle sensor O O A App. B
#5 0 Teeth number setting of spindle sensor O O A App. B
#6 0 Teeth number setting of spindle sensor O O A App. B
#7 0 Teeth number setting of spindle sensor O O A App. B
170H 3180 4180 4180 #2 0 Setting of external one-rotation signal O O A App. B
#3 0 Setting of external one-rotation signal O O A App. B
171H 3182 4182 4182 #1 0 Increment system of gear ratio O O A App. B
#2 Depends on Increment system of spindle speed O O C App. B
the model
#5 0 Setting of analog override range O O B App. B
#7 0 Whether to use the command arbitrary gear ratio O O B App. B
(CMR) function on rigid tapping
171L 3183 4183 4183 #5 0 Whether to detect a feedback signal disconnection O O A App. B
#6 0 Whether to detect the alarms (SPM alarms 41, 42, O O A App. B
47, 81, 82, 83, 85, 86, and 87) related to the position
feedback signal (when Cs contouring control mode
is not set)
172H 3184 4184 4184 #0 0 Reserved O C
#1 0 Reserved O C
#2 0 Reserved O O C
#4 Depends on Setting of output limitation method O O C App. B
the model
172L 3185 4185 4185 #0 0 Increment system of velocity loop gain O O B App. B
#2 0 Motor power turn-off method when SPM alarm 24 O O D App. B
(serial data transfer error) is issued
#4 0 Whether to output the load detection signals (LDT1, O O B App. B
LDT2) during acceleration/deceleration
#6 0 Analog override type O O B App. B
173H 3186 4186 4186 #0 Depends on Motor sensor type O O A App. B
the model
#1 Depends on Motor sensor type O O A App. B
the model

- 641 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
#2 Depends on Motor sensor type O O A App. B
the model
173L 3187 4187 4187 #0 Depends on Teeth number setting of motor sensor O O A App. B
the model
#1 Depends on Teeth number setting of motor sensor O O A App. B
the model
#2 Depends on Teeth number setting of motor sensor O O A App. B
the model
#3 Depends on Number of motor poles O O C App. B
the model
#4 Depends on Setting of maximum output during O O C App. B
the model acceleration/deceleration
#7 Depends on Number of motor poles O O C App. B
the model
174H 3188 4188 4188 #0 Depends on Setting of PWM carrier frequency O O C App. B
the model
#1 Depends on Setting of PWM carrier frequency O O C App. B
the model
#2 Depends on Setting of PWM carrier frequency O O C App. B
the model
174L 3189 4189 4189 #2 Depends on Current dead-band data O O C App. B
the model
#3 Depends on Current dead-band data O O C App. B
the model
#4 Depends on Current dead-band data O O C App. B
the model
#5 Depends on Current dead-band data O O C App. B
the model
#6 Depends on Current dead-band data O O C App. B
the model
#7 Depends on Setting of a PWM carrier frequency for low-speed O C App. B
the model characteristics area
176H 3192 4192 4192 #3 0 Setting of the smoothing function in feed-forward O O B App. B
control
#4 0 Setting related to control characteristics on servo O O B App. B
mode
#6 0 Whether to detect the alarm (SPM alarms 46) O O A App. B
related to feedback of the position detection signal
for threading
#7 0 Function for newly detecting the one-rotation signal O O A App. B
before entering position control mode
176L 3193 4193 4193 #0 0 This parameter sets speed integration operation when O O B App. B
differential spindle speed control is exercised.
#7 0 Setting of shortcut orientation from stop state in O O B App. B
position coder method spindle orientation
177H 3194 4194 4194 #5 0 Whether to use the velocity command compensation O O B App. B
function during high-speed orientation
#6 0 High-speed orientation function O O B App. B
177L 3195 4195 4195 #2 1 Whether to use torque clamp at zero speed O O B App. B
#4 0 Setting of the function for switching from high-speed O O B App. B
characteristics to low-speed characteristics with the
speed detection signal SDT = 1 at speed range
switching
#7 0 Automatic parameter setting function (16i/30i) O O B App. B
178 3196 4196 4196 Depends on Maximum motor speed O O C App. B
the model
179 3197 4197 4197 150 Speed arrival detection level (SAR) O O B App. B
180 3198 4198 4198 30 Speed detection level (SDT) O O B App. B
181 3199 4199 4199 75 Zero speed detection level (SST) O O B App. B
182 3200 4200 4200 50 Limited torque (TLMH, TLML) O O B App. B
183 3201 4201 4201 83 Load detection level 1 (LDT1) O O B App. B

- 642 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
184 3202 4202 4202 0 Limited output pattern O O B App. B
185 3203 4203 4203 100 Output limit O O B App. B
186 3204 4204 4204 0 Stop position of position coder method orientation O O B App. B
187 3205 4205 4205 0 Spindle orientation speed O O B App. B
188 3206 4206 4206 10 Velocity loop proportional gain on velocity control O O B App. B
mode (High)
189 3207 4207 4207 10 Velocity loop proportional gain on velocity control O O B App. B
mode (Low)
190 3208 4208 4208 10 Velocity loop proportional gain on orientation (High) O O B App. B
191 3209 4209 4209 10 Velocity loop proportional gain on orientation (Low) O O B App. B
192 3210 4210 4210 10 Velocity loop proportional gain on servo mode O O B App. B
(High)
193 3211 4211 4211 10 Velocity loop proportional gain on servo mode (Low) O O B App. B
194 3212 4212 4212 10 Velocity loop integral gain on velocity control mode O O B App. B
(common to High and Low)
195 3213 4213 4213 10 Velocity loop integral gain on orientation (common O O B App. B
to High and Low)
196 3214 4214 4214 10 Velocity loop integral gain on servo mode (common O O B App. B
to High and Low)
197 3215 4215 4215 0 Primary delay time constant in dual position O O B Ι-1.5.10
feedback [in Cs contour control]
198 3216 4216 4216 100 Gear ratio (High) O O A App. B
199 3217 4217 4217 100 Gear ratio (Low) O O A App. B
200 3218 4218 4218 1000 Position gain on orientation (High) O O B App. B
201 3219 4219 4219 1000 Position gain on orientation (Low) O O B App. B
202 3220 4220 4220 100 Ordinary orientation: Rate of change in position gain O O B App. B
upon completion of orientation
High-speed orientation: Rate of change in position
gain upon completion of orientation
203 3221 4221 4221 1000 Position gain on servo mode (High) O O B App. B
204 3222 4222 4222 1000 Position gain on servo mode (Low) O O B App. B
205 3223 4223 4223 0 Grid shift on servo mode O O B App. B
206 3224 4224 4224 0 Maximum amplitude in dual position feedback [in Cs O O B Ι-1.5.10
contour control]
207 3225 4225 4225 0 Dual position feedback zero width [in Cs contour O O B Ι-1.5.10
control]
208 3226 4226 4226 10 Detection level for orientation completion signal O O B App. B
(ORAR)
209 3227 4227 4227 33 Ordinary orientation: Motor speed limit value on O O B App. B
orientation
High-speed orientation: Reserved
210 3228 4228 4228 0 Orientation stop position shift O O B App. B
211 3229 4229 4229 200 MS signal constant O O B App. B
212 3230 4230 4230 0 MS signal gain adjustment O O B App. B
213 3231 4231 4231 Depends on Regenerative power limit for high-speed O C App. B
the model zone/regenerative power limit
214 3232 4232 4232 20 Delay time until motor power is cut off O O B App. B
215 3233 4233 4233 10 Setting of acceleration/deceleration time O O B App. B
216 3234 4234 4234 0 Spindle load monitor observer gain 1 O O B App. B
217 3235 4235 4235 0 Spindle load monitor observer gain 2 O O B App. B
218 3236 4236 4236 Depends on Motor voltage on velocity control mode O C App. B
the model
219 3237 4237 4237 Depends on Motor voltage on orientation O O C App. B
the model
220 3238 4238 4238 Depends on Motor voltage on servo mode O C App. B
the model
221 3239 4239 4239 100 Rate of change in position gain during reference O O B App. B
position return on servo mode

- 643 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
222 3240 4240 4240 0 Feed-forward coefficient O O B App. B
223 3241 4241 4241 0 Feed-forward coefficient of velocity loop O B App. B
225 3243 4243 4243 0 Denominator of arbitrary gear ratio between motor O O A App. B
sensor and spindle (High)
226 3244 4244 4244 0 Numerator of arbitrary gear ratio between motor O O A App. B
sensor and spindle (High)
227 3245 4245 4245 0 Denominator of arbitrary gear ratio between motor O O A App. B
sensor and spindle (Low)
228 3246 4246 4246 0 Numerator of arbitrary gear ratio between motor O O A App. B
sensor and spindle (Low)
230 3248 4248 4248 0 Spindle load monitor torque constant O B Ι-5.7.5
231 3249 4249 4249 0 Spindle load monitor observer gain 1 O O B Ι-5.7.5
232 3250 4250 4250 0 Spindle load monitor observer gain 2 O O B Ι-5.7.5
236 3254 4254 4254 Depends on Slip compensation gain O C App. B
the model
237 3255 4255 4255 Depends on Slip compensation gain O C App. B
the model
238 3256 4256 4256 Depends on Base speed of motor output specifications O C App. B
the model
239 3257 4257 4257 Depends on Output limit for motor output specifications O C App. B
the model
240 3258 4258 4258 Depends on Excitation voltage saturation speed at no-load O C App. B
the model
241 3259 4259 4259 Depends on Base speed limit ratio O C App. B
the model
242 3260 4260 4260 Depends on Current loop proportional gain O C App. B
the model
243 3261 4261 4261 Depends on Current loop integral gain O C App. B
the model
244 3262 4262 4262 Depends on Velocity at which the current loop integral gain is O C App. B
the model zero
245 3263 4263 4263 Depends on Filter time constant for processing saturation related O C App. B
the model to the voltage command
246 3264 4264 4264 Depends on Current conversion constant O C App. B
the model
247 3265 4265 4265 Depends on Secondary current coefficient O C App. B
the model
248 3266 4266 4266 Depends on Criterion level for saturation related to the voltage O C App. B
the model command/PWM command clamp value
249 3267 4267 4267 Depends on Slip constant O C App. B
the model
250 3268 4268 4268 Depends on Slip compensation coefficient for a high-speed O C App. B
the model zone/slip compensation coefficient at deceleration
251 3269 4269 4269 Depends on PWM command clamp value at deceleration O C App. B
the model
252 3270 4270 4270 Depends on Motor leakage constant O C App. B
the model
253 3271 4271 4271 Depends on Regular-time voltage compensation coefficient for O C App. B
the model high-speed zone/regular-time motor voltage
coefficient
254 3272 4272 4272 Depends on Acceleration-time voltage compensation coefficient O C App. B
the model for high-speed zone/acceleration-time motor voltage
coefficient
255 3273 4273 4273 5 Time constant for changing the torque (TCMD filter O B App. B
time constant)
256 3274 4274 4274 Depends on Value displayed on load meter at maximum output O C App. B
the model
257 3275 4275 4275 Depends on Compensation coefficient between the specification O C App. B
the model and true base/maximum torque curve compensation
coefficient

- 644 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
258 3276 4276 4276 Depends on Secondary current coefficient for rigid tapping O C App. B
the model
259 3277 4277 4277 Depends on Current loop proportional gain speed O C App. B
the model coefficient/current phase delay compensation
coefficient
260 3278 4278 4278 0 Time constant for velocity detecting filter O O B App. B
261 3279 4279 4279 Depends on Value displayed on load meter at maximum output O C App. B
the model
262 3280 4280 4280 Depends on Deceleration-time excitation current change time O C App. B
the model constant/excitation current change time constant
263 3281 4281 4281 0 Spindle load monitor torque constant O B App. B
264 3282 4282 4282 0 Spindle load monitor torque constant O B App. B
265 3283 4283 4283 0 Spindle load monitor torque constant O B App. B
266 3284 4284 4284 Depends on Motor voltage on velocity control mode O C App. B
the model
267 3285 4285 4285 Depends on Motor voltage on servo mode O C App. B
the model
268 3286 4286 4286 Depends on Base speed of motor output specifications O C App. B
the model
269 3287 4287 4287 Depends on Output limit for motor output specifications O C App. B
the model
270 3288 4288 4288 Depends on Excitation voltage saturation speed at no-load O C App. B
the model
271 3289 4289 4289 Depends on Base speed limit ratio O C App. B
the model
272 3290 4290 4290 Depends on Current loop proportional gain O C App. B
the model
273 3291 4291 4291 Depends on Current loop integral gain O C App. B
the model
274 3292 4292 4292 Depends on Velocity at which the current loop integral gain is O C App. B
the model zero
275 3293 4293 4293 Depends on Filter time constant for processing saturation related O C App. B
the model to the voltage command
276 3294 4294 4294 Depends on Current conversion constant O C App. B
the model
277 3295 4295 4295 Depends on Secondary current coefficient O C App. B
the model
278 3296 4296 4296 Depends on Criterion level for saturation related to the voltage O C App. B
the model command/PWM command clamp value
279 3297 4297 4297 Depends on Slip constant O C App. B
the model
280 3298 4298 4298 Depends on Slip compensation coefficient for a high-speed O C App. B
the model zone/slip compensation coefficient at deceleration
281 3299 4299 4299 Depends on PWM command clamp value at deceleration O C App. B
the model
282 3300 4300 4300 Depends on Motor leakage constant O C App. B
the model
283 3301 4301 4301 Depends on Regular-time voltage compensation coefficient for O C App. B
the model high-speed zone/regular-time motor voltage
coefficient
284 3302 4302 4302 Depends on Acceleration-time voltage compensation coefficient O C App. B
the model for high-speed zone/acceleration-time motor voltage
coefficient
285 3303 4303 4303 5 Time constant for changing the torque (TCMD filter O B App. B
time constant)
286 3304 4304 4304 Depends on Compensation coefficient between the specification O C App. B
the model and true base/maximum torque curve compensation
coefficient
287 3305 4305 4305 Depends on Secondary current coefficient for rigid tapping O C App. B
the model

- 645 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
288 3306 4306 4306 Depends on Current loop proportional gain speed O C App. B
the model coefficient/current phase delay compensation
coefficient
289 3307 4307 4307 Depends on Regenerative power limit for high-speed O C App. B
the model zone/regenerative power limit
290 3308 4308 4308 Depends on Deceleration-time excitation current change time O C App. B
the model constant/excitation current change time constant
291 3309 4309 4309 Depends on Motor model code O O C App. B
the model
292 3310 4310 4310 Depends on Motor overheat detect level (2-word) O O C App. B
293 the model
304 3320 4320 4320 0 Motor acceleration at deceleration time (High) O O B Ι-5.4.6
305 3321 4321 4321 0 Motor acceleration at deceleration time (Medium O O B Ι-5.4.6
High)
306 3322 4322 4322 0 Motor acceleration at deceleration time (Medium O O B Ι-5.4.6
Low)
307 3323 4323 4323 0 Motor acceleration at deceleration time (Low) O O B Ι-5.4.6
308 3324 4324 4324 0 Motor acceleration at deceleration time (High) O O B App. B
309 3325 4325 4325 0 Motor acceleration at deceleration time (Low) O O B App. B
310 3326 4326 4326 0 Acceleration limitation start speed at deceleration O O B Ι-5.4.6
time (High)
311 3327 4327 4327 0 Acceleration limitation start speed at deceleration O O B App. B
time (High)
312 3328 4328 4328 0 Command multiplication for spindle orientation by O O B Ι-5.3.6
position coder
313 3329 4329 4329 0 Command multiplication for spindle orientation by O O B App. B
position coder
314 3330 4330 4330 0 Acceleration limitation start speed at deceleration O O B Ι-5.4.6
time (Low)
315 3331 4331 4331 0 Acceleration limitation start speed at deceleration O O B App. B
time (Low)
316 3332 4332 4332 0 Reserved O C
317 3333 4333 4333 0 Reserved O C
318 3334 4334 4334 0 Number of motor sensor arbitrary teeth O O A Ι-1.3.2
319 3335 4335 4335 0 Number of motor sensor arbitrary teeth O O A App. B
320 3336 4336 4336 0 Switching point used for an O O O O B Ι-2.5.8
acceleration/deceleration time constant used for
spindle synchronous control
324 3340 4340 4340 0 Bell-shaped acceleration/deceleration time constant O O O O B Ι-2.5.8
during spindle synchronous control
325 3341 4341 4341 0 Unexpected disturbance torque detection level O O O O B Ι-5.7.5
328 3344 4344 4344 0 Advanced preview feed-forward coefficient O O O O B Ι-5.6.4
329 3344 4345 4345 0 Spindle motor speed specification detection level O O O O B Ι-2.6.4
330 3346 4346 4346 0 Incomplete integration factor O O O O B Ι-2.5.8
Ι-2.6.4
331 3347 4347 4347 Master-slave speed difference state signal output O O B Ι-5.10.6
setting
332 3348 4348 4348 0 Current overload alarm detection level O D App. B
333 3349 4349 4349 Depends on Temperature monitoring time constant O O C App. B
the model
334 3350 4350 4350 0 Current overload alarm detection level O D App. B
335 3351 4351 4351 0 Current detection offset compensation O O O O B Ι-2.6.4
336H 3352 4352 4352 #1 0 Setting of the peak hold function for load meter O O B Ι-2.1.6
output
#4 0 Setting of whether to enable/disable feed forward at O O B Ι-5.8.8
all times
#6 0 O O B Ι-5.8.8
Inter-SPM communication slave axis setting
Ι-5.11.4

- 646 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
#7 0 O O B Ι-5.8.8
Inter-SPM communication master axis setting
Ι-5.11.4
336L 3353 4353 4353 #1 0 Velocity feedback signal setting in torque tandem O O B Ι-5.11.6
operation
#2 0 Relationship of master/slave motor rotation directions in O O B Ι-5.11.6
torque tandem operation
337 3354 4354 4354 0 Excessive semi-closed loop/closed loop position error O O A Ι-1.5.10
alarm detection level [in Cs contour control]
338 3355 4355 4355 0 Motor sensor signal amplitude ratio compensation O O A Ι-1.3.2
Ι-4.3
339 3356 4356 4356 0 Motor sensor signal phase difference compensation O O A Ι-1.3.2
Ι-4.3
340 3357 4357 4357 0 Spindle sensor signal amplitude ratio compensation O O A Ι-1.3.2
Ι-4.3
341 3358 4358 4358 0 Spindle sensor signal phase difference O O A Ι-1.3.2
compensation Ι-4.3
343 3360 4360 4360 0 Preload value O O B Ι-5.10.6
344 3361 4361 4361 0 Number of spindle sensor arbitrary teeth O O A Ι-1.3.2
345 3362 4362 4362 0 Load meter compensation 1 O C Ι-2.6.4
346 3363 4363 4363 0 Load meter compensation 2 O C Ι-2.6.4
347 3364 4364 4364 0 Load meter compensation 3 O C Ι-2.6.4
348 3365 4365 4365 0 Load meter compensation 1 O C App. B
349 3366 4366 4366 0 Load meter compensation 2 O C App. B
350 3367 4367 4367 0 Load meter compensation 3 O C App. B
352 3369 4369 4369 0 Spindle synchronous orientation deceleration O O B Ι-5.5.6
coefficient
356H 3373 4373 4373 #1 0 Setting of the peak hold function for load meter O O B App. B
output
358 3376 4376 4376 0 Load meter compensation 1 O C App. B
359 3377 4377 4377 0 Load meter compensation 2 O C App. B
360 3378 4378 4378 0 Load meter compensation 3 O C App. B
361 3379 4379 4379 0 Load meter compensation 1 O C App. B
362 3380 4380 4380 0 Load meter compensation 2 O C App. B
363 3381 4381 4381 0 Load meter compensation 3 O C App. B
366 3384 4384 4384 0 Spindle EGB : Maximum acceleration/deceleration O O B Ι-5.8.8
value in automatic phase matching
367 3385 4385 4385 0 Spindle EGB : time constant for free-running phase O O B Ι-5.8.8
matching
368 3386 4386 4386 0 Spindle EGB : master side detector pulse count O O B Ι-5.8.8
369 3387 4387 4387 0 Spindle EGB : synchronous ratio numerator O O B Ι-5.8.8
370 3388 4388 4388 0 Spindle EGB : synchronous ratio denominator O O B Ι-5.8.8
373 3391 4391 4391 0 Resonance elimination filter 1 : attenuation center O O B Ι-4.2.2
frequency
374 3392 4392 4392 0 Resonance elimination filter 1 : attenuation O O B Ι-4.2.2
bandwidth
375 3393 4393 4393 0 Resonance elimination filter 1 : damping O O B Ι-4.2.2
376H 3394 4394 4394 #2 0 Setting of the detection lower limit of the O O A Ι-1.3.2
one-rotation signal
#3 0 Setting of the fine acceleration/deceleration (FAD) O O B Ι-5.6.4
function
#4 0 Acceleration/deceleration type of fine O O B Ι-5.6.4
acceleration/deceleration (FAD)
#5 0 Whether to detect the alarm related to spindle O O A Ι-1.3.2
sensor polarity erroneous setting
376L 3395 4395 4395 #3 0 Setting of parameter transfer from the CNC to O O O O B Ι-2.6.4
spindle software
#6 0 Triggering of the disturbance input function O O B Ι-4.2.3
(vibration application function)

- 647 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
#7 0 Setting of the disturbance input function (vibration O O B Ι-4.2.3
application function)
378H 3398 4398 4398 #3 0 Whether to use the twin drive function O O B Ι-5.10.6
#6 0 Whether to detect a speed polarity error (SPM alarm O O B Ι-5.10.6
d0) in torque tandem operation
383 3406 4406 4406 0 Acceleration/deceleration time constant at return to O O B Ι-2.4.7
the reference position in Cs contouring control
385 3408 4408 4408 0 Fine acceleration/deceleration time constant O O O O B Ι-5.6.4
386 3409 4409 4409 0 Feed forward timing adjustment coefficient O O B Ι-5.6.4
387 3410 4410 4410 0 Disturbance input function : measurement start O O O O B Ι-4.2.3
frequency
388 3411 4411 4411 0 Disturbance input function : measurement end O O O O B Ι-4.2.3
frequency
389 3412 4412 4412 0 Disturbance input function : measurement frequency O O O O B Ι-4.2.3
interval
390 3413 4413 4413 0 Disturbance input function : number of O O O O B Ι-4.2.3
measurements per frequency
391 3414 4414 4414 0 Disturbance input function : disturbance torque O O O O B Ι-4.2.3
command amplitude
392 3415 4415 4415 0 Disturbance input function : motor speed command O O O O B Ι-4.2.3
for measurement
393 3416 4416 4416 0 Resonance elimination filter 2 : attenuation center O O B Ι-4.2.2
frequency
394 3417 4417 4417 0 Resonance elimination filter 2 : attenuation O O B Ι-4.2.2
bandwidth
395 3418 4418 4418 0 Resonance elimination filter 2 : damping O O B Ι-4.2.2
396 3419 4419 4419 0 Resonance elimination filter 3 : attenuation center O O B Ι-4.2.2
frequency
397 3420 4420 4420 0 Resonance elimination filter 3 : attenuation O O B Ι-4.2.2
bandwidth
398 3421 4421 4421 0 Resonance elimination filter 3 : damping O O B Ι-4.2.2
399 3422 4422 4422 0 Resonance elimination filter 4 : attenuation center O O B Ι-4.2.2
frequency
400 3423 4423 4423 0 Resonance elimination filter 4 : attenuation O O B Ι-4.2.2
bandwidth
401 3424 4424 4424 0 Resonance elimination filter 4 : damping O O B Ι-4.2.2
420 3443 4443 4443 0 Feed-forward coefficient of velocity loop O B App. B
444H 3467 4467 4467 #2 0 Setting of the detection lower limit of the O O A App. B
one-rotation signal
#3 0 Setting of the fine acceleration/deceleration (FAD) O O B App. B
function
#4 0 Acceleration/deceleration type of fine O O B App. B
acceleration/deceleration (FAD)
#5 0 Whether to detect the alarm related to spindle O O A App. B
sensor polarity erroneous setting
444L 3468 4468 4468 #6 0 Triggering of the disturbance input function O O B App. B
(vibration application function)
#7 0 Setting of the disturbance input function (vibration O O B App. B
application function)
453 3481 4481 4481 0 Feed-forward timing adjustment coefficient O O B App. B
458 3486 4486 4486 0 Feed-forward coefficient of velocity loop O B App. B
470 3498 4498 4498 0 Spindle EGB master side : denominator of arbitrary O O B Ι-5.8.8
gear ratio between motor sensor and spindle
471 3499 4499 4499 0 Spindle EGB master side : numerator of arbitrary O O B Ι-5.8.8
gear ratio between motor sensor and spindle
472 3500 4500 4500 0 Denominator of arbitrary gear ratio between spindle O O A Ι-1.3.2
sensor and spindle (High)
473 3501 4501 4501 0 Numerator of arbitrary gear ratio between spindle O O A Ι-1.3.2
sensor and spindle (High)

- 648 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard Application

Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data MH ML SH SL
474 3502 4502 4502 0 Denominator of arbitrary gear ratio between spindle O O A Ι-1.3.2
sensor and spindle (Low)
475 3503 4503 4503 0 Numerator of arbitrary gear ratio between spindle O O A Ι-1.3.2
sensor and spindle (Low)
480 3508 4508 4508 0 Rate of change in acceleration at soft start/stop O O O O B Ι-2.1.6
0 Excessive speed deviation alarm detection level on O O
487 3515 4515 4515 D Ι-2.5.8
spindle synchronous control
0 Excessive positional deviation alarm detection level O O
488 3516 4516 4516 D Ι-2.5.8
on spindle synchronous control
0 Primary delay time constant in dual position O O
492 3520 4520 4520 B Ι-5.10.4
feedback [in servo mode]
0 Maximum amplitude in dual position feedback [in O O
493 3521 4521 4521 B Ι-5.10.4
servo mode]
494 3522 4522 4522 0 Dual position feedback zero width [in servo mode] O O B Ι-5.10.4
0 Excessive semi-closed loop/closed loop position O O
495 3523 4523 4523 B Ι-1.5.10
error alarm detection level [in servo mode]

- 649 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

A.2 αCi SERIES SPINDLE PARAMETER TABLE

αCi series spindle parameters are classified into the following types:
A : Parameters related to the setup of detectors
B : Parameters related to the setup of various functions
(operating modes)
C : Unique parameters for the drive of spindle motors
(Set the parameter data according to the parameter list for each
motor model.)
D : Parameters related to the setting of alarm detection conditions

Internal Standard
Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data
0H 3000 4000 4000 #0 0 Rotation direction relationship between the spindle and motor A ΙΙΙ-1.3.2
#4 0 Return direction for the reference position on servo mode B ΙΙΙ-2.3.7
0L 3001 4001 4001 #0 1 Whether to use MRDY (machine ready) signal B ΙΙΙ-2.5.4
#4 0 Spindle sensor (position coder) attachment direction A ΙΙΙ-1.3.2
1H 3002 4002 4002 #0 0 Spindle sensor type A ΙΙΙ-1.3.2
#1 0 Spindle sensor type A ΙΙΙ-1.3.2
#2 0 Spindle sensor type A ΙΙΙ-1.3.2
#3 0 Spindle sensor type A ΙΙΙ-1.3.2
#4 0 SM pin output data selection B ΙΙΙ-2.5.4
#5 0 Whether to use the rotation direction signal (SFR/SRV) function on B ΙΙΙ-2.3.7
servo mode
#6 0 Whether to use the rotation direction signal (SFR/SRV) function on B ΙΙΙ-2.4.8
spindle synchronous control
1L 3003 4003 4003 #2 0 Rotation direction during spindle orientation B ΙΙΙ-2.2.9
#3 0 Rotation direction during spindle orientation B ΙΙΙ-2.2.9
#4 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
#5 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
#6 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
#7 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
2L 3005 4005 4005 #0 0 Setting of the velocity feedback method A ΙΙΙ-1.3.2
3H 3006 4006 4006 #1 0 Increment system of gear ratio A ΙΙΙ-1.3.2
#2 0 Increment system of spindle speed C ΙΙΙ-2.5.4
#3 0 Automatic detection of one-rotation signal during spindle B ΙΙΙ-2.4.8
synchronous control
#5 0 Setting of analog override range B ΙΙΙ-2.1.6
3L 3007 4007 4007 #5 0 Whether to detect a feedback signal disconnection A ΙΙΙ-1.3.2
#6 0 Whether to detect the alarms (SPM alarms 41, 42, and 47) related to A ΙΙΙ-1.3.2
the position feedback signal (when non-Cs contouring control mode
is set)
4L 3009 4009 4009 #2 0 Motor power turn-off method when SPM alarm 24 (serial data D ΙΙΙ-2.5.4
transfer error) is issued
#4 0 Whether to output the load detection signals (LDT1) during B ΙΙΙ-2.1.6
acceleration/deceleration
#6 0 Analog override type B ΙΙΙ-2.1.6
5L 3011 4011 4011 #3 1 Number of motor poles C ΙΙΙ-2.5.3
#4 Depends on Setting of maximum output during acceleration/deceleration C ΙΙΙ-2.5.3
the model
#7 0 Number of motor poles C ΙΙΙ-2.5.3
6H 3012 4012 4012 #0 0 Setting of PWM carrier frequency C ΙΙΙ-2.5.3
#1 0 Setting of PWM carrier frequency C ΙΙΙ-2.5.3
#2 0 Setting of PWM carrier frequency C ΙΙΙ-2.5.3
6L 3013 4013 4013 #2 Depends on Current dead-band data C ΙΙΙ-2.5.3
the model

- 650 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard
Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data
#3 Depends on Current dead-band data C ΙΙΙ-2.5.3
the model
#4 Depends on Current dead-band data C ΙΙΙ-2.5.3
the model
#5 Depends on Current dead-band data C ΙΙΙ-2.5.3
the model
#6 Depends on Current dead-band data C ΙΙΙ-2.5.3
the model
7L 3015 4015 4015 #0 0 Whether to use the spindle orientation function B ΙΙΙ-2.2.8
8H 3016 4016 4016 #6 0 Whether to detect the alarm (SPM alarms 46) related to feedback of A ΙΙΙ-1.3.2
the position detection signal for threading
#7 0 Function for newly detecting the one-rotation signal before entering A ΙΙΙ-1.3.2
position control mode
8L 3017 4017 4017 #7 0 Setting of shortcut orientation from stop state in position coder B ΙΙΙ-2.2.9
method spindle orientation
9L 3019 4019 4019 #2 1 Whether to use torque clamp at zero speed B ΙΙΙ-2.5.4
#7 0 Automatic parameter setting function (16i) B ΙΙΙ-2.1.6
10 3020 4020 4020 6000 Maximum motor speed C ΙΙΙ-2.1.6
12 3022 4022 4022 150 Speed arrival detection level (SAR) B ΙΙΙ-2.5.4
13 3023 4023 4023 30 Speed detection level (SDT) B ΙΙΙ-2.5.4
14 3024 4024 4024 75 Zero speed detection level (SST) B ΙΙΙ-2.5.4
15 3025 4025 4025 50 Limited torque (TLMH) B ΙΙΙ-2.5.4
16 3026 4026 4026 83 Load detection level 1 (LDT1) B ΙΙΙ-2.5.4
21 3031 4031 4031 0 Stop position of position coder method orientation B ΙΙΙ-2.2.9
22 3032 4032 4032 0 Acceleration for spindle synchronous control B ΙΙΙ-2.4.8
23 3033 4033 4033 10 Spindle synchronous speed arrival level B ΙΙΙ-2.4.8
24 3034 4034 4034 0 Shift during synchronous control of spindle phase B ΙΙΙ-2.4.8
25 3035 4035 4035 0 Compensation data for spindle phase synchronous control B ΙΙΙ-2.4.8
28 3038 4038 4038 0 Spindle orientation speed B ΙΙΙ-2.2.9
30 3040 4040 4040 Depends on Velocity loop proportional gain on velocity control mode (High) B ΙΙΙ-2.1.6
the model
31 3041 4041 4041 Depends on Velocity loop proportional gain on velocity control mode (Low) B ΙΙΙ-2.1.6
the model
32 3042 4042 4042 Depends on Velocity loop proportional gain on orientation (High) B ΙΙΙ-2.2.9
the model
33 3043 4043 4043 Depends on Velocity loop proportional gain on orientation (Low) B ΙΙΙ-2.2.9
the model
34 3044 4044 4044 Depends on Velocity loop proportional gain on servo mode/spindle synchronous B ΙΙΙ-2.3.7
the model control (High) ΙΙΙ-2.4.8
35 3045 4045 4045 Depends on Velocity loop proportional gain on servo mode/spindle synchronous B ΙΙΙ-2.3.7
the model control (Low) ΙΙΙ-2.4.8
38 3048 4048 4048 Depends on Velocity loop integral gain on velocity control mode (High) B ΙΙΙ-2.1.6
the model
39 3049 4049 4049 Depends on Velocity loop integral gain on velocity control mode (Low) B ΙΙΙ-2.1.6
the model
40 3050 4050 4050 Depends on Velocity loop integral gain on orientation (High) B ΙΙΙ-2.2.9
the model
41 3051 4051 4051 Depends on Velocity loop integral gain on orientation (Low) B ΙΙΙ-2.2.9
the model
42 3052 4052 4052 Depends on Velocity loop integral gain on servo mode/spindle synchronous B ΙΙΙ-2.3.7
the model control (High) ΙΙΙ-2.4.8
43 3053 4053 4053 Depends on Velocity loop integral gain on servo mode/spindle synchronous B ΙΙΙ-2.3.7
the model control (Low) ΙΙΙ-2.4.8
46 3056 4056 4056 100 Gear ratio (High) A ΙΙΙ-1.3.2
47 3057 4057 4057 100 Gear ratio (Medium High) A ΙΙΙ-1.3.2
48 3058 4058 4058 100 Gear ratio (Medium Low) A ΙΙΙ-1.3.2
49 3059 4059 4059 100 Gear ratio (Low) A ΙΙΙ-1.3.2
50 3060 4060 4060 1000 Position gain on orientation (High) B ΙΙΙ-2.2.9

- 651 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard
Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data
51 3061 4061 4061 1000 Position gain on orientation (Medium High) B ΙΙΙ-2.2.9
52 3062 4062 4062 1000 Position gain on orientation (Medium Low) B ΙΙΙ-2.2.9
53 3063 4063 4063 1000 Position gain on orientation (Low) B ΙΙΙ-2.2.9
54 3064 4064 4064 100 Acceleration limitation ratio at deceleration time B ΙΙΙ-2.2.9
55 3065 4065 4065 1000 Position gain on servo mode/spindle synchronous control (High) B ΙΙΙ-2.3.7
ΙΙΙ-2.4.8
56 3066 4066 4066 1000 Position gain on servo mode/spindle synchronous control (Medium B ΙΙΙ-2.3.7
High) ΙΙΙ-2.4.8
57 3067 4067 4067 1000 Position gain on servo mode/spindle synchronous control (Medium B ΙΙΙ-2.3.7
Low) ΙΙΙ-2.4.8
58 3068 4068 4068 1000 Position gain on servo mode/spindle synchronous control (Low) B ΙΙΙ-2.3.7
ΙΙΙ-2.4.8
59 3069 4069 4069 900 Acceleration/deceleration constant (High) B ΙΙΙ-2.1.6
60 3070 4070 4070 900 Acceleration/deceleration constant (Medium High) B ΙΙΙ-2.1.6
61 3071 4071 4071 900 Acceleration/deceleration constant (Medium Low) B ΙΙΙ-2.1.6
62 3072 4072 4072 900 Acceleration/deceleration constant (Low) B ΙΙΙ-2.1.6
63 3073 4073 4073 0 Grid shift on servo mode B ΙΙΙ-2.3.7
64 3074 4074 4074 0 Reference position return speed on servo mode B ΙΙΙ-2.3.7
65 3075 4075 4075 10 Detection level for orientation completion signal B ΙΙΙ-2.2.9
67 3077 4077 4077 0 Orientation stop position shift B ΙΙΙ-2.2.9
68 3078 4078 4078 0 Gear switch timer B ΙΙΙ-2.5.4
70 3080 4080 4080 Depends on Regenerative power limit for high-speed zone/regenerative power B ΙΙΙ-2.5.3
the model limit
71 3081 4081 4081 20 Delay time until motor power is cut off B ΙΙΙ-2.1.6
72 3082 4082 4082 10 Setting of acceleration/deceleration time B ΙΙΙ-2.1.6
73 3083 4083 4083 60 Motor voltage on velocity control mode C ΙΙΙ-2.1.6
74 3084 4084 4084 60 Motor voltage on orientation C ΙΙΙ-2.2.9
75 3085 4085 4085 60 Motor voltage on servo mode/spindle synchronous control mode C ΙΙΙ-2.3.7
ΙΙΙ-2.4.8
76 3086 4086 4086 0 Gear ratio parameter setting error alarm (SPM alarm 35) detection D ΙΙΙ-2.5.4
level
78 3088 4088 4088 75 Level for detecting excess velocity error when motor is restrained D ΙΙΙ-2.5.4
79 3089 4089 4089 200 Level for detecting excess velocity error when motor rotates D ΙΙΙ-2.5.4
80 3090 4090 4090 90 Overload detection level D ΙΙΙ-2.5.4
81 3091 4091 4091 100 Rate of change in position gain during reference position return on B ΙΙΙ-2.3.7
servo mode
85 3095 4095 4095 0 Speedometer pin output voltage adjustment value B ΙΙΙ-2.5.4
88 3098 4098 4098 0 Maximum speed for position coder signal detection A ΙΙΙ-1.3.2
89 3099 4099 4099 0 Delay time for motor excitation B ΙΙΙ-2.3.7
90 3100 4100 4100 Depends on Base speed of motor output specifications C ΙΙΙ-2.5.3
the model
91 3101 4101 4101 Depends on Output limit for motor output specifications C ΙΙΙ-2.5.3
the model
92 3102 4102 4102 Depends on Excitation voltage saturation speed at no-load C ΙΙΙ-2.5.3
the model
93 3103 4103 4103 Depends on Compensation data for resistance C ΙΙΙ-2.5.3
the model
94 3104 4104 4104 Depends on Current loop proportional gain C ΙΙΙ-2.5.3
the model
95 3105 4105 4105 Depends on Current loop integral gain C ΙΙΙ-2.5.3
the model
96 3106 4106 4106 Depends on D-axis current loop gain C ΙΙΙ-2.5.3
the model
97 3107 4107 4107 Depends on Q-axis current loop gain C ΙΙΙ-2.5.3
the model
98 3108 4108 4108 Depends on Q-axis current deviation limitation coefficient C ΙΙΙ-2.5.3
the model

- 652 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard
Classifi Reference
data No. 15i 16i 30i bit initial setting Contents
-cation item
F-xxx data
99 3109 4109 4109 Depends on Filter time constant for processing saturation related to the voltage C ΙΙΙ-2.5.3
the model command
100 3110 4110 4110 Depends on Current conversion constant C ΙΙΙ-2.5.3
the model
101 3111 4111 4111 Depends on Secondary current coefficient C ΙΙΙ-2.5.3
the model
102 3112 4112 4112 Depends on Criterion level for saturation related to the voltage command/PWM C ΙΙΙ-2.5.3
the model command clamp value
103 3113 4113 4113 Depends on Slip constant C ΙΙΙ-2.5.3
the model
105 3115 4115 4115 Depends on PWM command clamp value at deceleration C ΙΙΙ-2.5.3
the model
106 3116 4116 4116 Depends on Motor leakage constant C ΙΙΙ-2.5.3
the model
107 3117 4117 4117 Depends on Regular-time voltage compensation coefficient for high-speed C ΙΙΙ-2.5.3
the model zone/regular-time motor voltage coefficient
108 3118 4118 4118 Depends on Acceleration-time voltage compensation coefficient for high-speed C ΙΙΙ-2.5.3
the model zone/acceleration-time motor voltage coefficient
109 3119 4119 4119 Depends on Deceleration-time excitation current change time constant/excitation C ΙΙΙ-2.5.3
the model current change time constant
110 3120 4120 4120 Depends on Dead-band compensation data C ΙΙΙ-2.5.3
the model
111 3121 4121 4121 5 Time constant for changing the torque (TCMD filter time constant) B ΙΙΙ-2.5.4
113 3123 4123 4123 30 Short-time overload detection time D ΙΙΙ-2.5.4
117 3127 4127 4127 Depends on Value displayed on load meter at maximum output C ΙΙΙ-2.5.3
the model
118 3128 4128 4128 Depends on Compensation coefficient between the specification and true C ΙΙΙ-2.5.3
the model base/maximum torque curve compensation coefficient
120 3130 4130 4130 Depends on Current loop proportional gain speed coefficient/current phase delay C ΙΙΙ-2.5.3
the model compensation coefficient
121 3131 4131 4131 Depends on Dead-band compensation hysteresis B ΙΙΙ-2.5.3
the model
123 3133 4133 4133 Depends on Motor model code C ΙΙΙ-2.5.3
the model
124 3134 4134 4134 Depends on Motor overheat detect level (2-word) C ΙΙΙ-2.5.3
125 the model
152 3160 4160 4160 0 Hysteresis of speed detection level B Ι-5.1.7
304 3320 4320 4320 0 Acceleration at orientation deceleration time (High) B ΙΙΙ-2.2.9
305 3321 4321 4321 0 Acceleration at orientation deceleration time (Medium High) B ΙΙΙ-2.2.9
306 3322 4322 4322 0 Acceleration at orientation deceleration time (Medium Low) B ΙΙΙ-2.2.9
307 3323 4323 4323 0 Acceleration at orientation deceleration time (Low) B ΙΙΙ-2.2.9
312 3328 4328 4328 0 Command multiplication for spindle orientation by position coder B Ι-5.3.6
320 3336 4336 4336 0 Switching point used for an acceleration/deceleration time constant B ΙΙΙ-2.4.8
used for spindle synchronous control
324 3340 4340 4340 0 Bell-shaped acceleration/deceleration time constant during spindle B ΙΙΙ-2.4.8
synchronous control

- 653 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

A.3 Bis SERIES SPINDLE PARAMETER TABLE

Spindle parameters are classified into the following types:

A : Parameters related to the setup of detectors
B : Parameters related to the setup of various functions
(operating modes)
C : Unique parameters for the drive of spindle motors
(Set the parameter data according to the parameter list for each
motor model.)
D : Parameters related to the setting of alarm detection conditions

Internal Standard
Reference
data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
0H 3000 4000 4000 #0 0 Rotation direction relationship between the spindle and
A ΙV-1.3.2
motor
#1 0 Spindle rotation direction when a positive (+) move
B ΙV-2.4.7
command is specified on Cs contouring control
#3 0 Return direction for the reference position on Cs
B ΙV-2.4.7
contouring control mode
#4 0 Return direction for the reference position on servo mode B ΙV-2.3.7
0L 3001 4001 4001 #0 1 Whether to use MRDY (machine ready) signal B ΙV-2.6.4
#4 0 Mounting direction of the spindle sensor A ΙV-1.3.2
1H 3002 4002 4002 #0 0 Spindle sensor type A ΙV-1.3.2
#1 0 Spindle sensor type A ΙV-1.3.2
#2 0 Spindle sensor type A ΙV-1.3.2
#3 0 Spindle sensor type A ΙV-1.3.2
#4 0 Whether to use the rotation direction signal (SFR/SRV)
B ΙV-2.4.7
function on Cs contouring control
#5 0 Whether to use the rotation direction signal (SFR/SRV)
B ΙV-2.3.7
function on servo mode
#6 0 Whether to use the rotation direction signal (SFR/SRV)
B ΙV-2.5.8
function on spindle synchronous control
#7 0 Whether to use the CMR (servo mode Cs contouring)
B
function in servo mode
1L 3003 4003 4003 #0 0 Spindle orientation method B ΙV-2.2.9
#2 0 Rotation direction during spindle orientation B ΙV-2.2.9
#3 0 Rotation direction during spindle orientation B ΙV-2.2.9
#4 0 Teeth number setting of spindle sensor A ΙV-1.3.2
#5 0 Teeth number setting of spindle sensor A ΙV-1.3.2
#6 0 Teeth number setting of spindle sensor A ΙV-1.3.2
#7 0 Teeth number setting of spindle sensor A ΙV-1.3.2
3H 3006 4006 4006 #1 0 Increment system of gear ratio A ΙV-1.3.2
#3 0 Automatic detection of one-rotation signal during spindle
B ΙV-2.5.8
synchronous control
#4 0 Sets the d-phase current command. C ΙV-2.6.3
#5 0 Setting of analog override range B ΙV-2.1.6
#7 0 Whether to use the command arbitrary gear ratio (CMR)
B ΙV-2.3.7
function on rigid tapping
3L 3007 4007 4007 #5 0 Whether to detect a feedback signal disconnection
A ΙV-1.3.2

#6 0 Whether to detect the alarms (SPM alarms 41, 42, 47, 81,
82, 83, 85, 86, and 87) related to the position feedback A ΙV-1.3.2
signal (when non-Cs contouring control mode is set)
#7 0 Magnetic pole detection start signal selection B IV-1.5.3
4H 3008 4008 4008 #0 0 Reserved C
#1 0 Reserved C
#2 0 Reserved C

- 654 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard
Reference
data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
#3 0 Sets the current command. C ΙV-2.6.3
#4 Depends on Setting of output limitation method
C ΙV-2.6.3
the model
#5 0 Whether to use the SSM B IV-1.4.4
#6 0 Reference magnetic pole position selection B IV-1.5.3
4L 3009 4009 4009 #0 0 Increment system of velocity loop gain B ΙV-2.6.4
#2 0 Motor power turn-off method when SPM alarm 24 (serial
D ΙV-2.6.4
data transfer error) is issued
#4 0 Whether to output the load detection signals (LDT1, LDT2)
B ΙV-2.1.6
during acceleration/deceleration
#5 Depends on Setting related to magnetic flux reduction speed
C ΙV-2.6.3
the model
#6 0 Analog override type B ΙV-2.1.6
5H 3010 4010 4010 #0 Depends on Motor sensor type
A ΙV-1.3.2
the model
#1 Depends on Motor sensor type
A ΙV-1.3.2
the model
#2 Depends on Motor sensor type
A ΙV-1.3.2
the model
5L 3011 4011 4011 #0 Depends on Teeth number setting of motor sensor
A ΙV-1.3.2
the model
#1 Depends on Teeth number setting of motor sensor
A ΙV-1.3.2
the model
#2 Depends on Teeth number setting of motor sensor
A ΙV-1.3.2
the model
#3 Depends on Number of motor poles
C ΙV-2.6.3
the model
#4 Depends on Setting of maximum output during
C ΙV-2.6.3
the model acceleration/deceleration
#7 Depends on Number of motor poles
C ΙV-2.6.3
the model
6H 3012 4012 4012 #0 Depends on Setting of PWM carrier frequency
C ΙV-2.6.3
the model
#1 Depends on Setting of PWM carrier frequency
C ΙV-2.6.3
the model
#2 Depends on Setting of PWM carrier frequency
C ΙV-2.6.3
the model
#6 1 Setting of the synchronous built-in spindle motor C ΙV-2.6.3
#7 1 Setting of spindle HRV function C ΙV-2.6.3
6L 3013 4013 4013 #2 Depends on Current dead-band data
C ΙV-2.6.3
the model
#3 Depends on Current dead-band data
C ΙV-2.6.3
the model
#4 Depends on Current dead-band data
C ΙV-2.6.3
the model
#5 Depends on Current dead-band data
C ΙV-2.6.3
the model
#6 Depends on Current dead-band data
C ΙV-2.6.3
the model
7H 3014 4014 4014 #7 0 Setting of dual position feedback B ΙV-5.5.6
7L 3015 4015 4015 #0 0 Whether to use the spindle orientation function B ΙV-2.2.9
#1 0 Whether to use the unexpected disturbance torque
B ΙV-5.7.5
detection function
8H 3016 4016 4016 #3 0 Setting of the smoothing function in feed-forward control ΙV-2.4.7
B
ΙV-5.8.7
#4 0 Setting related to control characteristics on Cs contouring ΙV-2.3.7
B
control/servo mode ΙV-2.4.7
#5 0 Whether to detect the alarms (SPM alarms 81, 82, 85, 86)
related to position feedback (on Cs contouring control A ΙV-1.3.2
mode)

- 655 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard
Reference
data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
#6 0 Whether to detect the alarm (SPM alarms 46) related to
A ΙV-1.3.2
feedback of the position detection signal for threading
#7 0 Function for newly detecting the one-rotation signal before
A ΙV-1.3.2
entering position control mode
8L 3017 4017 4017 #7 0 Setting of shortcut orientation from stop state in position
B ΙV-2.2.9
coder method spindle orientation
9H 3018 4018 4018 #5 0 Whether to use the velocity command compensation
B ΙV-5.4.6
function during high-speed orientation
#6 0 High-speed orientation function B ΙV-5.4.6
9L 3019 4019 4019 #2 1 Whether to use torque clamp at zero speed B ΙV-2.6.4
#7 0 Automatic parameter setting function (16i) ΙV-1.1.2
B
ΙV-2.6.4
10 3020 4020 4020 Depends on Maximum motor speed ΙV-1.4.4
the model C
ΙV-2.6.3
11 3021 4021 4021 100 Maximum speed on Cs contouring control mode B ΙV-2.4.7
12 3022 4022 4022 150 Speed arrival detection level (SAR) B ΙV-2.6.4
13 3023 4023 4023 30 Speed detection level (SDT) B ΙV-2.6.4
14 3024 4024 4024 75 Zero speed detection level (SST) B ΙV-2.6.4
15 3025 4025 4025 50 Limited torque (TLMH, TLML) B ΙV-2.6.4
16 3026 4026 4026 83 Load detection level 1 (LDT1) B ΙV-2.6.4
17 3027 4027 4027 95 Load detection level 2 (LDT2) B ΙV-2.6.4
20 3030 4030 4030 0 Soft start/stop time (SOCN) B ΙV-2.1.6
21 3031 4031 4031 0 Stop position of position coder method orientation B ΙV-2.2.9
22 3032 4032 4032 0 Acceleration on spindle synchronous control B ΙV-2.5.8
23 3033 4033 4033 10 Spindle synchronous speed arrival level B ΙV-2.5.8
24 3034 4034 4034 0 Shift during synchronous control of spindle phase B ΙV-2.5.8
25 3035 4035 4035 0 Compensation data for spindle phase synchronous control B ΙV-2.5.8
26 3036 4036 4036 0 Feed-forward coefficient ΙV-2.4.7
B
ΙV-5.8.8
27 3037 4037 4037 0 Feed-forward coefficient of velocity loop ΙV-2.4.7
B ΙV-5.6.4
ΙV-5.8.8
28 3038 4038 4038 0 Spindle orientation speed ΙV-2.2.9
B
ΙV-5.4.6
29 3039 4039 4039 0 Reserved C
30 3040 4040 4040 10 Velocity loop proportional gain on velocity control mode
B ΙV-2.1.6
(High)
31 3041 4041 4041 10 Velocity loop proportional gain on velocity control mode
B ΙV-2.1.6
(Low)
32 3042 4042 4042 10 Velocity loop proportional gain on orientation (High) B ΙV-2.2.9
33 3043 4043 4043 10 Velocity loop proportional gain on orientation (Low) B ΙV-2.2.9
34 3044 4044 4044 10 Velocity loop proportional gain on servo mode/spindle ΙV-2.3.7
B
synchronous control (High) ΙV-2.5.8
35 3045 4045 4045 10 Velocity loop proportional gain on servo mode/spindle ΙV-2.3.7
B
synchronous control (Low) ΙV-2.5.8
36 3046 4046 4046 30 Velocity loop proportional gain on Cs contouring control
B ΙV-2.4.7
(High)
37 3047 4047 4047 30 Velocity loop proportional gain on Cs contouring control
B ΙV-2.4.7
(Low)
38 3048 4048 4048 10 Velocity loop integral gain on velocity control mode (High) B ΙV-2.1.6
39 3049 4049 4049 10 Velocity loop integral gain on velocity control mode (Low) B ΙV-2.1.6
40 3050 4050 4050 10 Velocity loop integral gain on orientation (High) B ΙV-2.2.9
41 3051 4051 4051 10 Velocity loop integral gain on orientation (Low) B ΙV-2.2.9
42 3052 4052 4052 10 Velocity loop integral gain on servo mode/spindle ΙV-2.3.7
B
synchronous control (High) ΙV-2.5.8
43 3053 4053 4053 10 Velocity loop integral gain on servo mode/spindle ΙV-2.3.7
B
synchronous control (Low) ΙV-2.5.8
44 3054 4054 4054 50 Velocity loop integral gain on Cs contouring control (High)
B ΙV-2.4.7

- 656 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard
Reference
data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
45 3055 4055 4055 50 Velocity loop integral gain on Cs contouring control (Low) B ΙV-2.4.7
46 3056 4056 4056 100 Gear ratio (High) A ΙV-1.3.2
47 3057 4057 4057 100 Gear ratio (Medium High) A ΙV-1.3.2
48 3058 4058 4058 100 Gear ratio (Medium Low) A ΙV-1.3.2
49 3059 4059 4059 100 Gear ratio (Low) A ΙV-1.3.2
50 3060 4060 4060 1000 Position gain on orientation (High) B ΙV-2.2.9
51 3061 4061 4061 1000 Position gain on orientation (Medium High) B ΙV-2.2.9
52 3062 4062 4062 1000 Position gain on orientation (Medium Low) B ΙV-2.2.9
53 3063 4063 4063 1000 Position gain on orientation (Low) B ΙV-2.2.9
54 3064 4064 4064 100 Ordinary orientation: Rate of change in position gain upon
completion of orientation ΙV-2.2.9
B
High-speed orientation: Rate of change in position gain ΙV-5.4.6
upon completion of orientation
55 3065 4065 4065 1000 Position gain on servo mode/spindle synchronous control ΙV-2.3.7
B
(High) ΙV-2.5.8
56 3066 4066 4066 1000 Position gain on servo mode/spindle synchronous control ΙV-2.3.7
B
(Medium High) ΙV-2.5.8
57 3067 4067 4067 1000 Position gain on servo mode/spindle synchronous control ΙV-2.3.7
B
(Medium Low) ΙV-2.5.8
58 3068 4068 4068 1000 Position gain on servo mode/spindle synchronous control ΙV-2.3.7
B
(Low) ΙV-2.5.8
59 3069 4069 4069 3000 Position gain on Cs contouring control (High) B ΙV-2.4.7
60 3070 4070 4070 3000 Position gain on Cs contouring control (Medium High) B ΙV-2.4.7
61 3071 4071 4071 3000 Position gain on Cs contouring control (Medium Low) B ΙV-2.4.7
62 3072 4072 4072 3000 Position gain on Cs contouring control (Low) B ΙV-2.4.7
63 3073 4073 4073 0 Grid shift on servo mode B ΙV-2.3.7
64 3074 4074 4074 0 Reference position return speed on Cs contouring ΙV-2.3.7
B
control/servo mode ΙV-2.4.7
65 3075 4075 4075 10 Detection level for orientation completion signal (ORAR) B ΙV-2.2.9
66 3076 4076 4076 33 Ordinary orientation: Motor speed limit value on orientation
B ΙV-2.2.9
High-speed orientation: Reserved
67 3077 4077 4077 0 Orientation stop position shift B ΙV-2.2.9
70 3080 4080 4080 Depends on Regenerative power limit for high-speed zone/regenerative
C ΙV-2.6.3
the model power limit
71 3081 4081 4081 20 Delay time until motor power is cut off B ΙV-2.1.6
72 3082 4082 4082 10 Setting of acceleration/deceleration time B ΙV-2.1.6
73 3083 4083 4083 0 Current ratio/motor stop confirmation time in magnetic pole ΙV-1.5.3
C
detection operation ΙV-2.6.3
74 3084 4084 4084 0 AMR offset ΙV-1.5.3
C
ΙV-2.6.3
75 3085 4085 4085 0 AMR offset fine adjustment ΙV-1.5.3
C
ΙV-2.6.3
76 3086 4086 4086 Depends on Inductance ratio
C ΙV-2.6.3
the model
77 3087 4087 4087 115 Overspeed level D ΙV-2.6.4
78 3088 4088 4088 75 Level for detecting excess velocity error when motor is
D ΙV-2.6.4
restrained
79 3089 4089 4089 200 Level for detecting excess velocity error when motor
D ΙV-2.6.4
rotates
80 3090 4090 4090 90 Overload detection level D ΙV-2.6.4
81 3091 4091 4091 100 Rate of change in position gain during reference position
B ΙV-2.3.7
return on servo mode
82 3092 4092 4092 100 Rate of change in position gain during reference position
B ΙV-2.4.7
return on Cs contouring control
84 3094 4094 4094 0 Disturbance torque compensation constant (acceleration
B ΙV-2.4.7
feedback gain)
85 3095 4095 4095 0 Adjusted output voltage of speedometer B ΙV-2.6.4
86 3096 4096 4096 0 Adjusted output voltage of load meter B ΙV-2.6.4
88 3098 4098 4098 0 Maximum speed for position feedback signal detection A ΙV-1.3.2

- 657 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard
Reference
data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
89 3099 4099 4099 0 Delay time for motor excitation ΙV-2.3.7
B
ΙV-2.4.7
90 3100 4100 4100 Depends on Base speed of motor output specifications
C ΙV-2.6.3
the model
91 3101 4101 4101 Depends on Output limit for motor output specifications
C ΙV-2.6.3
the model
92 3102 4102 4102 Depends on Base speed
C ΙV-2.6.3
the model
93 3103 4103 4103 Depends on Magnetic flux reduction speed at maximum load
C ΙV-2.6.3
the model
94 3104 4104 4104 Depends on Current loop proportional gain
C ΙV-2.6.3
the model
95 3105 4105 4105 0 Reserved C
96 3106 4106 4106 Depends on Current loop integral gain
C ΙV-2.6.3
the model
97 3107 4107 4107 0 Reserved C
98 3108 4108 4108 Depends on Velocity at which the current loop integral gain is zero
C ΙV-2.6.3
the model
99 3109 4109 4109 0 Reserved C ΙV-2.6.3
100 3110 4110 4110 Depends on Current conversion constant
C ΙV-2.6.3
the model
101 3111 4111 4111 Depends on Maximum current constant
C ΙV-2.6.3
the model
102 3112 4112 4112 Depends on PWM command clamp value
C ΙV-2.6.3
the model
103 3113 4113 4113 Depends on Current constant for magnetic flux reduction
C ΙV-2.6.3
the model
104 3114 4114 4114 0 Reserved C
105 3115 4115 4115 Depends on PWM command clamp value at deceleration
C ΙV-2.6.3
the model
106 3116 4116 4116 Depends on Counter electromotive voltage compensation constant for
C ΙV-2.6.3
the model magnetic flux reduction speed at maximum load
107 3117 4117 4117 Depends on Interference voltage compensation constant for magnetic
C ΙV-2.6.3
the model flux reduction speed at maximum load
108 3118 4118 4118 0 Reserved C
109 3119 4119 4119 Depends on Interference voltage compensation
C ΙV-2.6.3
the model
110 3120 4120 4120 Depends on Dead-band rectangular wave component zero
C ΙV-2.6.3
the model voltage/dead-band data
111 3121 4121 4121 5 Time constant for changing the torque (TCMD filter time
B ΙV-4.2.1
constant)
112 3122 4122 4122 0 Time constant for velocity detecting filter B ΙV-2.6.4
113 3123 4123 4123 30 Short-time overload detection time D ΙV-2.6.4
114 3124 4124 4124 0 Reserved C
117 3127 4127 4127 Depends on Value displayed on load meter at maximum output
C ΙV-2.6.3
the model
118 3128 4128 4128 0 Reserved C
119 3129 4129 4129 0 Reserved C
120 3130 4130 4130 Depends on Current phase delay compensation coefficient
C ΙV-2.6.3
the model
121 3131 4131 4131 0 Time constant for velocity detecting filter (on Cs contouring
B ΙV-2.4.7
control)
123 3133 4133 4133 Depends on Motor model code ΙV-1.1.2
C
the model ΙV-2.6.3
124 3134 4134 4134 Depends on Motor overheat detect level (2-word)
the model C ΙV-2.6.3
125
126 3135 4135 4135 0 Grid shift during Cs contouring control mode l (2-word)
B ΙV-2.4.7
127
152 3160 4160 4160 0 Hysteresis of speed detection level B ΙV-5.1.7

- 658 -
B-65280EN/05 APPENDIX A.SPINDLE PARAMETER TABLE

Internal Standard
Reference
data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
154 3162 4162 4162 0 Integral gain of velocity loop during cutting feed on Cs
B ΙV-2.4.7
contouring control mode (High)
155 3163 4163 4163 0 Integral gain of velocity loop during cutting feed on Cs
B ΙV-2.4.7
contouring control mode (Low)
161 3169 4169 4169 Depends on Temperature monitoring time constant
C ΙV-2.6.4
the model
162 3170 4170 4170 0 Current overload alarm detection level D ΙV-2.6.4
163 3171 4171 4171 0 Denominator of arbitrary gear ratio between motor sensor
A ΙV-1.3.2
and spindle (High)
164 3172 4172 4172 0 Numerator of arbitrary gear ratio between motor sensor
A ΙV-1.3.2
and spindle (High)
165 3173 4173 4173 0 Denominator of arbitrary gear ratio between motor sensor
A ΙV-1.3.2
and spindle (Low)
166 3174 4174 4174 0 Numerator of arbitrary gear ratio between motor sensor
A ΙV-1.3.2
and spindle (Low)
230 3248 4248 4248 0 Spindle load monitor torque constant B ΙV-5.7.5
231 3249 4249 4249 0 Spindle load monitor observer gain 1 B ΙV-5.7.5
232 3250 4250 4250 0 Spindle load monitor observer gain 2 B ΙV-5.7.5
304 3320 4320 4320 0 Motor acceleration at deceleration time (High) B ΙV-5.4.6
305 3321 4321 4321 0 Motor acceleration at deceleration time (Medium High) B ΙV-5.4.6
306 3322 4322 4322 0 Motor acceleration at deceleration time (Medium Low) B ΙV-5.4.6
307 3323 4323 4323 0 Motor acceleration at deceleration time (Low) B ΙV-5.4.6
310 3326 4326 4326 0 Acceleration limitation start speed at deceleration time
B ΙV-5.4.6
(High)
312 3328 4328 4328 0 Command multiplication for spindle orientation by position
B ΙV-5.3.6
coder
314 3330 4330 4330 0 Acceleration limitation start speed at deceleration time
B ΙV-5.4.6
(Low)
318 3334 4334 4334 0 Number of motor sensor arbitrary teeth A ΙV-1.3.2
320 3336 4336 4336 0 Switching point used for an acceleration/deceleration time
B ΙV-2.5.8
constant used for spindle synchronous control
324 3340 4340 4340 0 Bell-shaped acceleration/deceleration time constant during
B ΙV-2.5.8
spindle synchronous control
325 3341 4341 4341 0 Unexpected disturbance torque detection level B ΙV-5.7.5
328 3344 4344 4344 0 Advanced preview feed-forward coefficient B ΙV-5.6.4
329 3344 4345 4345 0 Spindle motor speed specification detection level B ΙV-2.6.4
330 3346 4346 4346 0 Incomplete integration factor ΙV-2.5.8
B
ΙV-2.6.4
335 3351 4351 4351 0 Current detection offset compensation B ΙV-2.6.4
336H 3352 4352 4352 #1 0 Setting of the peak hold function for load meter output B ΙV-2.1.6
#4 0 Setting of whether to enable/disable feed forward at all
B ΙV-5.8.8
times
#6 0 Inter-SPM communication slave axis setting B ΙV-5.8.8
#7 0 Inter-SPM communication master axis setting B ΙV-5.8.8
338 3355 4355 4355 0 Motor sensor signal amplitude ratio compensation ΙV-1.3.2
A
ΙV-4.3
339 3356 4356 4356 0 Motor sensor signal phase difference compensation ΙV-1.3.2
A
ΙV-4.3
345 3362 4362 4362 0 Load meter compensation 1 C ΙV-2.6.3
346 3363 4363 4363 0 Load meter compensation 2 C ΙV-2.6.3
347 3364 4364 4364 0 Load meter compensation 3 C ΙV-2.6.3
352 3369 4369 4369 0 Spindle synchronous orientation deceleration coefficient B ΙV-5.5.6
366 3384 4384 4384 0 Spindle EGB : Maximum acceleration/deceleration value in
B ΙV-5.8.8
automatic phase matching
367 3385 4385 4385 0 Spindle EGB : time constant for free-running phase
B ΙV-5.8.8
matching
368 3386 4386 4386 0 Spindle EGB : master side detector pulse count B ΙV-5.8.8
369 3387 4387 4387 0 Spindle EGB : synchronous ratio numerator B ΙV-5.8.8
370 3388 4388 4388 0 Spindle EGB : synchronous ratio denominator B ΙV-5.8.8

- 659 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/05

Internal Standard
Reference
data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
373 3391 4391 4391 0 Resonance elimination filter 1 : attenuation center
B ΙV-4.2.2
frequency
374 3392 4392 4392 0 Resonance elimination filter 1 : attenuation bandwidth B ΙV-4.2.2
375 3393 4393 4393 0 Resonance elimination filter 1 : damping B ΙV-4.2.2
376H 3394 4394 4394 #2 0 Setting of the detection lower limit of the one-rotation
A ΙV-1.3.2
signal
#3 0 Setting of the fine acceleration/deceleration (FAD) function B ΙV-5.6.4
#4 0 Acceleration/deceleration type of fine
B ΙV-5.6.4
acceleration/deceleration (FAD)
#5 0 Whether to detect the alarm related to spindle sensor
A ΙV-1.3.2
polarity erroneous setting
376L 3395 4395 4395 #3 0 Setting of parameter transfer from the CNC to spindle
B ΙV-2.6.4
software
#6 0 Triggering of the disturbance input function (vibration
B ΙV-4.2.3
application function)
#7 0 Setting of the disturbance input function (vibration
B ΙV-4.2.3
application function)
378H 3398 4398 4398 #3 0 Selects a magnetic pole detection mode. C ΙV-1.5.3
383 3406 4406 4406 0 Acceleration/deceleration time constant at return to the
B ΙV-2.4.7
reference position in Cs contouring control
385 3408 4408 4408 0 Fine acceleration/deceleration time constant B ΙV-5.6.4
386 3409 4409 4409 0 Feed forward timing adjustment coefficient B ΙV-5.6.4
387 3410 4410 4410 0 Disturbance input function : measurement start frequency B ΙV-4.2.3
388 3411 4411 4411 0 Disturbance input function : measurement end frequency B ΙV-4.2.3
389 3412 4412 4412 0 Disturbance input function : measurement frequency
B ΙV-4.2.3
interval
390 3413 4413 4413 0 Disturbance input function : number of measurements per
B ΙV-4.2.3
frequency
391 3414 4414 4414 0 Disturbance input function : disturbance torque command
B ΙV-4.2.3
amplitude
392 3415 4415 4415 0 Disturbance input function : motor speed command for
B ΙV-4.2.3
measurement
393 3416 4416 4416 0 Resonance elimination filter 2 : attenuation center
B ΙV-4.2.2
frequency
394 3417 4417 4417 0 Resonance elimination filter 2 : attenuation bandwidth B ΙV-4.2.2
395 3418 4418 4418 0 Resonance elimination filter 2 : damping B ΙV-4.2.2
396 3419 4419 4419 0 Resonance elimination filter 3 : attenuation center
B ΙV-4.2.2
frequency
397 3420 4420 4420 0 Resonance elimination filter 3 : attenuation bandwidth B ΙV-4.2.2
398 3421 4421 4421 0 Resonance elimination filter 3 : damping B ΙV-4.2.2
399 3422 4422 4422 0 Resonance elimination filter 4 : attenuation center
B ΙV-4.2.2
frequency
400 3423 4423 4423 0 Resonance elimination filter 4 : attenuation bandwidth B ΙV-4.2.2
401 3424 4424 4424 0 Resonance elimination filter 4 : damping B ΙV-4.2.2
426 3449 4449 4449 0 Direction detection current/polarity determination current C ΙV-1.5.3
Travel distance allowance magnification/velocity feedback
427 3450 4450 4450 0 C ΙV-1.5.3
threshold
428 3451 4451 4451 0 Reserved C ΙV-1.5.3
470 3498 4498 4498 0 Spindle EGB master side : denominator of arbitrary gear
B ΙV-5.8.8
ratio between motor sensor and spindle
471 3499 4499 4499 0 Spindle EGB master side : numerator of arbitrary gear
B ΙV-5.8.8
ratio between motor sensor and spindle
480 3508 4508 4508 0 Rate of change in acceleration at soft start/stop B ΙV-2.1.6
0 Excessive speed deviation alarm detection level on
487 3515 4515 4515 D ΙV-2.5.8
spindle synchronous control
0 Excessive positional deviation alarm detection level on
488 3516 4516 4516 D ΙV-2.5.8
spindle synchronous control
504 - 4532 4532 0 Arbitrary data output function number B ΙV-1.5.5

- 660 -
B-65280EN/05 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS

B LIST OF SPINDLE PARAMETER

NUMBERS
The following shows corresponding of the parameter numbers of
parameters for speed range switch high-speed/low-speed
characteristics on the main side/sub-side of spindle switching.

MH, ML, SH, and SL in the table represent the following:

MH: Parameter for speed range switch high-speed characteristics on
the main side of spindle switching (for standard motors)
ML: Parameter for speed range switch low-speed characteristics on
the main side of spindle switching
SH: Parameter for speed range switch high-speed characteristics on
the sub-side of spindle switching
SL: Parameter for speed range switch low-speed characteristics on
the sub-side of spindle switching

15i 16i 30i Contents

MH ML SH SL MH ML SH SL MH ML SH SL
3000 ← 3176 ← 4000 ← 4176 ← 4000 ← 4176 ← Bit parameter
3001 ← 3177 ← 4001 ← 4177 ← 4001 ← 4177 ← Bit parameter
3002 ← 3178 ← 4002 ← 4178 ← 4002 ← 4178 ← Bit parameter
3003 ← 3179 ← 4003 ← 4179 ← 4003 ← 4179 ← Bit parameter
3004 ← 3180 ← 4004 ← 4180 ← 4004 ← 4180 ← Bit parameter
3005 ← 3181 ← 4005 ← 4181 ← 4005 ← 4181 ← Bit parameter
3006 ← 3182 ← 4006 ← 4182 ← 4006 ← 4182 ← Bit parameter
3007 ← 3183 ← 4007 ← 4183 ← 4007 ← 4183 ← Bit parameter
3008 ← 3184 ← 4008 ← 4184 ← 4008 ← 4184 ← Bit parameter
3009 ← 3185 ← 4009 ← 4185 ← 4009 ← 4185 ← Bit parameter
3010 ← 3186 ← 4010 ← 4186 ← 4010 ← 4186 ← Bit parameter
3011 ← 3187 ← 4011 ← 4187 ← 4011 ← 4187 ← Bit parameter
3012 ← 3188 ← 4012 ← 4188 ← 4012 ← 4188 ← Bit parameter
3013 ← 3189 ← 4013 ← 4189 ← 4013 ← 4189 ← Bit parameter
3014 ← ← ← 4014 ← ← ← 4014 ← ← ← Bit parameter
3015 ← ← ← 4015 ← ← ← 4015 ← ← ← Bit parameter
3016 ← 3192 ← 4016 ← 4192 ← 4016 ← 4192 ← Bit parameter
3017 ← 3193 ← 4017 ← 4193 ← 4017 ← 4193 ← Bit parameter
3018 ← 3194 ← 4018 ← 4194 ← 4018 ← 4194 ← Bit parameter
3019 ← 3195 ← 4019 ← 4195 ← 4019 ← 4195 ← Bit parameter
3020 ← 3196 ← 4020 ← 4196 ← 4020 ← 4196 ← Maximum motor speed
3021 ← None None 4021 ← None None 4021 ← None None Maximum speed on Cs contouring control mode
3022 ← 3197 ← 4022 ← 4197 ← 4022 ← 4197 ← Speed arrival detection level
3023 ← 3198 ← 4023 ← 4198 ← 4023 ← 4198 ← Speed detection level
3024 ← 3199 ← 4024 ← 4199 ← 4024 ← 4199 ← Zero speed detection level
3025 ← 3200 ← 4025 ← 4200 ← 4025 ← 4200 ← Limited torque
3026 ← 3201 ← 4026 ← 4201 ← 4026 ← 4201 ← Load detection level 1
3027 ← ← ← 4027 ← ← ← 4027 ← ← ← Load detection level 2
3028 ← 3202 ← 4028 ← 4202 ← 4028 ← 4202 ← Limited output pattern

- 661 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/05

15i 16i 30i Contents

MH ML SH SL MH ML SH SL MH ML SH SL
3029 ← 3203 ← 4029 ← 4203 ← 4029 ← 4203 ← Output limit
3030 ← ← ← 4030 ← ← ← 4030 ← ← ← Soft start/stop time
3031 ← 3204 ← 4031 ← 4204 ← 4031 ← 4204 ← Stop position of position coder method orientation
3032 ← None None 4032 ← None None 4032 ← None None Acceleration on spindle synchronous control
3033 ← None None 4033 ← None None 4033 ← None None Spindle synchronous speed arrival level
3034 ← None None 4034 ← None None 4034 ← None None Shift during synchronous control of spindle phase
3035 ← None None 4035 ← None None 4035 ← None None Compensation data for spindle phase synchronous
control
3036 ← 3240 ← 4036 ← 4240 ← 4036 ← 4240 ← Feed-forward coefficient
3037 3443 3241 3486 4037 4443 4241 4486 4037 4443 4241 4486 Feed-forward coefficient of velocity loop
3038 ← 3205 ← 4038 ← 4205 ← 4038 ← 4205 ← Spindle orientation speed
3039 3156 3254 3255 4039 4156 4254 4255 4039 4156 4254 4255 Slip compensation gain
3040 ← 3206 ← 4040 ← 4206 ← 4040 ← 4206 ← Velocity loop proportional gain on velocity control
mode (High)
3041 ← 3207 ← 4041 ← 4207 ← 4041 ← 4207 ← Velocity loop proportional gain on velocity control
mode (Low)
3042 ← 3208 ← 4042 ← 4208 ← 4042 ← 4208 ← Velocity loop proportional gain on orientation (High)
3043 ← 3209 ← 4043 ← 4209 ← 4043 ← 4209 ← Velocity loop proportional gain on orientation (Low)
3044 ← 3210 ← 4044 ← 4210 ← 4044 ← 4210 ← Velocity loop proportional gain on servo mode (High)
3045 ← 3211 ← 4045 ← 4211 ← 4045 ← 4211 ← Velocity loop proportional gain on servo mode (Low)
3046 ← None None 4046 ← None None 4046 ← None None Velocity loop proportional gain on Cs contouring
control (High)
3047 ← None None 4047 ← None None 4047 ← None None Velocity loop proportional gain on Cs contouring
control (Low)
3048 ← 3212 ← 4048 ← 4212 ← 4048 ← 4212 ← Velocity loop integral gain on velocity control mode
(High)
3049 ← ↑ ↑ 4049 ← ↑ ↑ 4049 ← ↑ ↑ Velocity loop integral gain on velocity control mode
(Low)
3050 ← 3213 ← 4050 ← 4213 ← 4050 ← 4213 ← Velocity loop integral gain on orientation (High)
3051 ← ↑ ↑ 4051 ← ↑ ↑ 4051 ← ↑ ↑ Velocity loop integral gain on orientation (Low)
3052 ← 3214 ← 4052 ← 4214 ← 4052 ← 4214 ← Velocity loop integral gain on servo mode/spindle
synchronous control (High)
3053 ← ↑ ↑ 4053 ← ↑ ↑ 4053 ← ↑ ↑ Velocity loop integral gain on servo mode/spindle
synchronous control (Low)
3054 ← None None 4054 ← None None 4054 ← None None Velocity loop integral gain on Cs contouring control
(High)
3055 ← None None 4055 ← None None 4055 ← None None Velocity loop integral gain on Cs contouring control
(Low)
3056 ← 3216 ← 4056 ← 4216 ← 4056 ← 4216 ← Gear ratio (High)
3057 ← ↑ ↑ 4057 ← ↑ ↑ 4057 ← ↑ ↑ Gear ratio (Medium High)
3058 ← ↓ ↓ 4058 ← ↓ ↓ 4058 ← ↓ ↓ Gear ratio (Medium Low)
3059 ← 3217 ← 4059 ← 4217 ← 4059 ← 4217 ← Gear ratio (Low)
3060 ← 3218 ← 4060 ← 4218 ← 4060 ← 4218 ← Position gain on orientation (High)
3061 ← ↑ ↑ 4061 ← ↑ ↑ 4061 ← ↑ ↑ Position gain on orientation (Medium High)
3062 ← ↓ ↓ 4062 ← ↓ ↓ 4062 ← ↓ ↓ Position gain on orientation (Medium Low)
3063 ← 3219 ← 4063 ← 4219 ← 4063 ← 4219 ← Position gain on orientation (Low)
3064 ← 3220 ← 4064 ← 4220 ← 4064 ← 4220 ← Ordinary orientation: Rate of change in position gain
upon completion of orientation
High-speed orientation: Rate of change in position
gain upon completion of orientation
3065 ← 3221 ← 4065 ← 4221 ← 4065 ← 4221 ← Position gain on servo mode/spindle synchronous
control (High)
3066 ← ↑ ↑ 4066 ← ↑ ↑ 4066 ← ↑ ↑ Position gain on servo mode/spindle synchronous
control (Medium High)
3067 ← ↓ ↓ 4067 ← ↓ ↓ 4067 ← ↓ ↓ Position gain on servo mode/spindle synchronous
control (Medium Low)
3068 ← 3222 ← 4068 ← 4222 ← 4068 ← 4222 ← Position gain on servo mode/spindle synchronous
control (Low)

- 662 -
B-65280EN/05 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS

15i 16i 30i Contents

MH ML SH SL MH ML SH SL MH ML SH SL
3069 ← None None 4069 ← None None 4069 ← None None Position gain on Cs contouring control (High)
3070 ← None None 4070 ← None None 4070 ← None None Position gain on Cs contouring control (Medium
High)
3071 ← None None 4071 ← None None 4071 ← None None Position gain on Cs contouring control (Medium Low)
3072 ← None None 4072 ← None None 4072 ← None None Position gain on Cs contouring control (Low)
3073 ← 3223 ← 4073 ← 4223 ← 4073 ← 4223 ← Grid shift on servo mode
3074 ← ← ← 4074 ← ← ← 4074 ← ← ← Reference position return speed on Cs contouring
control/servo mode
3075 ← 3226 ← 4075 ← 4226 ← 4075 ← 4226 ← Detection level for orientation completion signal
3076 ← 3227 ← 4076 ← 4227 ← 4076 ← 4227 ← Ordinary orientation: Motor speed limit value on
orientation
High-speed orientation: Reserved
3077 ← 3228 ← 4077 ← 4228 ← 4077 ← 4228 ← Orientation stop position shift
3078 ← 3229 ← 4078 ← 4229 ← 4078 ← 4229 ← MS signal constant
3079 ← 3230 ← 4079 ← 4230 ← 4079 ← 4230 ← MS signal gain adjustment
3080 3166 3231 3307 4080 4166 4231 4307 4080 4166 4231 4307 Regenerative power limit for high-speed
zone/regenerative power limit
3081 ← 3232 ← 4081 ← 4232 ← 4081 ← 4232 ← Delay time until motor power is cut off
3082 ← 3233 ← 4082 ← 4233 ← 4082 ← 4233 ← Setting of acceleration/deceleration time
3083 3136 3236 3284 4083 4136 4236 4284 4083 4136 4236 4284 Motor voltage on velocity control mode
3084 ← 3237 ← 4084 ← 4237 ← 4084 ← 4237 ← Motor voltage on orientation
3085 3137 3238 3285 4085 4137 4238 4285 4085 4137 4238 4285 Motor voltage on servo mode/spindle synchronous
control mode
3086 ← None None 4086 ← None None 4086 ← None None Motor voltage on Cs contouring control
3087 ← ← ← 4087 ← ← ← 4087 ← ← ← Overspeed level
3088 ← ← ← 4088 ← ← ← 4088 ← ← ← Level for detecting excess velocity deviation when
motor is restrained
3089 ← ← ← 4089 ← ← ← 4089 ← ← ← Level for detecting excess velocity deviation when
motor rotates
3090 ← ← ← 4090 ← ← ← 4090 ← ← ← Overload detection level
3091 ← 3239 ← 4091 ← 4239 ← 4091 ← 4239 ← Rate of change in position gain during reference
position return on servo mode
3092 ← None None 4092 ← None None 4092 ← None None Rate of change in position gain during reference
position return on Cs contouring control
3094 ← None None 4094 ← None None 4094 ← None None Disturbance torque compensation constant
(acceleration feedback gain)
3095 ← ← ← 4095 ← ← ← 4095 ← ← ← Adjusted output voltage of speedometer
3096 ← ← ← 4096 ← ← ← 4096 ← ← ← Adjusted output voltage of load meter
3097 ← None None 4097 ← None None 4097 ← None None Feedback gain of spindle speed
3098 ← ← ← 4098 ← ← ← 4098 ← ← ← Maximum speed for position feedback signal
detection
3099 ← ← ← 4099 ← ← ← 4099 ← ← ← Delay time for motor excitation
3100 3138 3256 3286 4100 4138 4256 4286 4100 4138 4256 4286 Base speed of motor output specifications
3101 3139 3257 3287 4101 4139 4257 4287 4101 4139 4257 4287 Output limit for motor output specifications
3102 3140 3258 3288 4102 4140 4258 4288 4102 4140 4258 4288 Excitation voltage saturation speed at no-load
3103 3141 3259 3289 4103 4141 4259 4289 4103 4141 4259 4289 Base speed limit ratio
3104 3142 3260 3290 4104 4142 4260 4290 4104 4142 4260 4290 Current loop proportional gain
3106 3143 3261 3291 4106 4143 4261 4291 4106 4143 4261 4291 Current loop integral gain
3108 3144 3262 3292 4108 4144 4262 4292 4108 4144 4262 4292 Velocity at which the current loop integral gain is
zero
3109 3145 3263 3293 4109 4145 4263 4293 4109 4145 4263 4293 Filter time constant for processing saturation related
to the voltage command
3110 3146 3264 3294 4110 4146 4264 4294 4110 4146 4264 4294 Current conversion constant
3111 3147 3265 3295 4111 4147 4265 4295 4111 4147 4265 4295 Secondary current coefficient
3112 3148 3266 3296 4112 4148 4266 4296 4112 4148 4266 4296 Criterion level for saturation related to the voltage
command/PWM command clamp value
3113 3149 3267 3297 4113 4149 4267 4297 4113 4149 4267 4297 Slip constant

- 663 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/05

15i 16i 30i Contents

MH ML SH SL MH ML SH SL MH ML SH SL
3114 3150 3268 3298 4114 4150 4268 4298 4114 4150 4268 4298 Slip compensation coefficient for a high-speed
zone/slip compensation coefficient at deceleration
3115 3151 3269 3299 4115 4151 4269 4299 4115 4151 4269 4299 PWM command clamp value at deceleration
3116 3152 3270 3300 4116 4152 4270 4300 4116 4152 4270 4300 Motor leakage constant
3117 3153 3271 3301 4117 4153 4271 4301 4117 4153 4271 4301 Regular-time voltage compensation coefficient for
high-speed zone/regular-time motor voltage
coefficient
3118 3154 3272 3302 4118 4154 4272 4302 4118 4154 4272 4302 Acceleration-time voltage compensation coefficient
for high-speed zone/acceleration-time motor voltage
coefficient
3119 3165 3280 3308 4119 4165 4280 4308 4119 4165 4280 4308 Deceleration-time excitation current change time
constant/excitation current change time constant
3120 ← ← ← 4120 ← ← ← 4120 ← ← ← Dead-band rectangular wave component zero
voltage/dead-band data
3121 3157 3273 3303 4121 4157 4273 4303 4121 4157 4273 4303 Time constant for changing the torque (TCMD filter
time constant)
3122 ← 3278 ← 4122 ← 4278 ← 4122 ← 4278 ← Time constant for velocity detecting filter
3123 ← ← ← 4123 ← ← ← 4123 ← ← ← Short-time overload detection time
3127 3093 3274 3279 4127 4093 4274 4279 4127 4093 4274 4279 Value displayed on load meter at maximum output
3128 3158 3275 3304 4128 4158 4275 4304 4128 4158 4275 4304 Compensation coefficient between the specification
and true base/maximum torque curve compensation
coefficient
3129 3159 3276 3305 4129 4159 4276 4305 4129 4159 4276 4305 Secondary current coefficient for rigid tapping
3130 3161 3277 3306 4130 4161 4277 4306 4130 4161 4277 4306 Current loop proportional gain speed
coefficient/current phase delay compensation
coefficient
3131 ← None None 4131 ← None None 4131 ← None None Time constant for velocity detecting filter (on Cs
contouring control)
3133 ← 3309 ← 4133 ← 4309 ← 4133 ← 4309 ← Motor model code
3134 ← 3310 ← 4134 ← 4310 ← 4134 ← 4310 ← Motor overheat detect level (2-word)
3135 ← None None 4135 ← None None 4135 ← None None Grid shift during Cs contouring control mode l
(2-word)
3160 ← ← ← 4160 ← ← ← 4160 ← ← ← Hysteresis of speed detection level
3162 ← None None 4162 ← None None 4162 ← None None Integral gain of velocity loop during cutting feed on
Cs contouring control mode (High)
3163 ← None None 4163 ← None None 4163 ← None None Integral gain of velocity loop during cutting feed on
Cs contouring control mode (Low)
3169 ← 3349 ← 4169 ← 4349 ← 4169 ← 4349 ← Temperature monitoring time constant
3170 3168 3350 3348 4170 4168 4350 4348 4170 4168 4350 4348 Current overload alarm detection level
3171 ← 3243 ← 4171 ← 4243 ← 4171 ← 4243 ← Denominator of arbitrary gear ratio between motor
sensor and spindle (High)
3172 ← 3244 ← 4172 ← 4244 ← 4172 ← 4244 ← Numerator of arbitrary gear ratio between motor
sensor and spindle (High)
3173 ← 3245 ← 4173 ← 4245 ← 4173 ← 4245 ← Denominator of arbitrary gear ratio between motor
sensor and spindle (Low)
3174 ← 3246 ← 4174 ← 4246 ← 4174 ← 4246 ← Numerator of arbitrary gear ratio between motor
sensor and spindle (Low)
3215 ← None None 4215 ← None None 4215 ← None None Primary delay time constant in dual position
feedback [in Cs contour control]
3224 ← None None 4224 ← None None 4224 ← None None Maximum amplitude in dual position feedback [in Cs
contour control]
3225 ← None None 4225 ← None None 4225 ← None None Dual position feedback zero width [in Cs contour
control]
3248 3281 3282 3283 4248 4281 4282 4283 4248 4281 4282 4283 Spindle load monitor torque constant
3249 ← 3234 ← 4249 ← 4234 ← 4249 ← 4234 ← Spindle load monitor observer gain 1
3250 ← 3235 ← 4250 ← 4235 ← 4250 ← 4235 ← Spindle load monitor observer gain 2
3320 ← 3324 ← 4320 ← 4324 ← 4320 ← 4324 ← Motor acceleration at deceleration time (High)
3321 ← ↑ ↑ 4321 ← ↑ ↑ 4321 ← ↑ ↑ Motor acceleration at deceleration time (Medium
High)

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B-65280EN/05 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS

15i 16i 30i Contents

MH ML SH SL MH ML SH SL MH ML SH SL
3322 ← ↓ ↓ 4322 ← ↓ ↓ 4322 ← ↓ ↓ Motor acceleration at deceleration time (Medium
Low)
3323 ← 3325 ← 4323 ← 4325 ← 4323 ← 4325 ← Motor acceleration at deceleration time (Low)
3326 ← 3327 ← 4326 ← 4327 ← 4326 ← 4327 ← Acceleration limitation start speed at deceleration
time (High)
3328 ← 3329 ← 4328 ← 4329 ← 4328 ← 4329 ← Command multiplication for spindle orientation by
position coder
3330 ← 3331 ← 4330 ← 4331 ← 4330 ← 4331 ← Acceleration limitation start speed at deceleration
time (Low)
3334 ← 3335 ← 4334 ← 4335 ← 4334 ← 4335 ← Number of motor sensor arbitrary teeth
3336 ← None None 4336 ← None None 4336 ← None None Switching point used for an acceleration/deceleration
time constant used for spindle synchronous control
3340 ← None None 4340 ← None None 4340 ← None None Bell-shaped acceleration/deceleration time constant
during spindle synchronous control
3341 ← ← ← 4341 ← ← ← 4341 ← ← ← Unexpected disturbance torque detection level
3344 ← ← ← 4344 ← ← ← 4344 ← ← ← Advanced preview feed-forward coefficient
3345 ← ← ← 4345 ← ← ← 4345 ← ← ← Spindle motor speed command detection level
3346 ← ← ← 4346 ← ← ← 4346 ← ← ← Incomplete integration factor
← None None ← None None ← None None Master-slave speed difference state signal output
3347 4347 4347
setting
3351 ← ← ← 4351 ← ← ← 4351 ← ← ← Current detection offset compensation
3352 ← 3373 ← 4352 ← 4373 ← 4352 ← 4373 ← Bit parameter
3353 ← 3374 ← 4353 ← 4374 ← 4353 ← 4374 ← Bit parameter
3354 ← None None 4354 ← None None 4354 ← None None Excessive semi-closed loop/closed loop position
error alarm detection level [in Cs contour control]
3355 ← None None 4355 ← None None 4355 ← None None Motor sensor signal amplitude ratio compensation
3356 ← None None 4356 ← None None 4356 ← None None Motor sensor signal phase difference compensation
3357 ← None None 4357 ← None None 4357 ← None None Spindle sensor signal amplitude ratio compensation
3358 ← None None 4358 ← None None 4358 ← None None Spindle sensor signal phase difference
compensation
3360 ← None None 4360 ← None None 4360 ← None None Preload value
3361 ← None None 4361 ← None None 4361 ← None None Number of spindle sensor arbitrary teeth
3362 3365 3376 3379 4362 4365 4376 4379 4362 4365 4376 4379 Load meter compensation 1
3363 3366 3377 3380 4363 4366 4377 4380 4363 4366 4377 4380 Load meter compensation 2
3364 3367 3378 3381 4364 4367 4378 4381 4364 4367 4378 4381 Load meter compensation 3
3369 ← None None 4369 ← None None 4369 ← None None Spindle synchronous orientation deceleration
coefficient
3384 ← None None 4384 ← None None 4384 ← None None Spindle EGB : Maximum acceleration/deceleration
value in automatic phase matching
3385 ← None None 4385 ← None None 4385 ← None None Spindle EGB : time constant for free-running phase
matching
3386 ← None None 4386 ← None None 4386 ← None None Spindle EGB : master side detector pulse count
3387 ← None None 4387 ← None None 4387 ← None None Spindle EGB : synchronous ratio numerator
3388 ← None None 4388 ← None None 4388 ← None None Spindle EGB : synchronous ratio denominator
3391 ← None None 4391 ← None None 4391 ← None None Resonance elimination filter 1 : attenuation center
frequency
3392 ← None None 4392 ← None None 4392 ← None None Resonance elimination filter 1 : attenuation
bandwidth
3393 ← None None 4393 ← None None 4393 ← None None Resonance elimination filter 1 : damping
3394 ← 3467 ← 4394 ← 4467 ← 4394 ← 4467 ← Bit parameter
3395 ← 3468 ← 4395 ← 4468 ← 4395 ← 4468 ← Bit parameter
3396 ← 3469 ← 4396 ← 4469 ← 4396 ← 4469 ← Bit parameter
3397 ← 3470 ← 4397 ← 4470 ← 4397 ← 4470 ← Bit parameter
3398 ← 3471 ← 4398 ← 4471 ← 4398 ← 4471 ← Bit parameter
3399 ← 3472 ← 4399 ← 4472 ← 4399 ← 4472 ← Bit parameter
3400 ← 3473 ← 4400 ← 4473 ← 4400 ← 4473 ← Bit parameter
3401 ← 3474 ← 4401 ← 4474 ← 4401 ← 4474 ← Bit parameter
3402 ← 3475 ← 4402 ← 4475 ← 4402 ← 4475 ← Bit parameter

- 665 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/05

15i 16i 30i Contents

MH ML SH SL MH ML SH SL MH ML SH SL
3403 ← 3476 ← 4403 ← 4476 ← 4403 ← 4476 ← Bit parameter
3406 ← None None 4406 ← None None 4406 ← None None Acceleration/deceleration time constant at return to
the reference position in Cs contouring control
3408 ← ← ← 4408 ← ← ← 4408 ← ← ← Fine acceleration/deceleration time constant
3409 ← 3481 ← 4409 ← 4481 ← 4409 ← 4481 ← Feed-forward timing adjustment coefficient
3410 ← ← ← 4410 ← ← ← 4410 ← ← ← Disturbance input function : measurement start
frequency
3411 ← ← ← 4411 ← ← ← 4411 ← ← ← Disturbance input function : measurement end
frequency
3412 ← ← ← 4412 ← ← ← 4412 ← ← ← Disturbance input function : measurement frequency
interval
3413 ← ← ← 4413 ← ← ← 4413 ← ← ← Disturbance input function : number of
measurements per frequency
3414 ← ← ← 4414 ← ← ← 4414 ← ← ← Disturbance input function : disturbance torque
command amplitude
3415 ← ← ← 4415 ← ← ← 4415 ← ← ← Disturbance input function : motor speed command
for measurement
3416 ← None None 4416 ← None None 4416 ← None None Resonance elimination filter 2 : attenuation center
frequency
3417 ← None None 4417 ← None None 4417 ← None None Resonance elimination filter 2 : attenuation
bandwidth
3418 ← None None 4418 ← None None 4418 ← None None Resonance elimination filter 2 : damping
3419 ← None None 4419 ← None None 4419 ← None None Resonance elimination filter 3 : attenuation center
frequency
3420 ← None None 4420 ← None None 4420 ← None None Resonance elimination filter 3 : attenuation
bandwidth
3421 ← None None 4421 ← None None 4421 ← None None Resonance elimination filter 3 : damping
3422 ← None None 4422 ← None None 4422 ← None None Resonance elimination filter 4 : attenuation center
frequency
3423 ← None None 4423 ← None None 4423 ← None None Resonance elimination filter 4 : attenuation
bandwidth
3424 ← None None 4424 ← None None 4424 ← None None Resonance elimination filter 4 : damping
3498 ← None None 4498 ← None None 4498 ← None None Spindle EGB master side : denominator of arbitrary
gear ratio between motor sensor and spindle
3499 ← None None 4499 ← None None 4499 ← None None Spindle EGB master side : numerator of arbitrary
gear ratio between motor sensor and spindle
3500 ← None None 4500 ← None None 4500 ← None None Denominator of arbitrary gear ratio between spindle
sensor and spindle (High)
3501 ← None None 4501 ← None None 4501 ← None None Numerator of arbitrary gear ratio between spindle
sensor and spindle (High)
3502 ← None None 4502 ← None None 4502 ← None None Denominator of arbitrary gear ratio between spindle
sensor and spindle (Low)
3503 ← None None 4503 ← None None 4503 ← None None Numerator of arbitrary gear ratio between spindle
sensor and spindle (Low)
3508 ← ← ← 4508 ← ← ← 4508 ← ← ← Rate of change in acceleration at soft start/stop
← None None ← None None ← None None Primary delay time constant in dual position
3520 4520 4520
feedback [in servo mode]
← None None ← None None ← None None Maximum amplitude in dual position feedback [in
3521 4521 4521
servo mode]
3522 ← None None 4522 ← None None 4522 ← None None Dual position feedback zero width [in servo mode]
← None None ← None None ← None None Excessive semi-closed loop/closed loop position
3523 4523 4523
error alarm detection level [in servo mode]

- 666 -
B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

C PARAMETER TABLE FOR EACH MOTOR

MODEL

- 667 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

C.1 SPINDLE MOTOR αi series

Motor model α0.5/10000i α1/10000i α1.5/10000i α2/10000i α3/10000i α6/10000i α8/8000i α12/7000i
Applicable SPM SPM-2.2i SPM-2.2i SPM-5.5i SPM-5.5i SPM-5.5i SPM-11i SPM-11i SPM-15i
Model code 301 302 304 306 308 310 312 314
Applicable software series and
9D50/F,9D70/A 9D50/D,9D70/A 9D50/D,9D70/A 9D50/D,9D70/A 9D50/D,9D70/A 9D50/F,9D70/A 9D50/D,9D70/A 9D50/D,9D70/A
edition
Low-speed winding chracteritics － － － － － － － －
0.55/1.1kW 1.5/2.2kW 1.1/3.7kW 2.2/3.7kW 3.7/5.5kW 5.5/7.5kW 7.5/11kW 11/15kW
High-speed winding chracteritics
3000/10000min-1 3000/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/8000min-1 1500/7000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011000 00011001 00011001 00011001 00011001 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 00001100 00001100 00001100 00001100 00001100 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 10000 10000 10000 10000 8000 7000
3023 4023 4023
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
83 85 77 60
3080 4080 4080 90 66 75 70
80(*1) 65(*1) 70(*1) 65(*1)
3083 4083 4083 30 30 30 30 30 30 30 30
3093 4093 4093 0 0 0 0 0 0 0 0
3100 4100 4100 3400 3100 1650 1550 1600 1550 1600 1500
3101 4101 4101 100 100 100 100 100 96 100 100
3102 4102 4102 6500 3557 2767 2567 1967 2630 1656 1500
46 87 60 68 75
3103 4103 4103 60 0 0
0(*1) 0(*1) 0(*1) 0(*1) 0(*1)
3104 4104 4104 3000 6000 6000 6000 7000 6000 8000 7000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 7500 6000 6000 6000 7000 6000 8000 7000
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 1571 690 563 474 475 754 503 595
3111 4111 4111 260 102 217 175 200 260 170 173
3112 4112 4112 200 200 200 200 19400 200 200 200
3113 4113 4113 2077 2100 1635 1192 1077 620 790 311
3114 4114 4114 23040 17920 0 0 0 20480 19200 23040
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 13760 10018 9598 9300 7950 8803 8118 5000
3117 4117 4117 90 90 90 90 28250 90 90 90
3118 4118 4118 100 100 100 100 110 100 100 100
3119 4119 4119 5 5 5 8 5 15 12 31
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 240 176 404 202 178 164 176 164
3128 4128 4128 120 0 115 90 0 109 117 0
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 110 110 110 130 130 130
3136 4136 4136 0 0 0 0 0 0 0 0
3138 4138 4138 0 0 0 0 0 0 0 0
3139 4139 4139 0 0 0 0 0 0 0 0
3140 4140 4140 0 0 0 0 0 0 0 0
3141 4141 4141 0 0 0 0 0 0 0 0
3142 4142 4142 0 0 0 0 0 0 0 0
3143 4143 4143 0 0 0 0 0 0 0 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 0 0 0 0 0 0 0 0
3146 4146 4146 0 0 0 0 0 0 0 0
3147 4147 4147 0 0 0 0 0 0 0 0
3148 4148 4148 0 0 0 0 0 0 0 0
3149 4149 4149 0 0 0 0 0 0 0 0
3150 4150 4150 0 0 0 0 0 0 0 0
3151 4151 4151 0 0 0 0 0 0 0 0
3152 4152 4152 0 0 0 0 0 0 0 0
3153 4153 4153 0 0 0 0 0 0 0 0
3154 4154 4154 0 0 0 0 0 0 0 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 0 0 0 0 0 0 0 0
3165 4165 4165 0 0 0 0 0 0 0 0
3166 4166 4166 0 0 0 0 0 0 0 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during 1.32kW 2.64kW 4.44kW 4.44kW 6.6kW 9.0kW 13.2kW 18.0kW
acceleration (for PSM selection) 2.60kW(*1) 2.87kW(*1) 6.7kW(*1) 6.4kW(*1) 7.9kW(*1)

(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.

- 668 -
B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

Motor model α15/7000i α18/7000i α22/7000i α30/6000i α40/6000i α50/4500i α1.5/15000i

Applicable SPM SPM-22i SPM-22i SPM-26i SPM-45i SPM-45i SPM-55i SPM-15i
Model code 316 318 320 322 323 324 305
Applicable software series and
9D50/D,9D70/A 9D50/F,9D70/A 9D50/D,9D70/A 9D50/E,9D70/A 9D50/E,9D70/A 9D50/F,9D70/A 9D50/I,9D70/B
edition
Low-speed winding chracteritics － － － － － － －
15/18.5kW 18.5/22kW 22/26kW 30/37kW 37/45kW 45/55kW 1.5/2.2kW
High-speed winding chracteritics
1500/7000min-1 1500/7000min-1 1500/7000min-1 1150/6000min-1 1500/6000min-1 1150/4500min-1 3000/15000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011001
3012 4012 4012 10000010 10000010 10000010 10000010 10000000 10000000 10000010
3013 4013 4013 01010000 01010000 01010000 00011000 00011000 00011000 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 7000 7000 7000 6000 6000 4500 15000
3023 4023 4023
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 20555 11615 80 77 80 80 14165
3083 4083 4083 30 30 30 30 30 30 10
3093 4093 4093 0 0 0 0 0 0 0
3100 4100 4100 1500 1520 1500 1387 1740 1200 3250
3101 4101 4101 95 100 95 100 100 85 33
3102 4102 4102 1710 1813 1756 1387 1740 1201 7145
3103 4103 4103 0 84 0 0 0 89 75
3104 4104 4104 5500 3000 4500 6000 3000 3000 2300
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 5500 10000 4500 6000 3000 4500 8700
3107 4107 4107 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25
3110 4110 4110 794 943 924 1145 970 1260 629
3111 4111 4111 243 333 252 286 286 320 180
3112 4112 4112 200 200 200 200 200 200 200
3113 4113 4113 304 308 290 189 190 170 2227
3114 4114 4114 23040 0 0 20480 23040 23040 0
3115 4115 4115 100 100 100 100 100 100 90
3116 4116 4116 5177 3600 5564 6071 6128 5800 10289
3117 4117 4117 90 90 29530 90 90 90 90
3118 4118 4118 100 100 110 100 100 100 100
3119 4119 4119 31 31 29 51 48 56 5
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 148 143 142 148 146 146 176
3128 4128 4128 105 0 105 0 0 114 73
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 110
3136 4136 4136 0 0 0 0 0 0 0
3138 4138 4138 0 0 0 0 0 0 0
3139 4139 4139 0 0 0 0 0 0 0
3140 4140 4140 0 0 0 0 0 0 0
3141 4141 4141 0 0 0 0 0 0 0
3142 4142 4142 0 0 0 0 0 0 0
3143 4143 4143 0 0 0 0 0 0 0
3144 4144 4144 0 0 0 0 0 0 0
3145 4145 4145 0 0 0 0 0 0 0
3146 4146 4146 0 0 0 0 0 0 0
3147 4147 4147 0 0 0 0 0 0 0
3148 4148 4148 0 0 0 0 0 0 0
3149 4149 4149 0 0 0 0 0 0 0
3150 4150 4150 0 0 0 0 0 0 0
3151 4151 4151 0 0 0 0 0 0 0
3152 4152 4152 0 0 0 0 0 0 0
3153 4153 4153 0 0 0 0 0 0 0
3154 4154 4154 0 0 0 0 0 0 0
3155 4155 4155 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0 0
3161 4161 4161 0 0 0 0 0 0 0
3165 4165 4165 0 0 0 0 0 0 0
3166 4166 4166 0 0 0 0 0 0 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during 22.2kW 26.4kW 31.2kW 44.4kW 54.0kW 66.0KW 13.0kW
acceleration (for PSM selection)

- 669 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

Motor model α2/15000i α3/12000i α6/12000i α6/12000i (*4) α8/10000i α8/10000i (*4) α12/10000i α12/10000i (*4)
Applicable SPM SPM-22i SPM-11i SPM-11i SPM-11i SPM-11i SPM-11i SPM-15i SPM-15i
Model code 307 309 401 － 402 － 403 －
Applicable software series and
9D50/D,9D70/A 9D50/F,9D70/A 9D50/D,9D70/A － 9D50/F,9D70/A － 9D50/F,9D70/A －
edition
5.5/7.5kW 5.5/7.5kW 7.5/11kW 7.5/11kW 11/15kW 11/15kW
Low-speed winding chracteritics － －
1500/12000min-1 1500/12000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1
2.2/3.7kW 3.7/5.5kW 5.5/7.5kW 7.5/11kW 11/15kW
High-speed winding chracteritics － － －
3000/15000min-1 1500/12000min-1 4000/12000min-1 4000/10000min-1 4000/10000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011001 00011001 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 01010000 00001100 00001100 00001100 00001100 00001100 00001100 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 15000 12000 12000 12000 10000 10000 10000 10000
3023 4023 4023 333(*2) 400(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040 6(*3) 6(*3)
3041 4041 4041 6(*3) 6(*3)
3048 4048 4048 6(*3) 6(*3)
3049 4049 4049 . 6(*3) 6(*3)
82
3080 4080 4080 12122 16720 66 12880 14168 75 70
78(*1)
3083 4083 4083 10 30 30 30 30 30 30 30
3093 4093 4093 0 0 164 0 176 0 164 0
3100 4100 4100 3200 1500 4000 1550 3538 1600 3900 1500
3101 4101 4101 45 87 81 96 100 100 80 100
3102 4102 4102 6432 3015 4561 2630 3538 1656 3593 1500
69
3103 4103 4103 92 82 60 0 0 90 0
0(*1)
3104 4104 4104 3000 3200 4000 6000 2200 6000 1800 7000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 3000 7500 4000 6000 8000 18000 6500 7000
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 588 559 431 754 503 503 595 595
3111 4111 4111 175 190 125 260 165 170 173 173
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 1800 900 650 620 480 790 280 311
3114 4114 4114 0 19200 20480 20480 0 19200 0 23040
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 16564 7376 8986 8803 5734 8118 5280 5000
3117 4117 4117 90 90 90 90 100 90 90 90
3118 4118 4118 100 100 100 100 100 100 100 100
3119 4119 4119 2 9 15 15 20 12 34 31
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 202 178 164 164 176 176 164 164
3128 4128 4128 85 0 95 109 0 117 0 0
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 130 130 130 130 130 130
3136 4136 4136 0 0 30 0 30 0 30 0
3138 4138 4138 0 0 1550 0 1600 0 1500 0
3139 4139 4139 0 0 96 0 100 0 100 0
3140 4140 4140 0 0 2630 0 1656 0 1500 0
3141 4141 4141 0 0 60 0 0 0 0 0
3142 4142 4142 0 0 6000 0 6000 0 7000 0
3143 4143 4143 0 0 6000 0 18000 0 7000 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 0 0 25 0 25 0 25 0
3146 4146 4146 0 0 754 0 503 0 595 0
3147 4147 4147 0 0 260 0 170 0 173 0
3148 4148 4148 0 0 200 0 200 0 200 0
3149 4149 4149 0 0 620 0 790 0 311 0
3150 4150 4150 0 0 20480 0 19200 0 23040 0
3151 4151 4151 0 0 100 0 100 0 100 0
3152 4152 4152 0 0 8803 0 8118 0 5000 0
3153 4153 4153 0 0 90 0 90 0 90 0
3154 4154 4154 0 0 100 0 100 0 100 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 109 0 117 0 0 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 0 0 25700 0 25700 0 25700 0
3165 4165 4165 0 0 15 0 12 0 31 0
3166 4166 4166 0 0 66 0 14168 0 70 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during 20.0kW 13.0kW 9.0kW 9.0kW 13.2kW 13.2kW 18.0kW 18.0kW
acceleration (for PSM selection) 14.0kW(*1)

(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This value is setting value as using connection to low-speed winding only, when the speed range switching control
is not performed by spindle motor with speed range switching control.

- 670 -
B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

Motor model α15/10000i α15/10000i (*4) α18/10000i α18/10000i (*4) α22/10000i α22/10000i (*4)
Applicable SPM SPM-22i SPM-22i SPM-22i SPM-22i SPM-26i SPM-26i
Model code 404 － 405 － 406 －
Applicable software series and
9D50/F,9D70/A － 9D50/F,9D70/A － 9D50/E,9D70/A －
edition
15/18.5kW 15/18.5kW 18.5/22kW 18.5/22kW 22/26kW 22/26kW
Low-speed winding chracteritics
1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1
15/18.5kW 18.5/22kW 22/26kW
High-speed winding chracteritics － － －
4000/10000min-1 4000/10000min-1 4000/10000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 01010000 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 10000 10000 10000 10000
3023 4023 4023 400(*2) 400(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 80 20555 80 11615 75 56
3083 4083 4083 30 30 30 30 30 30
3093 4093 4093 148 0 143 0 142 0
3100 4100 4100 4000 1500 4100 1520 4000 1440
3101 4101 4101 62 95 100 100 83 96
3102 4102 4102 3482 1710 4582 1813 3504 1709
3103 4103 4103 75 70 89 84 0 96
3104 4104 4104 1700 5500 1300 3000 2800 5000
3105 4105 4105 0 0 0 0 0 0
3106 4106 4106 5500 5500 5000 10000 2800 5000
3107 4107 4107 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25
3110 4110 4110 575 794 754 943 603 823
3111 4111 4111 193 243 260 333 143 213
3112 4112 4112 200 200 200 200 200 200
3113 4113 4113 275 304 319 308 265 300
3114 4114 4114 23040 23040 0 0 24320 19200
3115 4115 4115 100 100 100 100 100 100
3116 4116 4116 5126 5177 4100 3600 5523 5593
3117 4117 4117 90 90 90 90 90 90
3118 4118 4118 90 100 100 100 100 100
3119 4119 4119 35 31 30 31 36 341
3120 4120 4120 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0
3127 4127 4127 148 148 143 143 142 142
3128 4128 4128 0 105 102 0 0 0
3129 4129 4129 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130
3136 4136 4136 30 0 30 0 30 0
3138 4138 4138 1500 0 1520 0 1440 0
3139 4139 4139 95 0 100 0 96 0
3140 4140 4140 1710 0 1813 0 1709 0
3141 4141 4141 70 0 84 0 96 0
3142 4142 4142 5500 0 3000 0 5000 0
3143 4143 4143 5500 0 10000 0 5000 0
3144 4144 4144 0 0 0 0 0 0
3145 4145 4145 25 0 25 0 25 0
3146 4146 4146 794 0 943 0 823 0
3147 4147 4147 243 0 333 0 213 0
3148 4148 4148 200 0 200 0 200 0
3149 4149 4149 304 0 308 0 300 0
3150 4150 4150 23040 0 0 0 19200 0
3151 4151 4151 100 0 100 0 100 0
3152 4152 4152 5177 0 3600 0 5593 0
3153 4153 4153 90 0 90 0 90 0
3154 4154 4154 100 0 100 0 100 0
3155 4155 4155 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0
3158 4158 4158 105 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 0 25700 0
3165 4165 4165 31 0 31 0 341 0
3166 4166 4166 20555 0 11615 0 56 0
3169 4169 4169 0 0 0 0 0 0
Maximum output during 22.2kW 22.2kW 26.4kW 26.4kW 31.2kW 31.2kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*4) This value is setting value as using connection to low-speed winding only, when the speed range switching control
is not performed by spindle motor with speed range switching control.

- 671 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

C.2 SPINDLE MOTOR αiP series

Motor model α12/6000i P α12/8000i P α15/6000i P α15/8000i P α18/6000i P α18/8000i P α22/6000i P α22/8000i P
Applicable SPM SPM-11i SPM-11i SPM-15i SPM-15i SPM-15i SPM-15i SPM-22i SPM-22i
Model code 407 － 408 － 409 － 410 －
Applicable software series and
9D50/F,9D70/A － 9D50/F,9D70/A － 9D50/F,9D70/A － 9D50/F,9D70/A －
edition
3.7/7.5kW 3.7/7.5kW 5/9kW 5/9kW 6/11kW 6/11kW 7.5/15kW 7.5/15kW
Low-speed winding chracteritics
500/1500min-1 500/1500min-1 500/1500min-1 500/1500min-1 500/1500min-1 500/1500min-1 500/1500min-1 500/1500min-1
5.5/7.5kW 5.5/7.5kW 7.5/9kW 7.5/9kW 9/11kW 9/11kW 11/15kW 11/15kW
High-speed winding chracteritics
750/6000min-1 750/8000min-1 750/6000min-1 750/8000min-1 750/6000min-1 750/8000min-1 750/6000min-1 750/8000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 ← 00000000 ← 00000000 ← 00000000 ←
3008 4008 4008 00000000 ← 00000000 ← 00000000 ← 00000000 ←
3009 4009 4009 00000000 ← 00000000 ← 00000000 ← 00000000 ←
3010 4010 4010 00000000 ← 00000000 ← 00000000 ← 00000000 ←
3011 4011 4011 00011010 ← 00011010 ← 00011010 ← 00011010 ←
3012 4012 4012 10000010 ← 10000010 ← 10000010 ← 10000010 ←
3013 4013 4013 00001100 ← 00001100 ← 00001100 ← 01010000 ←
3019 4019 4019 00000100 ← 00000100 ← 00000100 ← 00000100 ←
3020 4020 4020 6000 8000 6000 8000 6000 8000 6000 8000
3023 4023 4023 125(*2) 94(*2) 125(*2) 94(*2) 125(*2) 94(*2) 125(*2) 94(*2)
3039 4039 4039 0 ← 0 ← 0 ← 0 ←
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 11610 ← 16730 ← 75 ← 18000 ←
3083 4083 4083 30 ← 30 ← 30 ← 30 ←
3093 4093 4093 243 ← 216 ← 220 ← 240 ←
3100 4100 4100 750 ← 750 ← 740 ← 800 ←
3101 4101 4101 100 ← 90 ← 100 ← 100 ←
3102 4102 4102 1488 ← 1431 ← 1261 ← 1342 ←
3103 4103 4103 75 ← 65 ← 70 ← 65 ←
3104 4104 4104 4000 ← 3800 ← 5500 ← 5500 ←
3105 4105 4105 0 ← 0 ← 0 ← 0 ←
3106 4106 4106 10000 ← 11000 ← 17000 ← 5500 ←
3107 4107 4107 0 ← 0 ← 0 ← 0 ←
3108 4108 4108 0 ← 0 ← 0 ← 0 ←
3109 4109 4109 25 ← 25 ← 25 ← 25 ←
3110 4110 4110 815 ← 1043 ← 754 ← 914 ←
3111 4111 4111 297 ← 326 ← 225 ← 300 ←
3112 4112 4112 200 ← 200 ← 200 ← 200 ←
3113 4113 4113 240 ← 270 ← 300 ← 300 ←
3114 4114 4114 23040 ← 23040 ← 0 ← 23040 ←
3115 4115 4115 100 ← 100 ← 100 ← 100 ←
3116 4116 4116 5307 ← 5171 ← 5671 ← 6196 ←
3117 4117 4117 90 ← 90 ← 90 ← 90 ←
3118 4118 4118 100 ← 100 ← 100 ← 100 ←
3119 4119 4119 40 ← 35 ← 32 ← 301 ←
3120 4120 4120 0 ← 0 ← 0 ← 0 ←
3124 4124 4124 0 ← 0 ← 0 ← 0 ←
3127 4127 4127 164 ← 144 ← 147 ← 164 ←
3128 4128 4128 105 ← 105 ← 105 ← 110 ←
3129 4129 4129 0 ← 0 ← 0 ← 0 ←
3130 4130 4130 25700 ← 25700 ← 25700 ← 25700 ←
3134 4134 4134 130 ← 130 ← 130 ← 130 ←
3136 4136 4136 30 ← 30 ← 30 ← 30 ←
3138 4138 4138 530 ← 560 ← 500 ← 530 ←
3139 4139 4139 90 ← 100 ← 90 ← 100 ←
3140 4140 4140 887 ← 1143 ← 755 ← 930 ←
3141 4141 4141 0 ← 80 ← 60 ← 0 ←
3142 4142 4142 6500 ← 5000 ← 8000 ← 6500 ←
3143 4143 4143 15000 ← 13000 ← 23000 ← 15000 ←
3144 4144 4144 0 ← 0 ← 0 ← 0 ←
3145 4145 4145 25 ← 25 ← 25 ← 25 ←
3146 4146 4146 1494 ← 2514 ← 1489 ← 1886 ←
3147 4147 4147 565 ← 816 ← 476 ← 617 ←
3148 4148 4148 200 ← 200 ← 200 ← 200 ←
3149 4149 4149 270 ← 280 ← 315 ← 327 ←
3150 4150 4150 23040 ← 23040 ← 0 ← 20480 ←
3151 4151 4151 100 ← 100 ← 100 ← 100 ←
3152 4152 4152 5268 ← 5170 ← 5660 ← 4813 ←
3153 4153 4153 90 ← 90 ← 90 ← 90 ←
3154 4154 4154 100 ← 100 ← 115 ← 110 ←
3155 4155 4155 0 ← 0 ← 0 ← 0 ←
3156 4156 4156 0 ← 0 ← 0 ← 0 ←
3158 4158 4158 110 ← 105 ← 0 ← 90 ←
3159 4159 4159 0 ← 0 ← 0 ← 0 ←
3161 4161 4161 25700 ← 25700 ← 25700 ← 25700 ←
3165 4165 4165 15 ← 34 ← 10 ← 20 ←
3166 4166 4166 70 ← 70 ← 77 ← 75 ←
3169 4169 4169 0 ← 0 ← 0 ← 0 ←
Maximum output during 12.3kW 12.3kW 13.5kW 13.5kW 15.1kW 15.1kW 20.0kW 20.0kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.

- 672 -
B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

Motor model α30/6000i P α40/6000i P α50/6000i P α60/4500i P

Applicable SPM SPM-22i SPM-26i SPM-26i SPM-30i
Model code 411 412 413 414
Applicable software series and
9D50/E,9D70/A 9D50/F,9D70/A 9D50/E,9D70/A 9D50/F,9D70/A
edition
11/18.5kW 13/22kW 22/30kW 18.5/30kW
Low-speed winding chracteritics
400/1500min-1 400/1500min-1 575/1500min-1 400/1500min-1
15/18.5kW 18.5/22kW 22/30kW 22/30kW
High-speed winding chracteritics
575/6000min-1 575/6000min-1 1200/6000min-1 750/4500min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000000 10000010 10000000
3013 4013 4013 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100
3020 4020 4020 6000 6000 6000 4500
3023 4023 4023 96(*2) 96(*2) 200(*2) 167(*2)
3039 4039 4039 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 19280 65 75 75
3083 4083 4083 30 30 30 30
3093 4093 4093 202 203 164 195
3100 4100 4100 590 590 1107 750
3101 4101 4101 100 100 100 84
3102 4102 4102 889 835 1107 861
3103 4103 4103 85 80 0 80
3104 4104 4104 10000 3500 8000 5000
3105 4105 4105 0 0 0 0
3106 4106 4106 10000 6500 8000 9000
3107 4107 4107 0 0 0 0
3108 4108 4108 0 0 0 0
3109 4109 4109 25 25 25 25
3110 4110 4110 750 1052 686 1018
3111 4111 4111 267 312 175 280
3112 4112 4112 150 200 200 200
3113 4113 4113 198 170 180 196
3114 4114 4114 21760 0 25600 0
3115 4115 4115 100 100 100 100
3116 4116 4116 6050 4500 6150 5050
3117 4117 4117 90 90 90 90
3118 4118 4118 100 100 100 100
3119 4119 4119 48 56 53 49
3120 4120 4120 0 0 0 0
3124 4124 4124 0 0 0 0
3127 4127 4127 148 143 164 164
3128 4128 4128 105 85 100 0
3129 4129 4129 0 0 0 0
3130 4130 4130 25700 25700 25700 25700
3134 4134 4134 130 130 130 130
3136 4136 4136 30 30 30 30
3138 4138 4138 400 430 608 420
3139 4139 4139 100 100 100 85
3140 4140 4140 684 713 608 497
3141 4141 4141 0 56 0 0
3142 4142 4142 13000 5000 21000 8000
3143 4143 4143 13000 7000 21000 12000
3144 4144 4144 0 0 0 0
3145 4145 4145 25 25 25 25
3146 4146 4146 2011 2155 1131 1764
3147 4147 4147 733 655 317 510
3148 4148 4148 200 200 200 200
3149 4149 4149 165 200 195 195
3150 4150 4150 0 0 23040 0
3151 4151 4151 100 100 100 100
3152 4152 4152 6008 5200 6191 5045
3153 4153 4153 28250 90 90 90
3154 4154 4154 100 100 100 100
3155 4155 4155 0 0 0 0
3156 4156 4156 0 0 0 0
3158 4158 4158 90 0 110 0
3159 4159 4159 0 0 0 0
3161 4161 4161 25700 25700 25700 25700
3165 4165 4165 58 48 49 20
3166 4166 4166 50 17232 65 45
3169 4169 4169 0 0 0 0
Maximum output during 25.0kW 29.0kW 35.4kW 36kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.

- 673 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

C.3 SPINDLE MOTOR αiT series

Motor model α1.5/15000i T α2/15000i T α3/12000i T α6/12000i T α6/12000i T (*4) α8/12000i T α8/12000i T (*4)
Applicable SPM SPM-15i SPM-22i SPM-11i SPM-15i SPM-15i SPM-15i SPM-15i
Model code － － － － － － －
Applicable software series and
－ － － － － － －
edition
－ 5.5/7.5kW 5.5/7.5kW 7.5/11kW 7.5/11kW
Low-speed winding chracteritics － －
1500/12000min-1 1500/12000min-1 1500/12000min-1 1500/12000min-1
1.5/2.2kW 2.2/3.7kW 3.7/5.5kW 5.5/7.5kW 7.5/11kW
High-speed winding chracteritics － －
3000/15000min-1 3000/15000min-1 1500/12000min-1 4000/12000min-1 4000/12000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001 00000001 00000001 00000001 00000001
3011 4011 4011 00011001 00011001 00011001 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 01010000 00001100 00001100 00001100 00001100 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 15000 15000 12000 12000 12000 12000 12000
3023 4023 4023 333(*2) 333(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041 6(*3) 6(*3)
3048 4048 4048
3049 4049 4049 6(*3) 6(*3)
3080 4080 4080 14165 12122 16720 81 58 70 49
3083 4083 4083 10 10 30 30 30 30 30
3093 4093 4093 0 0 0 164 0 176 0
3100 4100 4100 3250 3200 1500 4200 1500 3580 1500
3101 4101 4101 33 45 87 50 71 100 89
3102 4102 4102 7145 6432 3015 4561 2630 3580 1642
3103 4103 4103 75 92 82 70 70 0 77
3104 4104 4104 2300 3000 3200 3000 5500 2300 5000
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 8700 3000 7500 3000 5500 2300 5000
3107 4107 4107 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25
3110 4110 4110 629 588 559 646 1131 421 566
3111 4111 4111 180 175 190 185 353 100 162
3112 4112 4112 200 200 200 200 200 200 200
3113 4113 4113 2227 1800 900 650 620 980 1090
3114 4114 4114 0 0 19200 20480 20480 0 19200
3115 4115 4115 90 100 100 100 100 100 100
3116 4116 4116 10289 16564 7376 10783 8803 11031 8000
3117 4117 4117 90 90 90 90 90 90 90
3118 4118 4118 100 100 100 100 100 100 100
3119 4119 4119 5 2 9 15 527 522 521
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 176 202 178 164 164 176 176
3128 4128 4128 73 85 0 95 105 0 0
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 110 130 130 130 130
3136 4136 4136 0 0 0 30 0 30 0
3138 4138 4138 0 0 0 1500 0 1500 0
3139 4139 4139 0 0 0 71 0 89 0
3140 4140 4140 0 0 0 2630 0 1642 0
3141 4141 4141 0 0 0 70 0 77 0
3142 4142 4142 0 0 0 5500 0 5000 0
3143 4143 4143 0 0 0 5500 0 5000 0
3144 4144 4144 0 0 0 0 0 0 0
3145 4145 4145 0 0 0 25 0 25 0
3146 4146 4146 0 0 0 1131 0 566 0
3147 4147 4147 0 0 0 353 0 162 0
3148 4148 4148 0 0 0 200 0 200 0
3149 4149 4149 0 0 0 620 0 1090 0
3150 4150 4150 0 0 0 20480 0 19200 0
3151 4151 4151 0 0 0 100 0 100 0
3152 4152 4152 0 0 0 8803 0 8000 0
3153 4153 4153 0 0 0 90 0 90 0
3154 4154 4154 0 0 0 100 0 100 0
3155 4155 4155 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 105 0 0 0
3159 4159 4159 0 0 0 0 0 0 0
3161 4161 4161 0 0 0 25700 0 25700 0
3165 4165 4165 0 0 0 527 0 521 0
3166 4166 4166 0 0 0 58 0 49 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during 13.0kW 20kW 13kW 13kW 13kW 13.2kW 13.2kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*4) This value is setting value as using connection to low-speed winding only, when the speed range switching control
is not performed by spindle motor with speed range switching control.

- 674 -
B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

Motor model α8/15000i T α8/15000i T (*4) α15/10000i T α15/10000i T (*4) α15/12000i T α15/12000i T (*4) α22/10000i T α22/12000i T (*4)
Applicable SPM SPM-26i SPM-26i SPM-22i SPM-22i SPM-30i SPM-30i SPM-26i SPM-26i
Model code － － － － － － － －
Applicable software series and
－ － － － － － － －
edition
7.5/11/15kW 7.5/11/15kW 15/18.5kW 15/18.5kW 15/18.5/22kW 15/18.5/22kW 22/26kW 22/26kW
Low-speed winding chracteritics
1500/4000min-1 1500/4000min-1 1500/10000min-1 1500/10000min-1 1400/4000min-1 1400/4000min-1 1500/10000min-1 1500/10000min-1
7.5/11/15kW 15/18.5kW 15/18.5/22kW 22/26kW
High-speed winding chracteritics － － － －
4000/15000min-1 4000/10000min-1 5000/12000min-1 4000/10000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001 00000001 00000001 00000001 00000001 00000001
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 01010000 01010000 01010000 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 15000 4000 10000 10000 12000 4000 10000 10000
3023 4023 4023 267(*2) 400(*2) 292(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041 4(*3)
3048 4048 4048
3049 4049 4049 4(*3)
3080 4080 4080 18774 95 80 20555 85 65 75 56
3083 4083 4083 30 30 30 30 30 30 30 30
3093 4093 4093 240 0 148 0 176 0 142 0
3100 4100 4100 4040 1570 4000 1500 4500 1450 4000 1440
3101 4101 4101 84 90 62 95 65 70 83 96
3102 4102 4102 5161 2592 3482 1710 5392 1783 3504 1709
3103 4103 4103 0 0 75 70 82 93 0 96
3104 4104 4104 2700 5000 1700 5500 3500 7000 2800 5000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 9200 16000 5500 5500 3500 7000 2800 5000
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 503 754 575 794 887 2155 603 823
3111 4111 4111 105 192 193 243 255 650 143 213
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 1000 1050 275 304 380 380 265 300
3114 4114 4114 28160 0 23040 23040 0 0 24320 19200
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 10984 11083 5126 5177 9314 2000 5523 5593
3117 4117 4117 90 90 90 90 90 90 90 90
3118 4118 4118 90 100 90 100 90 90 100 100
3119 4119 4119 10 15 35 31 25 25 36 341
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 240 240 148 148 176 176 142 142
3128 4128 4128 0 110 0 105 0 0 0 0
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130 130
3136 4136 4136 30 0 30 0 30 0 30 0
3138 4138 4138 1570 0 1500 0 1450 0 1440 0
3139 4139 4139 90 0 95 0 70 0 96 0
3140 4140 4140 2592 0 1710 0 1783 0 1709 0
3141 4141 4141 0 0 70 0 93 0 96 0
3142 4142 4142 5000 0 5500 0 7000 0 5000 0
3143 4143 4143 16000 0 5500 0 7000 0 5000 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 25 0 25 0 25 0 25 0
3146 4146 4146 754 0 794 0 2155 0 823 0
3147 4147 4147 192 0 243 0 650 0 213 0
3148 4148 4148 200 0 200 0 200 0 200 0
3149 4149 4149 1050 0 304 0 380 0 300 0
3150 4150 4150 0 0 23040 0 0 0 19200 0
3151 4151 4151 100 0 100 0 100 0 100 0
3152 4152 4152 11083 0 5177 0 2000 0 5593 0
3153 4153 4153 90 0 90 0 90 0 90 0
3154 4154 4154 100 0 100 0 90 0 100 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 110 0 105 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 0 25700 0 25700 0
3165 4165 4165 15 0 31 0 25 0 341 0
3166 4166 4166 95 0 20555 0 65 0 56 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during 28kW 28kW 22.2kW 22.2kW 38kW 38kW 31.2kW 31.2kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This value is setting value as using connection to low-speed winding only, when the speed range switching control
is not performed by spindle motor with speed range switching control.

- 675 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

C.4 SPINDLE MOTOR α(HV)i series

Motor model α0.5/10000HVi α1/10000HVi α1.5/10000HVi α2/10000HVi α3/10000HVi α6/10000HVi α8/8000HVi α12/7000HVi
Applicable SPM SPM-5.5HVi SPM-5.5HVi SPM-5.5HVi SPM-5.5HVi SPM-5.5HVi SPM-11HVi SPM-11HVi SPM-15HVi
Model code 311 313 315 317 319 321 325 326
Applicable software series and
9D50/F,9D70/A 9D50/F,9D70/A 9D50/F,9D70/A 9D50/F,9D70/A 9D50/F,9D70/A 9D50/F,9D70/A 9D50/F,9D70/A 9D50/F,9D70/A
edition
Low-speed winding chracteritics － － － － － － － －
0.55/1.1kW 1.5/2.2kW 1.1/3.7kW 2.2/3.7kW 3.7/5.5kW 5.5/7.5kW 7.5/11kW 11/15kW
High-speed winding chracteritics
3000/10000min-1 3000/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/8000min-1 1500/7000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011000 00011001 00011001 00011001 00011001 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010 10000000
3013 4013 4013 00001100 00001100 00001100 00001100 00001100 00001100 00001100 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 10000 10000 10000 10000 8000 7000
3023 4023 4023
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
20565 14173 80 85 85 88
3080 4080 4080 85 70
20570(*1) 14170(*1) 65(*1) 75(*1) 65(*1) 85(*1)
3083 4083 4083 30 30 30 30 30 30 30 30
3093 4093 4093 0 0 0 0 0 0 0 0
3100 4100 4100 3250 2600 1610 1500 1400 1500 1800 1550
3101 4101 4101 100 85 100 100 100 100 100 100
3102 4102 4102 6503 3600 2745 4421 2288 3000 2323 1754
45 83 65 50 61 58 85 88
3103 4103 4103
0 (*1) 0 (*1) 0 (*1) 0 (*1) 0 (*1) 0 (*1) 0(*1) 0(*1)
3104 4104 4104 4500 6000 5000 5000 7000 5000 7000 2000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 4500 6000 12000 5000 7000 5000 7000 4500
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 3143 1423 1109 1397 1077 754 629 1077
3111 4111 4111 245 103 220 318 237 272 229 250
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 2058 2200 2400 935 873 878 723 275
3114 4114 4114 23040 14080 17920 110 20480 23040 23040 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 13641 17300 10218 10519 9908 9016 8734 5800
3117 4117 4117 90 90 90 90 90 90 90 90
3118 4118 4118 100 100 100 100 100 100 100 100
3119 4119 4119 5 4 4 10 11 11 13 35
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 240 176 404 202 178 164 176 164
3128 4128 4128 120 75 107 90 90 0 0 108
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 110 110 110 130 130 130
3136 4136 4136 0 0 0 0 0 0 0 0
3138 4138 4138 0 0 0 0 0 0 0 0
3139 4139 4139 0 0 0 0 0 0 0 0
3140 4140 4140 0 0 0 0 0 0 0 0
3141 4141 4141 0 0 0 0 0 0 0 0
3142 4142 4142 0 0 0 0 0 0 0 0
3143 4143 4143 0 0 0 0 0 0 0 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 0 0 0 0 0 0 0 0
3146 4146 4146 0 0 0 0 0 0 0 0
3147 4147 4147 0 0 0 0 0 0 0 0
3148 4148 4148 0 0 0 0 0 0 0 0
3149 4149 4149 0 0 0 0 0 0 0 0
3150 4150 4150 0 0 0 0 0 0 0 0
3151 4151 4151 0 0 0 0 0 0 0 0
3152 4152 4152 0 0 0 0 0 0 0 0
3153 4153 4153 0 0 0 0 0 0 0 0
3154 4154 4154 0 0 0 0 0 0 0 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 0 0 0 0 0 0 0 0
3165 4165 4165 0 0 0 0 0 0 0 0
3166 4166 4166 0 0 0 0 0 0 0 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during 1.32kW 2.64kW 4.44kW 4.44kW 6.6kW 9.0kW 13.2kW 18.0kW
acceleration (for PSM selection) 2.59kW(*1) 3.0kW(*1) 6.3kW(*1) 7.5kW(*1) 8.9kW(*1) 15.4kW(*1) 15.8kW(*1) 20.3kW(*1)

(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.

- 676 -
B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

Motor model α15/7000HVi α22/7000HVi α30/6000HVi α40/6000HVi α60/4500HVi α100/4000HVi α100/4000HVi (*4)
Applicable SPM SPM-30HVi SPM-30HVi SPM-45HVi SPM-45HVi SPM-75HVi SPM-75HVi SPM-75HVi
Model code 327 328 329 － － 415 －
Applicable software series and
9D50/F,9D70/A 9D50/F,9D70/A 9D50/F,9D70/A － － 9D50/F,9D70/A －
edition
100kW 100kW
Low-speed winding chracteritics － － － － －
1000/3000min-1 1000/3000min-1
15/18.5kW 22/26kW 30/37kW 37/45 kW 60/75 kW 100kW
High-speed winding chracteritics -1 -1 －
1500/7000min-1 1500/7000min-1 1150/6000min-1 1500/6000 min 1150/4500 min 2000/4000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00010000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000001 00000001
3011 4011 4011 00011010 00011010 00011010 00001010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000000 10000000 10000000 10000000 10000000
3013 4013 4013 01010000 01010000 01010000 01010000 00011000 00011000 00011000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 7000 7000 6000 6000 4500 4000 3000
3023 4023 4023 500(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 65 75 98 82 90 80 72
3083 4083 4083 30 30 30 30 30 30 30
3093 4093 4093 0 0 0 0 0 120 0
3100 4100 4100 1500 1595 1230 1600 1130 2007 835
3101 4101 4101 73 100 85 100 100 100 100
3102 4102 4102 1972 1595 1617 1940 1491 2007 835
3103 4103 4103 65 0 55 0 85 0 0
3104 4104 4104 4500 5000 2500 2500 3500 2500 6000
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 4500 5000 4000 2800 7000 3000 7500
3107 4107 4107 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25
3110 4110 4110 1499 838 1257 718 1174 754 823
3111 4111 4111 425 223 455 252 345 215 239
3112 4112 4112 200 200 200 200 200 200 200
3113 4113 4113 280 325 160 175 193 185 215
3114 4114 4114 23040 20480 0 0 0 0 0
3115 4115 4115 100 100 100 100 100 100 100
3116 4116 4116 5153 5572 5056 6212 5042 6516 6532
3117 4117 4117 90 90 90 90 90 105 105
3118 4118 4118 100 100 100 100 100 105 105
3119 4119 4119 34 29 60 54 49 39 20
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 148 142 148 146 150 120 120
3128 4128 4128 0 0 110 115 0 0 0
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 140 140
3136 4136 4136 0 0 0 0 0 30 0
3138 4138 4138 0 0 0 0 0 835 0
3139 4139 4139 0 0 0 0 0 100 0
3140 4140 4140 0 0 0 0 0 835 0
3141 4141 4141 0 0 0 0 0 0 0
3142 4142 4142 0 0 0 0 0 6000 0
3143 4143 4143 0 0 0 0 0 7500 0
3144 4144 4144 0 0 0 0 0 0 0
3145 4145 4145 0 0 0 0 0 25 0
3146 4146 4146 0 0 0 0 0 823 0
3147 4147 4147 0 0 0 0 0 239 0
3148 4148 4148 0 0 0 0 0 200 0
3149 4149 4149 0 0 0 0 0 215 0
3150 4150 4150 0 0 0 0 0 0 0
3151 4151 4151 0 0 0 0 0 100 0
3152 4152 4152 0 0 0 0 0 6532 0
3153 4153 4153 0 0 0 0 0 105 0
3154 4154 4154 0 0 0 0 0 105 0
3155 4155 4155 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0 0
3161 4161 4161 0 0 0 0 0 25700 0
3165 4165 4165 0 0 0 0 0 20 0
3166 4166 4166 0 0 0 0 0 72 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during 22.2kW 31.2kW 44.4kW 54kW 90kW 117kW 117kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*4) This value is setting value as using connection to low-speed winding only, when the speed range switching control
is not performed by spindle motor with speed range switching control.

- 677 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

C.5 SPINDLE MOTOR α(HV)iP series

Motor model α15/6000HVi P α40/6000HVi P α50/6000HVi P

Applicable SPM SPM-15HVi SPM-30HVi SPM-30HVi
Model code － 418 －
Applicable software series and
－ 9D50/F,9D70/A －
edition
5/9kW 13/22kW 22/30kW
Low-speed winding chracteritics
500/1500min-1 400/1500min-1 575/1500min-1
7.5/9kW 18.5/22kW 22/30kW
High-speed winding chracteritics
750/6000min-1 575/6000min-1 1200/6000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010
3012 4012 4012 10000010 10000000 10000010
3013 4013 4013 00001100 01010000 01010000
3019 4019 4019 00000100 00000100 00000100
3020 4020 4020 6000 6000 6000
3023 4023 4023 125 96(*2) 167
3039 4039 4039 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 95 73 80
3083 4083 4083 30 30 30
3093 4093 4093 216 203 164
3100 4100 4100 760 600 1120
3101 4101 4101 90 100 100
3102 4102 4102 1460 889 1356
3103 4103 4103 60 75 85
3104 4104 4104 5000 6400 6000
3105 4105 4105 0 0 0
3106 4106 4106 12000 6400 16000
3107 4107 4107 0 0 0
3108 4108 4108 0 0 0
3109 4109 4109 25 25 25
3110 4110 4110 1384 1098 838
3111 4111 4111 330 304 225
3112 4112 4112 200 200 200
3113 4113 4113 260 180 201
3114 4114 4114 0 20480 0
3115 4115 4115 100 100 100
3116 4116 4116 4600 6043 6202
3117 4117 4117 90 90 90
3118 4118 4118 100 90 100
3119 4119 4119 37 53 48
3120 4120 4120 0 0 0
3124 4124 4124 0 0 0
3127 4127 4127 144 143 164
3128 4128 4128 103 115 104
3129 4129 4129 0 0 0
3130 4130 4130 25700 25700 25700
3134 4134 4134 130 130 130
3136 4136 4136 30 30 30
3138 4138 4138 530 430 699
3139 4139 4139 75 100 95
3140 4140 4140 726 661 699
3141 4141 4141 75 60 95
3142 4142 4142 10000 8600 10000
3143 4143 4143 28000 8600 24000
3144 4144 4144 0 0 0
3145 4145 4145 25 25 25
3146 4146 4146 1934 2514 1374
3147 4147 4147 465 726 395
3148 4148 4148 200 200 200
3149 4149 4149 330 185 188
3150 4150 4150 0 23040 0
3151 4151 4151 100 100 100
3152 4152 4152 5167 6040 6203
3153 4153 4153 90 90 90
3154 4154 4154 100 90 100
3155 4155 4155 0 0 0
3156 4156 4156 0 0 0
3158 4158 4158 0 0 120
3159 4159 4159 0 0 0
3161 4161 4161 25700 25700 25700
3165 4165 4165 29 52 51
3166 4166 4166 80 65 63
3169 4169 4169 0 0 0
Maximum output during 13.5kW 29.0kW 35.4kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.

- 678 -
B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

C.6 SPINDLE MOTOR α(HV)iT series

Motor model α1.5/15000HVi T α3/12000HVi T α6/12000HVi T α6/12000HVi T (*4) α8/12000HVi T α8/12000HVi T (*4) α8/15000HVi T α8/15000HVi T (*4)
Applicable SPM SPM-15HVi SPM-11HVi SPM-15HVi SPM-15HVi SPM-15HVi SPM-15HVi SPM-30HVi SPM-30HVi
Model code － － － － － － － －
Applicable software series and
－ － － － － － － －
edition
5.5/7.5kW 5.5/7.5kW 7.5/11kW 7.5/11kW 7.5/11/15kW 7.5/11/15kW
Low-speed winding chracteritics － －
1500/12000min-1 1500/12000min-1 1500/12000min-1 1500/12000min-1 1500/4000min-1 1500/4000min-1
1.5/2.2kW 3.7/5.5kW 5.5/7.5kW 7.5/11kW 7.5/11/15kW
High-speed winding chracteritics － － －
3000/15000min-1 1500/12000min-1 4000/12000min-1 4000/12000min-1 4000/15000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001 00000001 00000001 00000001 00000001 00000001
3011 4011 4011 00011001 00011001 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 00001100 00001100 00001100 00001100 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 15000 12000 12000 12000 12000 12000 15000 4000
3023 4023 4023 333(*2) 333(*2) 267(*2)
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040 6(*3) 4(*3)
3041 4041 4041 6(*3) 4(*3)
3048 4048 4048 6(*3) 4(*3)
3049 4049 4049 6(*3) 4(*3)
3080 4080 4080 9045 90 96 19807 9050 14938 98 92
3083 4083 4083 10 30 30 30 30 30 30 30
3093 4093 4093 0 0 164 0 176 0 240 0
3100 4100 4100 3500 1550 4030 1570 3750 1550 4000 1630
3101 4101 4101 33 82 51 67 85 84 81 93
3102 4102 4102 7257 2864 4526 2475 3798 1957 5660 2913
3103 4103 4103 80 90 67 68 89 74 86 85
3104 4104 4104 3500 4000 2700 4600 3800 7000 3000 5500
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 3500 14000 7000 12000 10000 18000 3000 5500
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 1005 559 862 1508 569 838 646 984
3111 4111 4111 233 190 190 360 100 186 166 282
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 2000 850 750 730 950 1000 950 1100
3114 4114 4114 0 0 19200 19200 0 0 0 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 9815 7377 8202 8202 8736 8737 8703 8708
3117 4117 4117 90 90 90 90 90 90 90 90
3118 4118 4118 100 110 90 100 90 90 90 90
3119 4119 4119 5 11 13 13 10 266 266 9
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 176 178 164 164 176 176 240 240
3128 4128 4128 90 0 105 113 0 0 105 106
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 130 130 130 130 130 130
3136 4136 4136 0 0 30 0 30 0 30 0
3138 4138 4138 0 0 1570 0 1550 0 1630 0
3139 4139 4139 0 0 67 0 84 0 93 0
3140 4140 4140 0 0 2475 0 1957 0 2913 0
3141 4141 4141 0 0 68 0 74 0 85 0
3142 4142 4142 0 0 4600 0 7000 0 5500 0
3143 4143 4143 0 0 12000 0 18000 0 5500 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 0 0 25 0 25 0 25 0
3146 4146 4146 0 0 1508 0 838 0 984 0
3147 4147 4147 0 0 360 0 186 0 282 0
3148 4148 4148 0 0 200 0 200 0 200 0
3149 4149 4149 0 0 730 0 1000 0 1100 0
3150 4150 4150 0 0 19200 0 0 0 0 0
3151 4151 4151 0 0 100 0 100 0 100 0
3152 4152 4152 0 0 8202 0 8737 0 8708 0
3153 4153 4153 0 0 90 0 90 0 90 0
3154 4154 4154 0 0 100 0 90 0 90 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 113 0 0 0 106 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 0 0 25700 0 25700 0 25700 0
3165 4165 4165 0 0 13 0 266 0 9 0
3166 4166 4166 0 0 19807 0 14938 0 92 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during 13kW 13kW 13kW 13kW 13.2kW 13.2kW 28kW 28kW
acceleration (for PSM selection)

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C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

Motor model α15/10000HVi T α15/10000HVi T(*4) α15/12000HVi T α15/12000HVi T(*4) α22/10000HVi T α22/10000HVi T(*4)
Applicable SPM SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi
Model code － － － － － －
Applicable software series and
－ － － － － －
edition
15/18.5kW 15/18.5kW 15/18.5/22kW 15/18.5/22kW 22/26kW 22/26kW
Low-speed winding chracteritics
1500/10000min-1 1500/10000min-1 1400/4000min-1 1400/4000min-1 1500/10000min-1 1500/10000min-1
15/18.5kW 15/18.5/22kW 22/26kW
High-speed winding chracteritics － － －
4000/10000min-1 5000/12000min-1 4000/10000min-1
FS15i FS16i FS30i
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001 00000001 00000001 00000001
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000000 10000000 10000010 10000010
3013 4013 4013 01010000 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 12000 4000 10000 10000
3023 4023 4023 400(*2) 292(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 80 65 67 11354 83 18517
3083 4083 4083 30 30 30 30 30 30
3093 4093 4093 148 0 176 0 142 0
3100 4100 4100 4000 1500 4600 1500 3630 1500
3101 4101 4101 53 73 59 96 74 84
3102 4102 4102 3464 1972 4937 2494 3318 1669
3103 4103 4103 70 65 94 0 93 82
3104 4104 4104 2800 4500 1800 3600 2100 4000
3105 4105 4105 0 0 0 0 0 0
3106 4106 4106 2800 4500 3000 5500 6300 12000
3107 4107 4107 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25
3110 4110 4110 857 1499 870 1331 666 984
3111 4111 4111 229 425 295 470 160 270
3112 4112 4112 200 200 120 200 200 200
3113 4113 4113 280 280 400 440 265 275
3114 4114 4114 0 23040 0 0 0 0
3115 4115 4115 100 100 100 100 100 100
3116 4116 4116 5184 5153 9570 9567 5000 4991
3117 4117 4117 90 90 90 90 90 90
3118 4118 4118 100 100 90 90 90 90
3119 4119 4119 34 34 1048 22 50 70
3120 4120 4120 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0
3127 4127 4127 148 148 176 176 142 142
3128 4128 4128 0 0 0 0 98 103
3129 4129 4129 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130
3136 4136 4136 30 0 30 0 30 0
3138 4138 4138 1500 0 1500 0 1500 0
3139 4139 4139 73 0 96 0 84 0
3140 4140 4140 1972 0 2494 0 1669 0
3141 4141 4141 65 0 0 0 82 0
3142 4142 4142 4500 0 3600 0 4000 0
3143 4143 4143 4500 0 5500 0 12000 0
3144 4144 4144 0 0 0 0 0 0
3145 4145 4145 25 0 25 0 25 0
3146 4146 4146 1499 0 1331 0 984 0
3147 4147 4147 425 0 470 0 270 0
3148 4148 4148 200 0 200 0 200 0
3149 4149 4149 280 0 440 0 275 0
3150 4150 4150 23040 0 0 0 0 0
3151 4151 4151 100 0 100 0 100 0
3152 4152 4152 5153 0 9567 0 4991 0
3153 4153 4153 90 0 90 0 90 0
3154 4154 4154 100 0 90 0 90 0
3155 4155 4155 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 103 0
3159 4159 4159 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 0 25700 0
3165 4165 4165 34 0 22 0 70 0
3166 4166 4166 65 0 11354 0 18517 0
3169 4169 4169 0 0 0 0 0 0
Maximum output during 22.2kW 22.2kW 38kW 38kW 31.2kW 31.2kW
acceleration (for PSM selection)

(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This value is setting value as using connection to low-speed winding only, when the speed range switching control
is not performed by spindle motor with speed range switching control.

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B-65280EN/05 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL

C.7 SPINDLE MOTOR βi series

Motor model β3/10000i β3/10000i β3/10000i β6/10000i β6/10000i β8/8000i β8/8000i β12/7000i
Applicable SPM SVPMx-5.5i SVPMx-11i SVPMx-15i SVPMx-11i SVPMx-15i SVPMx-11i SVPMx-15i SVPMx-15i
Model code 332 － － 333 － 334 － 335
Applicable software
9D50/I － － 9D50/I － 9D50/I － 9D50/I
series and edition
Low-speed winding 3.7kW 3.7kW 3.7kW 5.5kW 5.5kW 7.5kW 7.5kW 11kW
chracteritics 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/8000min-1 2000/8000min-1 2000/7000min-1
High-speed winding 5.5kW 5.5kW 5.5kW 7.5kW 7.5kW 11kW 11kW 15kW
chracteritics 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/8000min-1 1500/8000min-1 1500/7000min-1
FS0i
4007 00000000 ← ← 00000000 ← 00000000 ← 00000000
4008 00000000 ← ← 00000000 ← 00000000 ← 00000000
4009 00000000 ← ← 00000000 ← 00000000 ← 00000000
4010 00010000 ← ← 00010000 ← 00010000 ← 00010000
4011 00011001 ← ← 00011001 ← 00011010 ← 00011010
4012 10000000 ← ← 10000000 ← 10000000 ← 10000000
4013 00001100 ← ← 00001100 ← 00001100 ← 00001100
4019 00000100 ← ← 00000100 ← 00000100 ← 00000100
4020 10000 ← ← 10000 ← 8000 ← 7000
4023
4039 0 ← ← 0 ← 0 ← 0
4041
4049
4080 13412 ← ← 14170 ← 75 ← 60
4083 30 ← ← 30 ← 30 ← 30
4093 0 ← ← 0 ← 0 ← 0
4100 1700 ← ← 1550 ← 1500 ← 1550
4101 90 ← ← 90 ← 95 ← 82
4102 2154 ← ← 2621 ← 2602 ← 1844
4103 72 ← ← 58 ← 64 ← 80
4104 2500 ← ← 2000 ← 2000 ← 3000
4105 0 ← ← 0 ← 0 ← 0
4106 6600 ← ← 5500 ← 6000 ← 8000
4107 0 ← ← 0 ← 0 ← 0
4108 0 ← ← 0 ← 0 ← 0
4109 25 ← ← 25 ← 25 ← 25
4110 718 1436 2154 520 780 887 1331 1031
4111 318 ← ← 208 ← 381 ← 355
4112 200 ← ← 200 ← 200 ← 200
4113 850 ← ← 800 ← 500 ← 705
4114 21760 ← ← 0 ← 0 ← 23040
4115 100 ← ← 100 ← 100 ← 100
4116 7978 ← ← 7395 ← 8000 ← 6300
4117 90 ← ← 90 ← 90 ← 90
4118 100 ← ← 100 ← 100 ← 100
4119 11 ← ← 12 ← 19 ← 14
4120 0 ← ← 0 ← 0 ← 0
4124 0 ← ← 0 ← 0 ← 0
4127 164 ← ← 150 ← 161 ← 150
4128 120 ← ← 115 ← 78 ← 95
4129 0 ← ← 0 ← 0 ← 0
4130 25700 ← ← 25700 ← 25700 ← 25700
4134 110 ← ← 110 ← 110 ← 110
4136 0 ← ← 0 ← 0 ← 0
4138 0 ← ← 0 ← 0 ← 0
4139 0 ← ← 0 ← 0 ← 0
4140 0 ← ← 0 ← 0 ← 0
4141 0 ← ← 0 ← 0 ← 0
4142 0 ← ← 0 ← 0 ← 0
4143 0 ← ← 0 ← 0 ← 0
4144 0 ← ← 0 ← 0 ← 0
4145 0 ← ← 0 ← 0 ← 0
4146 0 ← ← 0 ← 0 ← 0
4147 0 ← ← 0 ← 0 ← 0
4148 0 ← ← 0 ← 0 ← 0
4149 0 ← ← 0 ← 0 ← 0
4150 0 ← ← 0 ← 0 ← 0
4151 0 ← ← 0 ← 0 ← 0
4152 0 ← ← 0 ← 0 ← 0
4153 0 ← ← 0 ← 0 ← 0
4154 0 ← ← 0 ← 0 ← 0
4155 0 ← ← 0 ← 0 ← 0
4156 0 ← ← 0 ← 0 ← 0
4158 0 ← ← 0 ← 0 ← 0
4159 0 ← ← 0 ← 0 ← 0
4161 0 ← ← 0 ← 0 ← 0
4165 0 ← ← 0 ← 0 ← 0
4166 0 ← ← 0 ← 0 ← 0
4169 0 ← ← 0 ← 0 ← 0
Maximum output during
6.1kW 6.1kW 6.1kW 8.3kW 8.3kW 12.1kW 12.1kW 16.5kW
acceleration (for PSM
selection)

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C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/05

C.8 SPINDLE MOTOR αCi series

Motor model αC1/6000i αC2/6000i αC3/6000i αC6/6000i αC8/6000i αC12/6000i αC15/6000i
Applicable SPM SPMC-2.2i SPMC-5.5i SPMC-5.5i SPMC-11i SPMC-11i SPMC-15i SPMC-22i
Model code 240 (9D60/C) 241 (9D60/C) 242 (9D60/C) 243 (9D60/C) 244 (9D60/C) 245 (9D60/C) 246 (9D60/C)
(Applicable software series
and edition)
Output specification
1.5/2.2 kW 2.2/3.7 kW 3.7/5.5 kW 5.5/7.5 kW 7.5/11 kW 11/15 kW 15/18.5 kW
Parameter number
3000/6000 1500/6000 1500/6000 1500/6000 1500/6000 1500/6000 1500/6000
min-1 min-1 min-1 min-1 min-1 min-1 min-1
FS15i FS16i
3001 4001 00000001 00000001 00000001 00000001 00000001 00000001 00000001
3002 4002 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3011 4011 00011000 00011000 00011000 00011000 00011000 00011000 00011000
3012 4012 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3013 4013 00001100 00001100 00001100 00001100 00001100 01010000 01010000
3019 4019 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3020 4020 6000 6000 6000 6000 6000 6000 6000
3040,3041 4040,4041 50 60 90 50 60 150 120
3042~3045 4042~4045 100 100 150 100 100 250 200
3048,3049 4048,4049 360 240 360 200 240 600 480
3050~3053 4050~4053 600 400 600 400 400 1000 800
3080 4080 90 75 100 80 100 100 100
3083 4083 60 60 60 60 60 60 60
3100 4100 3300 1700 1800 1700 1900 1700 1500
3101 4101 100 100 100 100 100 100 100
3102 4102 4000 2600 1800 2500 1900 1700 1750
3103 4103 91 87 86 73 96 89 53
3104 4104 1300 500 800 400 600 600 500
3105 4105 100 30 30 20 20 15 10
3106 4106 200 200 200 400 200 100 200
3107 4107 1000 800 800 800 800 1000 600
3108 4108 200 200 200 200 200 200 500
3109 4109 25 25 25 25 25 25 25
3110 4110 629 503 419 686 539 808 862
3111 4111 75 188 147 244 202 252 262
3112 4112 200 200 200 200 200 200 200
3113 4113 2439 1192 1077 690 819 311 304
3114 4114 0 0 0 0 0 0 0
3115 4115 100 100 100 100 100 100 100
3116 4116 10494 10580 9938 8803 8118 5000 5177
3117 4117 90 90 32090 90 32090 32090 32090
3118 4118 100 100 110 100 110 110 110
3119 4119 4 8 9 14 12 31 31
3120 4120 15 15 15 15 15 50 50
3124 4124 0 0 0 0 0 0 0
3127 4127 176 202 178 164 176 164 148
3128 4128 0 0 0 0 0 0 0
3129 4129 0 0 0 0 0 0 0
3130 4130 100 100 100 100 100 100 100
3131 4131 5220 12900 12900 12900 10355 5235 5235
3134 4134 110 110 110 130 130 130 130
Maximum output during
2.64kW 4.44kW 6.6kW 9.0kW 13.2kW 18.0kW 22.2kW
acceleration (for PSM
selection)

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B-65280EN/05 APPENDIX D.LISTS OF ALARMS/STATE ERRORS

D LISTS OF ALARMS/STATE ERRORS

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D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/05

D.1 LIST OF SPINDLE ALARMS

This section provides a list of spindle alarms. For details of the alarms
and actions to be taken, refer to Part II, "TROUBLESHOOTING", in
"FANUC SERVO MOTOR αi series MAINTENANCE MANUAL
(B-65285EN)".

Alarm No. LED display

Description
15i 16i 30i SPM PSM
SP097x 749 SP12xx A Program ROM error
SP097x 749 SP12xx A1 Program ROM error
SP097x 749 SP12xx A2 Program ROM error
SP0001 9001 SP9001 01 Motor overheat
SP0002 9002 SP9002 02 Excessive velocity error
SP0003 9003 SP9003 03 DC link fuse blown
SP0004 9004 SP9004 04 E Open phase in the converter main power supply
SP0006 9006 SP9005 06 Temperature sensor disconnected
SP0007 9007 SP9006 07 Overspeed
SP0009 9009 SP9009 09 Main circuit overload/IPM overheat
SP0011 9011 SP9011 11 7 Converter: DC link overvoltage
SP0012 9012 SP9012 12 DC link overcurrent/IPM alarm
SP098x 750 SP12xx 13 CPU internal data memory error
SP0015 9015 SP9015 15 Speed range switching/spindle switching alarm
SP0016 9016 SP9016 16 RAM error
SP098x 750 SP12xx 18 Program sum check error
SP098x 750 SP12xx 19 Excessive offset of the phase U current detection circuit
SP098x 750 SP12xx 20 Excessive offset of the phase V current detection circuit
SP0021 9021 SP9021 21 Position sensor polarity setting incorrect
SP022x 749 SP12xx 24 Serial communication error
SP0027 9027 SP9027 27 Position coder disconnected
SP0029 9029 SP9029 29 Short-time overload
SP0030 9030 SP9030 30 1 Overcurrent in the converter input circuit
SP0031 9031 SP9031 31 Motor lock alarm
SP0032 9032 SP9032 32 Serial communication LSI RAM error
SP0033 9033 SP9033 33 5 Converter: DC link precharge failure
SP0034 9034 SP9034 34 Parameter data out of the specifiable range
SP0035 9035 SP9035 35 Gear ratio parameter error
SP0036 9036 SP9036 36 Error counter overflow
SP0037 9037 SP9037 37 Speed detector parameter error
SP0041 9041 SP9041 41 Position coder one-rotation signal detection error
SP0042 9042 SP9042 42 Position coder one-rotation signal not detected
Position sensor one-rotation signal detection error during
SP0046 9046 SP9046 46
thread cutting
SP0047 9047 SP9047 47 Position coder signal error
Excessive speed command calculation value during
SP0050 9050 SP9050 50
spindle synchronous control
SP0051 9051 SP9051 51 4 Converter: DC link low voltage
SP0052 9052 SP9052 52 ITP signal error I
SP0053 9053 SP9053 53 ITP signal error II
SP0054 9054 SP9054 54 Current overload alarm
SP0055 9055 SP9055 55 Abnormal switching status of power leads

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B-65280EN/05 APPENDIX D.LISTS OF ALARMS/STATE ERRORS

Alarm No. LED display

Description
15i 16i 30i SPM PSM
SP0056 9056 SP9056 56 Internal cooling fan stopped
SP0057 9057 SP9057 57 H Converter: excessive deceleration power
SP0058 9058 SP9058 58 3 Converter: main circuit overload
SP0059 9059 SP9059 59 2 Converter: cooling fan stopped
Excessive semi-closed loop/closed loop position error
SP0061 9061 SP9061 61
alarm
Abnormal travel distance in magnetic pole determination
SP0065 9065 SP9065 65
operation
SP0066 9066 SP9066 66 Communication alarm between SPM’s
SP0067 9067 SP9067 67 Reference position return command in the EGB mode
SP0069 9069 SP9069 69 Safety speed exceeded
SP0070 9070 SP9070 70 Abnormal axis data
SP0071 9071 SP9071 71 Abnormal safety parameter
SP0072 9072 SP9072 72 Motor speed mismatch
SP0073 9073 SP9073 73 Motor sensor disconnected
SP0074 9074 SP9074 74 CPU test alarm
SP0075 9075 SP9075 75 CRC test alarm
SP0076 9076 SP9076 76 Safety function not executed
SP0077 9077 SP9077 77 Axis number mismatch
SP0078 9078 SP9078 78 Safety parameter mismatch
SP0079 9079 SP9079 79 Abnormal initial test operation
SP0080 9080 SP9080 80 Destination SPM error in inter-SPM communication
SP0081 9081 SP9081 81 Motor sensor one-rotation signal detection error
SP0082 9082 SP9082 82 Motor sensor one-rotation signal not detected
SP0083 9083 SP9083 83 Motor sensor signal error
SP0084 9084 SP9084 84 Spindle sensor disconnected
SP0085 9085 SP9085 85 Spindle sensor one-rotation signal detection error
SP0086 9086 SP9086 86 Spindle sensor one-rotation signal not detected
SP0087 9087 SP9087 87 Spindle sensor signal error
SP0088 9088 SP9088 88 Cooling fan stopped of the radiator
SP0089 9089 SP9089 89 Sub module SM (SSM) error
SP0110 9110 SP9110 b0 Communication error between amplifier modules
SP0111 9111 SP9111 b1 6 Converter: control power supply low voltage
SP0112 9112 SP9112 b2 8 Converter: excessive regenerative power
SP0113 9113 SP9113 b3 A Converter: cooling fan stopped of the radiator
SP0120 9120 SP9120 C0 Communication data alarm
SP0121 9121 SP9121 C1 Communication data alarm
SP0122 9122 SP9122 C2 Communication data alarm
SP0123 9123 SP9123 C3 Spindle switch circuit error
Excessive speed deviation alarm on spindle synchronous
SP0128 9128 SP9128 C8
control
Excessive positional deviation alarm on spindle
SP0129 9129 SP9129 C9
synchronous control
SP0130 9130 SP9130 d0 Speed polarity error in torque tandem operation

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D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/05

D.2 LIST OF SPINDLE STATE ERRORS

When a parameter is set incorrectly or a sequence is incorrect, the

error LED (yellow) on the indicator of the spindle amplifier module
(SPM) is turned on, and an error code is displayed.
When the spindle motor malfunctions, check the error code on the
amplifier indicator and take action according to the table below.

Indication Description of error state Action

Although neither *ESP (emergency stop signal; there
are two types of signals including the input signal and Check the *ESP and MRDY sequence. For MRDY,
PSM contact signal) nor MRDY (machine ready pay attention to the parameter setting regarding
01
signal) is input, SFR (forward rotation signal)/SRV the use of the MRDY signal (bit 0 of parameter No.
(reverse rotation signal)/ORCM (orientation command) 4001).
is input.
Although a parameter setting (bits 3,2,1,0 of No. 4002
= 0,0,0,0) is made to use no position sensor (to
03 exercise no position control), the Cs contouring control Check the parameter setting.
command is input.
In this case, the motor is not excited.
Although a parameter setting (bits 3,2,1,0 of No. 4002
= 0,0,0,0) is made to use no position sensor (to
exercise no position control), a command for servo
04 Check the parameter setting.
mode (such as rigid tapping and spindle positioning)
or spindle synchronous control is input.
In this case, the motor is not excited.
Although the option parameter of the orientation
Check the parameter setting of the orientation
05 function is not set, the ORCM (orientation command)
function.
is input.
Although the option parameter of the speed range Check the parameter setting of the speed range
06 switching control function is not set, the low-speed switching control function and also check the
characteristics winding is selected. (RCH=1) power line state check signal (RCH).
Although the Cs contour control command is
07 specified, SFR(clockwise command) / Check the sequence.
SRV(counterclockwise command) is not input.
Although the servo mode (rigid tapping, spindle
positioning, etc.) is specified, SFR(clockwise
08 Check the sequence.
command) / SRV(counterclockwise command) is not
input.
Although spindle synchronous control mode is
09 specified, SFR(clockwise command) / Check the sequence.
SRV(counterclockwise command) is not input.
During execution of the C-axis control command,
Although Cs contour control mode is set, another
do not specify another mode. Before entering
10 mode (servo mode, spindle synchronous control, or
another mode, cancel the Cs contour control
orientation) is specified.
command.
Although servo mode (rigid tapping, or spindle
During execution of the servo mode command, do
positioning, etc.) is set, another mode (Cs contour
11 not specify another mode. Before entering another
control, spindle synchronous control, or orientation) is
mode, cancel the servo mode.
specified.

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B-65280EN/05 APPENDIX D.LISTS OF ALARMS/STATE ERRORS

Indication Description of error state Action

During execution of the spindle synchronous
Although spindle synchronous control is being
control command, do not specify another mode.
12 performed, another mode (Cs contour control, servo
Before entering another mode, cancel the spindle
mode, or orientation) is specified.
synchronous control command.
Although the orientation command is being executed, During execution of the orientation command, do
13 another mode (Cs contour control, servo mode, or not specify another mode. Before entering another
spindle synchronous control) is specified. mode, cancel the orientation command.
The SFR(clockwise command) and
Input the SFR(clockwise command) or
14 SRV(counterclockwise command) signals are both
SRV(counterclockwise command)signal.
input at the same time.
Setting of the speed detector parameter (bits 2, 1, and
17 0 of parameter No. 4011) is invalid. Check the parameter setting.
The corresponding speed detector is not present.
Although a parameter setting (bits 3,2,1,0 of No. 4002
= 0,0,0,0) is made to use no position sensor (to
18 Check the parameter setting and input signal.
exercise no position control), position coder method
orientation is specified.
A tandem operation command was input when spindle Input a tandem operation command after canceling
21
synchronous control is enabled. spindle synchronous control.
Spindle synchronous control was specified when Specify spindle synchronous control after canceling
22
tandem operation is enabled. torque tandem operation.
A tandem operation command is input even if the Torque tandem control requires the CNC software
23
option is not specified. option. Check the option.
For successive indexing in position coder method Check INCMD (incremental command).
orientation, an incremental operation (INCMD = 1) is When specifying the absolute position command
24
first performed, then an absolute position command successively, be sure to perform absolute position
(INCMD = 0) is input. command orientation first.
Parameter settings for using the shortest time The shortest time orientation function is unusable
29 orientation function (bit 6 of No. 4018 = 0, No. 4320 to with the αi series spindle amplifier. Use orientation
No. 4323 ≠ 0) are made. of ordinary type.
In the magnetic pole undetected state (EPFIXA =
0), the motor cannot be driven even if a command
is input. Input a command in the magnetic pole
The magnetic pole undetected state is set, but a detection completed state (EPFIXA = 1).
30
command is input. While EPFSTR = 1 is set, a command is ignored
even in the magnetic pole detection completed
state, and this error is indicated. Upon completion
of magnetic pole detection, set EPFSTR = 0.
The hardware configuration disables the use of the
31 spindle FAD function. Check the model of the CNC.
In this case, the motor is not excited.
The hardware configuration disables the use of the
33 spindle EGB function. Check the model of the CNC.
In this case, the motor is not excited.
Both the spindle FAD function and spindle EGB
The two functions cannot be used at the same
34 function are enabled.
time. Enable one of the two functions at a time.
In this case, the motor is not excited.
The sub module SM (SSM) is abnormal.
*1) Disconnection of the interface signal between the For action to be taken for this error, see Section
36
SPM and SSM 1.4, "SUB MODULE SM", in Part IV.
*2) SSM failure

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D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/05

Indication Description of error state Action

- Parameters related to inter-SPM communication are
not set correctly.
38 Check the parameters.
- Functions that cannot be used together with the
torque tandem function are set.
DSCN (disconnection detection disable signal) is input Check the sequence.
in the state where SFR (forward rotation command), Do not input DSCN (disconnection detection
39
SRV (reverse rotation command), or ORCM disable signal) while a command for motor
(orientation command) is input. activation is input.

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

E TABLE OF I/O SIGNALS RELATED TO

SPINDLE CONTROL

- 689 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/05

E.1 αi SERIES SPINDLE

E.1.1 Input Signals (PMC→CNC)

(1) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 CON *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
Common to all axes G038 SPPHS SPSYC
Common to all axes G061 RGTAP

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 CON *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
Common to all axes G038 SPPHS SPSYC
Common to all axes G061 RGTAP

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN
G067 SCNTR1
G071 SCNTR2
: :

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A SPSTPA

2nd- G272 GS4B GS2B GS1B SPSTPA

(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
2nd- G234 G075 G075 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB

1st- G229 G072 G072 RCHHGA MFNHGA INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 RCHHGB MFNHGB INCMDB OVRB DEFMDB NRROB ROTAB INDXB

1st- G228 G073 G073 DSCNA SORSLA MPOFA

2nd- G236 G077 G077 DSCNB SORSLB MPOFB

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E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/05

E.1.2 Output Signals (CNC→PMC)

(1) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O
F044 SYCAL FSPPH FSPSY FSCSL

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
*1 These signals are valid with the M series only.

(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O
F044 SYCAL FSPPH FSPSY FSCSL

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
*1 These signals are valid with the M series only.

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F040 RTAP
Common to all axes F045 SRSRDY
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1

F071 MSCNTR2

: :
Common to all axes F155 RSPC RSPM RSPP

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F011 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

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E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/05

(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F228 F046 F046 RCFNA RCHPA CFINA CHPA

2nd- F244 F050 F050 RCFNB RCHPB CFINB CHPB

1st- F231 F047 F047 EXOFA SORENA INCSTA PC1DTA

2nd- F247 F051 F051 EXOFB SORENB INCSTB PC1DTB

1st- F230 F048 F048 CSPENA

2nd- F246 F052 F052 CSPENB

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

E.2 αCi SERIES SPINDLE

E.2.1 Input Signals (PMC→CNC)

(1) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0
G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
G028 GR2 GR1
G029 *SSTP SOR SAR
G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
G032 R08I R07I R06I R05I R04I R03I R02I R01I
G033 SIND SSIN SGN R12I R11I R10I R09I
G038 SPPHS SPSYC
G061 RGTAP

NOTE
*1 These signals are valid in multi-spindle control.

(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
G027 *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
G028 GR2 GR1
G029 *SSTP SOR SAR
G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
G032 R08I R07I R06I R05I R04I R03I R02I R01I
G033 SIND SSIN SGN R12I R11I R10I R09I
G038 SPPHS SPSYC
G061 RGTAP

NOTE
*1 These signals are valid in multi-spindle control.

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E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/05

(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN
G067 SCNTR1
G071 SCNTR2
: :

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A SPSTPA

2nd- G272 GS4B GS2B GS1B SPSTPA

(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
(*1)

2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB
(*1)

1st- G226 G071 G071 INTGA *ESPA ARSTA

2nd- G234 G075 G075 INTGB *ESPB ARSTB

1st- G229 G072 G072 INCMDA OVRA NRROA ROTAA INDXA

2nd- G237 G076 G076 INCMDB OVRB NRROB ROTAB INDXB

1st- G228 G073 G073 MPOFA

2nd- G236 G077 G077 MPOFB

NOTE
*1 The signal functions of the αCi series differ from
those of the αi series. For details, see Chapter 3,
"I/O SIGNALS (CNC ↔ PMC)", in Part III.

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

E.2.2 Output Signals (CNC→PMC)

(1) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O
F044 SYCAL FSPPH FSPSY FSCSL

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
*1 These signals are valid with the M series only.

(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O
F044 SYCAL FSPPH FSPSY FSCSL

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
*1 These signals are valid with the M series only.

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E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/05

(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F040 RTAP
Common to all axes F045 SRSRDY
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1

F071 MSCNTR2

: :
Common to all axes F155 RSPC RSPM RSPP

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F011 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA TLMA LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 ORARB TLMB LDT1B SARB SDTB SSTB ALMB

1st- F231 F047 F047 INCSTA PC1DTA

2nd- F247 F051 F051 INCSTB PC1DTB

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

E.3 Bis SERIES SPINDLE

E.3.1 Input Signals (PMC→CNC)

(1) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 CON *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
Common to all axes G038 SPPHS SPSYC
Common to all axes G061 RGTAP

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 CON *SSTP2 *SSTP1 SWS2 SWS1
(*1) (*1) (*1) (*1)
Common to all axes G028 GR2 GR1
Common to all axes G029 *SSTP SOR SAR
Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
Common to all axes G038 SPPHS SPSYC
Common to all axes G061 RGTAP

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

NOTE
*1 These signals are valid in multi-spindle control.

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E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/05

(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G005 FIN
G067 SCNTR1
G071 SCNTR2
: :

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A SPSTPA

2nd- G272 GS4B GS2B GS1B SPSTPA

(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G227 G070 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 INTGA SOCNA *ESPA ARSTA

2nd- G234 G075 G075 INTGB SOCNB *ESPB ARSTB

1st- G229 G072 G072 INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 INCMDB OVRB DEFMDB NRROB ROTAB INDXB

1st- G228 G073 G073 EPFSTRA DSCNA SORSLA MPOFA

2nd- G236 G077 G077 EPFSTRB DSCNB SORSLB MPOFB

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

E.3.2 Output Signals (CNC→PMC)

(1) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O
F044 SYCAL FSPPH FSPSY FSCSL

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
*1 These signals are valid with the M series only.

(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F001 ENB
F007 SF
F022 S07 S06 S05 S04 S03 S02 S01 S00
F023 S15 S14 S13 S12 S11 S10 S09 S08
F024 S23 S22 S21 S20 S19 S18 S17 S16
F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O GR2O GR1O

(*1) (*1) (*1)
F036 R08O R07O R06O R05O R04O R03O R02O R01O
F037 R12O R11O R10O R09O
F044 SYCAL FSPPH FSPSY FSCSL

F065 RGSPM RGSPP

(*1) (*1)
F076 RTAP
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1

NOTE
*1 These signals are valid with the M series only.

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E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/05

(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F008 SF
Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0
Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08
Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16
Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24
Common to all axes F040 RTAP
Common to all axes F045 SRSRDY
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1

F071 MSCNTR2

: :
Common to all axes F155 RSPC RSPM RSPP

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

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B-65280EN/05 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL

(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F229 F045 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F245 F049 F049 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB

1st- F231 F047 F047 EXOFA SORENA INCSTA PC1DTA

2nd- F247 F051 F051 EXOFB SORENB INCSTB PC1DTB

1st- F230 F048 F048 EPFIXA CSPENA SSMBRKA

2nd- F246 F052 F052 EPFIXB CSPENB SSMBRKB

- 703 -
F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/05

F OBSERVING DATA USING THE SERVO

GUIDE
Using the servo adjustment tool, SERVO GUIDE, enables you to
observe internal data for the spindle.
This Appendix F describes the spindle data that can be observed using
the SERVO GUIDE. It also presents examples of observed data. Refer
to online help for detailed explanations about how to use the SERVO
GUIDE.

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B-65280EN/05 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE

F.1 SERIES AND EDITIONS OF APPLICABLE SPINDLE

SOFTWARE

Series 9D50/B(02) and subsequent editions

Series 9D53/A(01) and subsequent editions
Series 9D70/A(01) and subsequent editions

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F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/05

F.2 SPINDLE DATA THAT CAN BE OBSERVED USING THE

SERVO GUIDE

F.2.1 Data List

The following table lists the spindle data that can be observed using
the SERVO GUIDE.
Data type Description Description
SPEED Motor speed
INORM Motor current amplitude
TCMD Torque command
VCMD Motor speed command
VERR Speed deviation
MCMD Move command for an individual communication cycle
ERR Position error Series 9D50/11 and subsequent editions *1
ERRC Position error (CNC)
SYNC Synchronous error Series 9D50/11 and subsequent editions *1
ORERR Position error at orientation
ORSEQ Orientation sequence data
PCPOS Cumulative position feedback value
CSPOS Cumulative position feedback value
WMDAT Move command for an individual position loop
ERR2 Position error 2
ERR2C Position error 2 (CNC) Series 9D50/11 and subsequent editions *1
SPCMD Speed command data from the CNC
SPSPD Spindle speed Series 9D50/11 and subsequent editions *1
SPCT1 Spindle control signal 1
SPCT2 Spindle control signal 2
SPCT3 Spindle control signal 3 Series 9D50/11 and subsequent editions *1
SPST1 Spindle status signal 1
SPST2 Spindle status signal 2
SFLG1 Spindle flag 1 Series 9D50/11 and subsequent editions *1
SPPOS Spindle position data Series 9D50/12 and subsequent editions *2
LMDAT Load meter data Series 9D50/11 and subsequent editions *1
Spindle load torque (unexpected disturbance torque
DTRQ Series 9D50/11 and subsequent editions *1
detection function)
Frequency of a disturbance torque command (disturbance
FREQ Series 9D50/11 and subsequent editions *1
input function)
GAIN Gain (disturbance input function) Series 9D50/11 and subsequent editions *1
MTTMP Motor winding temperature Series 9D50/11 and subsequent editions *1
Feedback differential data on the motor side (for amplitude
MFBDF Series 9D50/11 and subsequent editions *1
ratio/phase difference compensation adjustment)
Feedback differential data on the spindle side (for amplitude
SFBDF 9D50/11 and subsequent editions *1
ratio/phase difference compensation adjustment)
PA1 A/D value of motor sensor phase A 9D50/11 and subsequent editions *1
PB1 A/D value of motor sensor phase B 9D50/11 and subsequent editions *1
*1
PA2 A/D value of spindle sensor phase A 9D50/11 and subsequent editions
PB2 A/D value of spindle sensor phase B 9D50/11 and subsequent editions *1
VDC DC link voltage 9D50/11 and subsequent editions *1
Semi-closed loop/closed loop difference
SFERR 9D50/11 and subsequent editions *1
(Dual position feedback function)

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B-65280EN/05 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE

Data type Description Description

Positional deviation on the semi-closed loop side
SMERR 9D50/11 and subsequent editions *1
(Dual position feedback function)

NOTE
*1 Valid with 9D53 series 03 edition or later and valid with 9D70 series 02 edition or later
*2 Valid with 9D53 series 04 edition or later and valid with 9D70 series 03 edition or later
*3 To observe data marked with *1 and *2, Servo Guide Ver. 3.0 or later is needed.

F.2.2 About the Spindle Speed Control and Spindle Status Signals
As stated in the previous item, the SERVO GUIDE can be used to
observe the PMC signals (spindle speed control signals 1 and 2 and
spindle status signals 1 and 2) used by the spindle.
Listed below is the data configuration for spindle speed control signals
1 and 2 and spindle status signals 1 and 2. Refer to Chapter 3 for
explanations about each signal.

(a) Spindle speed control signal 1 (SPCT1)

#15 #14 #13 #12 #11 #10 #9 #8
RCH RSL INTG SOCN MCFN SPSL *ESP ARST
#7 #6 #5 #4 #3 #2 #1 #0
MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML

(b) Spindle speed control signal 2 (SPCT2)

#15 #14 #13 #12 #11 #10 #9 #8
DSCN SORSL MPOF
#7 #6 #5 #4 #3 #2 #1 #0
RCHHG MFNHG INCMD OVR DEFMD NRRO ROTA INDX

(c) Spindle speed control signal 3 (SPCT3)

#15 #14 #13 #12 #11 #10 #9 #8

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

(d) Spindle status signal 1 (SPST1)

#15 #14 #13 #12 #11 #10 #9 #8
SLVS RCFN RCHP CFIN CHP
#7 #6 #5 #4 #3 #2 #1 #0
ORAR TLM LDT2 LDT1 SAR SDT SST ALM

(e) Spindle status signal 2 (SPST2)

#15 #14 #13 #12 #11 #10 #9 #8
CSPEN
#7 #6 #5 #4 #3 #2 #1 #0
EXOF SOREN INCST PC1DT

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F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/05

F.3 EXAMPLE OF OBSERVING DATA

(1) Synchronous error and motor speed in rigid tapping

DRAW1：SYNC

DRAW2：SPEED

DRAW1 : SYNC (synchronous error)

DRAW2 : SPEED (motor speed)

(2) Motor speed and orientation sequence in orientation

DRAW1：SPEED

DRAW2：ORSEQ

DRAW1 : SPEED (motor speed)

DRAW2 : ORSEQ (orientation sequence)

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B-65280EN/05 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE

(3) Motor speed and estimated load torque data

DRAW1：SPEED

DRAW2：DTRQ

DRAW1 : SPEED (motor speed)

DRAW2 : DTRQ (estimated load torque)

(4) Phase A/B feedback signal of a BZi sensor

PA2

PB2

DRAW1 : PA2 (Phase A signal of a separate BZi sensor)

DRAW2 : PB2 (Phase B signal of a separate BZi sensor)

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G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND αCi SERIES APPENDIX B-65280EN/05

G PARAMETER SPECIFICATION
DIFFERENCES BETWEEN THE αi
SERIES AND αCi SERIES
This appendix describes the parameter specification differences
between the αi series and αCi series.
The specifications of some parameters differ between the αi series and
αCi series. For example, some identical parameter numbers do not
specify the same functions. Take care at the time of the parameter
setting.

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B-65280EN/05 APPENDIX G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND αCi SERIES

G.1 PARAMETERS WITH DIFFERENT MEANINGS

Contents
15i 16i 30i
αi series αCi series
3000#1 4000#1 4000#1 Spindle rotation direction when a positive (+) move Unused (Set to 0.)
command is specified on Cs contouring control
3000#3 4000#3 4000#3 Return direction for the reference position on Cs Unused (Set to 0.)
contouring control mode
3002#4 4002#4 4002#4 Whether to use the rotation direction signal SM pin output data selection
(SFR/SRV) function on Cs contouring control
3002#7 4002#7 4002#7 Whether to use the CMR (servo mode Cs contouring) Unused (Set to 0.)
function on servo mode
3003#3 4003#3 4003#3 Rotation direction during spindle orientation Unused (Set to 0.)
3004#2 4004#2 4004#2 Setting of external one-rotation signal Unused (Set to 0.)
3004#3 4004#3 4004#3 Setting of external one-rotation signal Unused (Set to 0.)
3005#0 4005#0 4005#0 Unused (Set to 0.) Setting of the velocity feedback method
3009#0 4009#0 4009#0 Increment system of velocity loop gain Unused (Set to 0.)
3010#0 4010#0 4010#0 Motor sensor type Unused (Set to 0.)
3010#1 4010#1 4010#1 Motor sensor type Unused (Set to 0.)
3010#2 4010#2 4010#2 Motor sensor type Unused (Set to 0.)
3011#0 4011#0 4011#0 Teeth number setting of motor sensor Unused (Set to 0.)
3011#1 4011#1 4011#1 Teeth number setting of motor sensor Unused (Set to 0.)
3011#2 4011#2 4011#2 Teeth number setting of motor sensor Unused (Set to 0.)
3012#7 4012#7 4012#7 Setting of spindle HRV function Unused (Set to 0.)
3013#7 4013#7 4013#7 Setting of a PWM carrier for low-speed characteristics Unused (Set to 0.)
area
3014#0 4014#0 4014#0 Whether to use the spindle switch function Unused (Set to 0.)
3014#2 4014#2 4014#2 Whether to check both spindle switch main and sub Unused (Set to 0.)
magnetic contactor contacts
3014#3 4014#3 4014#3 Whether to check both magnetic contactor contacts Unused (Set to 0.)
for high-speed characteristics/low-speed
characteristics in speed range switching
3014#6 4014#6 4014#6 Whether to use the orientation function on spindle Unused (Set to 0.)
synchronous control
3016#4 4016#4 4016#4 Setting related to control characteristics on Cs Unused (Set to 0.)
contouring control/servo mode
3016#5 4016#5 4016#5 Whether to detect the alarms (SPM alarms 82, 83, 85, Unused (Set to 0.)
86) related to position feedback (in Cs contouring
control mode)
3018#5 4018#5 4018#5 Whether to use the velocity command compensation Unused (Set to 0.)
function during high-speed orientation
3018#6 4018#6 4018#6 High-speed orientation function Unused (Set to 0.)
3019#4 4019#4 4019#4 Setting of the function for switching from high-speed Unused (Set to 0.)
characteristics to low-speed characteristics with the
speed detection signal SDT = 1 at speed range
switching
3021 4021 4021 Maximum speed on Cs contouring control mode Unused (Set to 0.)
3027 4027 4027 Load detection level 2 Unused (Set to 0.)
3028 4028 4028 Limited output pattern Unused (Set to 0.)
3029 4029 4029 Output limit Unused (Set to 0.)
3030 4030 4030 Soft start/stop time Unused (Set to 0.)
(*1) (*1)
3038 4038 4038 Spindle orientation speed Spindle orientation speed
3039 4039 4039 Slip compensation gain Unused (Set to 0.)
3046 4046 4046 Velocity loop proportional gain on Cs contouring Unused (Set to 0.)
control (High)
3047 4047 4047 Velocity loop proportional gain on Cs contouring Unused (Set to 0.)
control (Low)
3054 4054 4054 Velocity loop integral gain on Cs contouring control Unused (Set to 0.)
(High)

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G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND αCi SERIES APPENDIX B-65280EN/05

Contents
15i 16i 30i
αi series αCi series
3055 4055 4055 Velocity loop integral gain on Cs contouring control Unused (Set to 0.)
(Low)
3064 4064 4064 Rate of change in position gain upon completion of Acceleration limitation ratio at deceleration time
orientation / Acceleration limitation ratio at
deceleration time
3069 4069 4069 Position gain on Cs contouring control (High) Acceleration/deceleration constant (High)
3070 4070 4070 Position gain on Cs contouring control (Medium High) Acceleration/deceleration constant (Medium High)
3071 4071 4071 Position gain on Cs contouring control (Medium Low) Acceleration/deceleration constant (Medium Low)
3072 4072 4072 Position gain on Cs contouring control (Low) Acceleration/deceleration constant (Low)
3076 4076 4076 Motor speed limit value on orientation Unused (Set to 0.)
3078 4078 4078 Reserved (Set to 200.) Gear switch timer
3086 4086 4086 Motor voltage on Cs contouring control Gear ratio parameter setting error alarm (SPM alarm
35) detection level
3087 4087 4087 Overspeed level Unused (Set to 0.)
3092 4092 4092 Rate of change in position gain during reference Unused (Set to 0.)
position return on Cs contouring control
3093 4093 4093 Value displayed on load meter at maximum output Unused (Set to 0.)
3094 4094 4094 Disturbance torque compensation constant Unused (Set to 0.)
(acceleration feedback gain)
3096 4096 4096 Adjusted output voltage of load meter Unused (Set to 0.)
3097 4097 4097 Feedback gain of spindle speed Unused (Set to 0.)
3103 4103 4103 Base speed limit ratio Compensation data for resistance
(*1) (*1)
3104 4104 4104 Current loop proportional gain Current loop proportional gain
3105 4105 4105 Unused (Set to 0.) Current loop integral gain
3106 4106 4106 Current loop integral gain D-axis current loop gain
3107 4107 4107 Unused (Set to 0.) Q-axis current loop gain
3108 4108 4108 Velocity at which the current loop integral gain is zero Q-axis current deviation limitation coefficient
3114 4114 4114 Slip compensation coefficient for a high-speed Unused (Set to 0.)
zone/slip compensation coefficient at deceleration
3120 4120 4120 Dead-band rectangular wave component zero Dead-band compensation data
voltage/dead-band data
3129 4129 4129 Secondary current coefficient for rigid tapping Unused (Set to 0.)
3131 4131 4131 Time constant for velocity detecting filter (on Cs Dead-band compensation hysteresis
contouring control)
3135 4135 4135 Grid shift during Cs contouring control mode l Unused (Set to 0.)
(2-word)
3320 4320 4320 Motor acceleration at deceleration time (High) Acceleration at orientation deceleration time (High)
3321 4321 4321 Motor acceleration at deceleration time (Medium Acceleration at orientation deceleration time (Medium
High) High)
3322 4322 4322 Motor acceleration at deceleration time (Medium Low) Acceleration at orientation deceleration time (Medium
Low)
3323 4323 4323 Motor acceleration at deceleration time (Low) Acceleration at orientation deceleration time (Low)

NOTE
*1 The name is identical, but the specification differs
partly.

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B-65280EN/05 APPENDIX G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES

H PARAMETER SPECIFICATION
DIFFERENCES BETWEEN THE αi
SERIES AND Bis SERIES
This appendix describes the parameter specification differences
between the αi series and Bis series.
The specifications of some parameters differ between the αi series and
Bis series. For example, some identical parameter numbers do not
specify the same functions. Take care at the time of the parameter
setting.

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G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES APPENDIX B-65280EN/05

H.1 PARAMETERS WITH DIFFERENT MEANINGS

NOTE
The parameters marked with (*1) have the same
name but their specifications partly differ from each
other.

Contents
15i 16i 30i
αi series Bis series
3006#2 4006#2 4006#2 Increment system of spindle speed Unused (Set to 0.)
3006#4 4006#4 4006#4 Reserved Sets the d-phase current command.
(*1) Whether to detect a feedback signal disconnection
3007#5 4007#5 4007#5 Whether to detect a feedback signal disconnection (*1)

3007#7 4007#7 4007#7 Reserved Magnetic pole detection start signal selection
3008#3 4008#3 4008#3 Reserved Sets the current command.
3008#5 4008#5 4008#5 Reserved Setting for using the sub module SM
3008#6 4008#6 4008#6 Reserved Reference magnetic pole position selection
3009#5 4009#5 4009#5 Reserved Setting related to magnetic flux reduction speed
Setting of whether to drive the synchronous built-in
3012#6 4012#6 4012#6 Unused (Set to 0.)
spindle motor
3012#7 4012#7 4012#7 Setting of spindle HRV function Setting of spindle HRV function
Setting of a PWM carrier frequency for low-speed
3013#7 4013#7 4013#7 Unused (Set to 0.)
characteristics area
3014#0 4014#0 4014#0 Whether to use the spindle switch function Unused (Set to 0.)
Whether to check both spindle switch main and sub
3014#2 4014#2 4014#2 Unused (Set to 0.)
magnetic contactor contacts
Whether to check both magnetic contactor contacts for
3014#3 4014#3 4014#3 high-speed /low-speed characteristics in speed range Unused (Set to 0.)
switching
3015#2 4015#2 4015#2 Whether to use the speed range switching function Unused (Set to 0.)
3015#3 4015#3 4015#3 Whether to use the spindle tandem function Unused (Set to 0.)
Setting related to control characteristics on Cs contouring
3016#4 4016#4 4016#4 Unused (Set to 0.)
control/servo mode
This parameter sets speed integration operation when
3017#0 4017#0 4017#0 Unused (Set to 0.)
differential spindle speed control is exercised.
Setting of the function for switching from high-speed
3019#4 4019#4 4019#4 characteristics to low-speed characteristics with the speed Unused (Set to 0.)
detection signal SDT = 1 at speed range switching
(*1) (*1)
3024 4024 4024 Zero speed detection level (SST) Zero speed detection level (SST)
3039 4039 4039 Slip compensation gain Unused (Set to 0.)
Regenerative power limit for high-speed zone/regenerative
3080 4080 4080 Regenerative power limit
power limit
Current ratio/motor stop confirmation time in
3083 4083 4083 Motor voltage on velocity control mode
magnetic pole detection operation
3084 4084 4084 Motor voltage on orientation AMR offset
Motor voltage on servo mode/spindle synchronous control
3085 4085 4085 AMR offset fine adjustment
mode
3086 4086 4086 Motor voltage on Cs contouring control Inductance ratio
3097 4097 4097 Feedback gain of spindle speed Unused (Set to 0.)
3102 4102 4102 Excitation voltage saturation speed at no-load Base speed
3103 4103 4103 Base speed limit ratio Magnetic flux reduction speed at maximum load
Filter time constant for processing saturation related to the
3109 4109 4109 Unused (Set to 0.)
voltage command
3111 4111 4111 Secondary current coefficient Maximum current constant
3113 4113 4113 Slip constant Current constant for magnetic flux reduction
Slip compensation coefficient for a high-speed zone/slip
3114 4114 4114 Unused (Set to 0.)
compensation coefficient at deceleration

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B-65280EN/05 APPENDIX G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES

Contents
15i 16i 30i
αi series Bis series
Counter electromotive voltage compensation
3116 4116 4116 Motor leakage constant constant for magnetic flux reduction speed at
maximum load
Regular-time voltage compensation coefficient for Interference voltage compensation constant for
3117 4117 4117
high-speed zone/regular-time motor voltage coefficient magnetic flux reduction speed at maximum load
Acceleration-time voltage compensation coefficient for
3118 4118 4118 Unused (Set to 0.)
high-speed zone/acceleration-time motor voltage coefficient
Deceleration-time excitation current change time
3119 4119 4119 Interference voltage compensation
constant/excitation current change time constant
Compensation coefficient between the specification and true
3128 4128 4128 Unused (Set to 0.)
base/maximum torque curve compensation coefficient
3129 4129 4129 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3130 4130 4130 Current phase delay compensation coefficient
phase delay compensation coefficient
3136 4136 4136 Motor voltage on velocity control mode Unused (Set to 0.)
Motor voltage on servo mode/spindle synchronous control
3137 4137 4137 Unused (Set to 0.)
mode
3138 4138 4138 Base speed of motor output specifications Unused (Set to 0.)
3139 4139 4139 Output limit for motor output specifications Unused (Set to 0.)
3140 4140 4140 Excitation voltage saturation speed at no-load Unused (Set to 0.)
3141 4141 4141 Base speed limit ratio Unused (Set to 0.)
3142 4142 4142 Current loop proportional gain Unused (Set to 0.)
3143 4143 4143 Current loop integral gain Unused (Set to 0.)
3144 4144 4144 Velocity at which the current loop integral gain is zero Unused (Set to 0.)
Filter time constant for processing saturation related to the
3145 4145 4145 Unused (Set to 0.)
voltage command
3146 4146 4146 Current conversion constant Unused (Set to 0.)
3147 4147 4147 Secondary current coefficient Unused (Set to 0.)
Criterion level for saturation related to the voltage
3148 4148 4148 Unused (Set to 0.)
command/PWM command clamp value
3149 4149 4149 Slip constant Unused (Set to 0.)
Slip compensation coefficient for a high-speed zone/slip
3150 4150 4150 Unused (Set to 0.)
compensation coefficient at deceleration
3151 4151 4151 PWM command clamp value at deceleration Unused (Set to 0.)
3152 4152 4152 Motor leakage constant Unused (Set to 0.)
Regular-time voltage compensation coefficient for
3153 4153 4153 Unused (Set to 0.)
high-speed zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for
3154 4154 4154 Unused (Set to 0.)
high-speed zone/acceleration-time motor voltage coefficient
3156 4156 4156 Slip compensation gain Unused (Set to 0.)
Time constant for changing the torque (TCMD filter time
3157 4157 4157 Unused (Set to 0.)
constant)
Compensation coefficient between the specification and true
3158 4158 4158 Unused (Set to 0.)
base/maximum torque curve compensation coefficient
3159 4159 4159 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3161 4161 4161 Unused (Set to 0.)
phase delay compensation coefficient
Integral gain of velocity loop during cutting feed on Cs
3163 4163 4163 Unused (Set to 0.)
contouring control mode (Low)
Deceleration-time excitation current change time
3165 4165 4165 Unused (Set to 0.)
constant/excitation current change time constant
Regenerative power limit for high-speed zone/regenerative
3166 4166 4166 Unused (Set to 0.)
power limit
3168 4168 4168 Current overload alarm detection level Unused (Set to 0.)
Rotation direction relationship between the spindle and
3176#0 4176#0 4176#0 Unused (Set to 0.)
motor
3176#4 4176#4 4176#4 Return direction for the reference position on servo mode Unused (Set to 0.)
3177#0 4177#0 4177#0 Whether to use MRDY (machine ready) signal Unused (Set to 0.)
3177#3 4177#3 4177#3 Mounting direction of the magnetic sensor Unused (Set to 0.)
3177#4 4177#4 4177#4 Mounting direction of the spindle sensor Unused (Set to 0.)
3178#0 4178#0 4178#0 Spindle sensor type Unused (Set to 0.)

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G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES APPENDIX B-65280EN/05

Contents
15i 16i 30i
αi series Bis series
3178#1 4178#1 4178#1 Spindle sensor type Unused (Set to 0.)
3178#2 4178#2 4178#2 Spindle sensor type Unused (Set to 0.)
3178#3 4178#3 4178#3 Spindle sensor type Unused (Set to 0.)
Whether to use the rotation direction signal (SFR/SRV)
3178#5 4178#5 4178#5 Unused (Set to 0.)
function on servo mode
3179#0 4179#0 4179#0 Spindle orientation method Unused (Set to 0.)
3179#2 4179#2 4179#2 Rotation direction during spindle orientation Unused (Set to 0.)
3179#3 4179#3 4179#3 Rotation direction during spindle orientation Unused (Set to 0.)
3179#4 4179#4 4179#4 Teeth number setting of spindle sensor Unused (Set to 0.)
3179#5 4179#5 4179#5 Teeth number setting of spindle sensor Unused (Set to 0.)
3179#6 4179#6 4179#6 Teeth number setting of spindle sensor Unused (Set to 0.)
3179#7 4179#7 4179#7 Teeth number setting of spindle sensor Unused (Set to 0.)
3180#2 4180#2 4180#2 Setting of external one-rotation signal Unused (Set to 0.)
3180#3 4180#3 4180#3 Setting of external one-rotation signal Unused (Set to 0.)
3182#1 4182#1 4182#1 Increment system of gear ratio Unused (Set to 0.)
3182#2 4182#2 4182#2 Increment system of spindle speed Unused (Set to 0.)
3182#5 4182#5 4182#5 Setting of analog override range Unused (Set to 0.)
Whether to use the command arbitrary gear ratio (CMR)
3182#7 4182#7 4182#7 Unused (Set to 0.)
function on rigid tapping
3183#5 4183#5 4183#5 Whether to detect a feedback signal disconnection Unused (Set to 0.)
Whether to detect the alarms (SPM alarms 41, 42, 47, 81,
3183#6 4183#6 4183#6 82, 83, 85, 86, and 87) related to the position feedback Unused (Set to 0.)
signal (when Cs contouring control mode is not set)
3184#4 4184#4 4184#4 Setting of output limitation method Unused (Set to 0.)
3185#0 4185#0 4185#0 Increment system of velocity loop gain Unused (Set to 0.)
Motor power turn-off method when SPM alarm 24 (serial data
3185#2 4185#2 4185#2 Unused (Set to 0.)
transfer error) is issued
Whether to output the load detection signals (LDT1, LDT2)
3185#4 4185#4 4185#4 Unused (Set to 0.)
during acceleration/deceleration
3185#6 4185#6 4185#6 Analog override type Unused (Set to 0.)
3186#0 4186#0 4186#0 Motor sensor type Unused (Set to 0.)
3186#1 4186#1 4186#1 Motor sensor type Unused (Set to 0.)
3186#2 4186#2 4186#2 Motor sensor type Unused (Set to 0.)
3187#0 4187#0 4187#0 Teeth number setting of motor sensor Unused (Set to 0.)
3187#1 4187#1 4187#1 Teeth number setting of motor sensor Unused (Set to 0.)
3187#2 4187#2 4187#2 Teeth number setting of motor sensor Unused (Set to 0.)
3187#3 4187#3 4187#3 Number of motor poles Unused (Set to 0.)
3187#4 4187#4 4187#4 Setting of maximum output during acceleration/deceleration Unused (Set to 0.)
3187#7 4187#7 4187#7 Number of motor poles Unused (Set to 0.)
3188#0 4188#0 4188#0 Setting of PWM carrier frequency Unused (Set to 0.)
3188#1 4188#1 4188#1 Setting of PWM carrier frequency Unused (Set to 0.)
3188#2 4188#2 4188#2 Setting of PWM carrier frequency Unused (Set to 0.)
3189#2 4189#2 4189#2
Current dead-band data Unused (Set to 0.)
3189#3 4189#3 4189#3
Current dead-band data Unused (Set to 0.)
3189#4 4189#4 4189#4
Current dead-band data Unused (Set to 0.)
3189#5 4189#5 4189#5
Current dead-band data Unused (Set to 0.)
3189#6 4189#6 4189#6
Current dead-band data Unused (Set to 0.)
Setting of a PWM carrier frequency for low-speed
3189#7 4189#7 4189#7 Unused (Set to 0.)
characteristics area
3192#3 4192#3 4192#3 Setting of the smoothing function in feed-forward control Unused (Set to 0.)
3192#4 4192#4 4192#4 Setting related to control characteristics on servo mode Unused (Set to 0.)
Whether to detect the alarm (SPM alarms 46) related to
3192#6 4192#6 4192#6 Unused (Set to 0.)
feedback of the position detection signal for threading
Function for newly detecting the one-rotation signal before
3192#7 4192#7 4192#7 Unused (Set to 0.)
entering position control mode
This parameter sets speed integration operation when
3193#0 4193#0 4193#0 Unused (Set to 0.)
differential spindle speed control is exercised.
Setting of shortcut orientation from stop state in position
3193#7 4193#7 4193#7 Unused (Set to 0.)
coder method spindle orientation

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B-65280EN/05 APPENDIX G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES

Contents
15i 16i 30i
αi series Bis series
Whether to use the velocity command compensation function
3194#5 4194#5 4194#5 Unused (Set to 0.)
during high-speed orientation
3194#6 4194#6 4194#6 High-speed orientation function Unused (Set to 0.)
3195#2 4195#2 4195#2 Whether to use torque clamp at zero speed Unused (Set to 0.)
Setting of the function for switching from high-speed
3195#4 4195#4 4195#4 characteristics to low-speed characteristics with the speed Unused (Set to 0.)
detection signal SDT = 1 at speed range switching
3195#7 4195#7 4195#7 Automatic parameter setting function （16i /30i） Unused (Set to 0.)
3196 4196 4196 Maximum motor speed Unused (Set to 0.)
3197 4197 4197 Speed arrival detection level (SAR) Unused (Set to 0.)
3198 4198 4198 Speed detection level (SDT) Unused (Set to 0.)
3199 4199 4199 Zero speed detection level (SST) Unused (Set to 0.)
3200 4200 4200 Limited torque (TLMH, TLML) Unused (Set to 0.)
3201 4201 4201 Load detection level 1 (LDT1) Unused (Set to 0.)
3202 4202 4202 Limited output pattern Unused (Set to 0.)
3203 4203 4203 Output limit Unused (Set to 0.)
3204 4204 4204 Stop position of position coder method orientation Unused (Set to 0.)
3205 4205 4205 Spindle orientation speed Unused (Set to 0.)
Velocity loop proportional gain on velocity control mode
3206 4206 4206 Unused (Set to 0.)
(High)
Velocity loop proportional gain on velocity control mode
3207 4207 4207 Unused (Set to 0.)
(Low)
3208 4208 4208 Velocity loop proportional gain on orientation (High) Unused (Set to 0.)
3209 4209 4209 Velocity loop proportional gain on orientation (Low) Unused (Set to 0.)
3210 4210 4210 Velocity loop proportional gain on servo mode (High) Unused (Set to 0.)
3211 4211 4211 Velocity loop proportional gain on servo mode (Low) Unused (Set to 0.)
Velocity loop integral gain on velocity control mode
3212 4212 4212 Unused (Set to 0.)
(common to High and Low)
Velocity loop integral gain on orientation (common to High
3213 4213 4213 Unused (Set to 0.)
and Low)
Velocity loop integral gain on servo mode (common to High
3214 4214 4214 Unused (Set to 0.)
and Low)
3216 4216 4216 Gear ratio (High) Unused (Set to 0.)
3217 4217 4217 Gear ratio (Low) Unused (Set to 0.)
3218 4218 4218 Position gain on orientation (High) Unused (Set to 0.)
3219 4219 4219 Position gain on orientation (Low) Unused (Set to 0.)
Ordinary orientation: Rate of change in position gain upon
completion of orientation
3220 4220 4220 Unused (Set to 0.)
High-speed orientation: Rate of change in position gain upon
completion of orientation
3221 4221 4221 Position gain on servo mode (High) Unused (Set to 0.)
3222 4222 4222 Position gain on servo mode (Low) Unused (Set to 0.)
3223 4223 4223 Grid shift on servo mode Unused (Set to 0.)
3226 4226 4226 Detection level for orientation completion signal (ORAR) Unused (Set to 0.)
Ordinary orientation: Motor speed limit value on orientation
3227 4227 4227 Unused (Set to 0.)
High-speed orientation: Reserved
3228 4228 4228 Orientation stop position shift Unused (Set to 0.)
3229 4229 4229 MS signal constant Unused (Set to 0.)
3230 4230 4230 MS signal gain adjustment Unused (Set to 0.)
Regenerative power limit for high-speed zone/regenerative
3231 4231 4231 Unused (Set to 0.)
power limit
3232 4232 4232 Delay time until motor power is cut off Unused (Set to 0.)
3233 4233 4233 Setting of acceleration/deceleration time Unused (Set to 0.)
3234 4234 4234 Spindle load monitor observer gain 1 Unused (Set to 0.)
3235 4235 4235 Spindle load monitor observer gain 2 Unused (Set to 0.)
3236 4236 4236 Motor voltage on velocity control mode Unused (Set to 0.)
3237 4237 4237 Motor voltage on orientation Unused (Set to 0.)
3238 4238 4238 Motor voltage on servo mode Unused (Set to 0.)

- 717 -
G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES APPENDIX B-65280EN/05

Contents
15i 16i 30i
αi series Bis series
Rate of change in position gain during reference position
3239 4239 4239 Unused (Set to 0.)
return on servo mode
3240 4240 4240 Feed-forward coefficient Unused (Set to 0.)
3241 4241 4241 Feed-forward coefficient of velocity loop Unused (Set to 0.)
Denominator of arbitrary gear ratio between motor sensor
3243 4243 4243 Unused (Set to 0.)
and spindle (High)
Numerator of arbitrary gear ratio between motor sensor and
3244 4244 4244 Unused (Set to 0.)
spindle (High)
Denominator of arbitrary gear ratio between motor sensor
3245 4245 4245 Unused (Set to 0.)
and spindle (Low)
Numerator of arbitrary gear ratio between motor sensor and
3246 4246 4246 Unused (Set to 0.)
spindle (Low)
3254 4254 4254 Slip compensation gain Unused (Set to 0.)
3255 4255 4255 Slip compensation gain Unused (Set to 0.)
3256 4256 4256 Base speed of motor output specifications Unused (Set to 0.)
3257 4257 4257 Output limit for motor output specifications Unused (Set to 0.)
3258 4258 4258 Excitation voltage saturation speed at no-load Unused (Set to 0.)
3259 4259 4259 Base speed limit ratio Unused (Set to 0.)
3260 4260 4260 Current loop proportional gain Unused (Set to 0.)
3261 4261 4261 Current loop integral gain Unused (Set to 0.)
3262 4262 4262 Velocity at which the current loop integral gain is zero Unused (Set to 0.)
Filter time constant for processing saturation related to the
3263 4263 4263 Unused (Set to 0.)
voltage command
3264 4264 4264 Current conversion constant Unused (Set to 0.)
3265 4265 4265 Secondary current coefficient Unused (Set to 0.)
Criterion level for saturation related to the voltage
3266 4266 4266 Unused (Set to 0.)
command/PWM command clamp value
3267 4267 4267 Slip constant Unused (Set to 0.)
Slip compensation coefficient for a high-speed zone/slip
3268 4268 4268 Unused (Set to 0.)
compensation coefficient at deceleration
3269 4269 4269 PWM command clamp value at deceleration Unused (Set to 0.)
3270 4270 4270 Motor leakage constant Unused (Set to 0.)
Regular-time voltage compensation coefficient for
3271 4271 4271 Unused (Set to 0.)
high-speed zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for
3272 4272 4272 Unused (Set to 0.)
high-speed zone/acceleration-time motor voltage coefficient
Time constant for changing the torque (TCMD filter time
3273 4273 4273 Unused (Set to 0.)
constant)
3274 4274 4274 Value displayed on load meter at maximum output Unused (Set to 0.)
Compensation coefficient between the specification and true
3275 4275 4275 Unused (Set to 0.)
base/maximum torque curve compensation coefficient
3276 4276 4276 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3277 4277 4277 Unused (Set to 0.)
phase delay compensation coefficient
3278 4278 4278 Time constant for velocity detecting filter Unused (Set to 0.)
3279 4279 4279 Value displayed on load meter at maximum output Unused (Set to 0.)
Deceleration-time excitation current change time
3280 4280 4280 Unused (Set to 0.)
constant/excitation current change time constant
3281 4281 4281 Spindle load monitor torque constant Unused (Set to 0.)
3282 4282 4282 Spindle load monitor torque constant Unused (Set to 0.)
3283 4283 4283 Spindle load monitor torque constant Unused (Set to 0.)
3284 4284 4284 Motor voltage on velocity control mode Unused (Set to 0.)
3285 4285 4285 Motor voltage on servo mode Unused (Set to 0.)
3286 4286 4286 Base speed of motor output specifications Unused (Set to 0.)
3287 4287 4287 Output limit for motor output specifications Unused (Set to 0.)
3288 4288 4288 Excitation voltage saturation speed at no-load Unused (Set to 0.)
3289 4289 4289 Base speed limit ratio Unused (Set to 0.)
3290 4290 4290 Current loop proportional gain Unused (Set to 0.)
3291 4291 4291 Current loop integral gain Unused (Set to 0.)

- 718 -
B-65280EN/05 APPENDIX G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES

Contents
15i 16i 30i
αi series Bis series
3292 4292 4292 Velocity at which the current loop integral gain is zero Unused (Set to 0.)
Filter time constant for processing saturation related to the
3293 4293 4293 Unused (Set to 0.)
voltage command
3294 4294 4294 Current conversion constant Unused (Set to 0.)
3295 4295 4295 Secondary current coefficient Unused (Set to 0.)
Criterion level for saturation related to the voltage
3296 4296 4296 Unused (Set to 0.)
command/PWM command clamp value
3297 4297 4297 Slip constant Unused (Set to 0.)
Slip compensation coefficient for a high-speed zone/slip
3298 4298 4298 Unused (Set to 0.)
compensation coefficient at deceleration
3299 4299 4299 PWM command clamp value at deceleration Unused (Set to 0.)
3300 4300 4300 Motor leakage constant Unused (Set to 0.)
Regular-time voltage compensation coefficient for
3301 4301 4301 Unused (Set to 0.)
high-speed zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for
3302 4302 4302 Unused (Set to 0.)
high-speed zone/acceleration-time motor voltage coefficient
Time constant for changing the torque (TCMD filter time
3303 4303 4303 Unused (Set to 0.)
constant)
Compensation coefficient between the specification and true
3304 4304 4304 Unused (Set to 0.)
base/maximum torque curve compensation coefficient
3305 4305 4305 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3306 4306 4306 Unused (Set to 0.)
phase delay compensation coefficient
Regenerative power limit for high-speed zone/regenerative
3307 4307 4307 Unused (Set to 0.)
power limit
Deceleration-time excitation current change time
3308 4308 4308 Unused (Set to 0.)
constant/excitation current change time constant
3309 4309 4309 Motor model code Unused (Set to 0.)
3310 4310 4310 Motor overheat detect level (2-word) Unused (Set to 0.)
3324 4324 4324 Motor acceleration at deceleration time (High) Unused (Set to 0.)
3325 4325 4325 Motor acceleration at deceleration time (Low) Unused (Set to 0.)
3327 4327 4327 Acceleration limitation start speed at deceleration time (High) Unused (Set to 0.)
Command multiplication for spindle orientation by position
3329 4329 4329 Unused (Set to 0.)
coder
3331 4331 4331 Acceleration limitation start speed at deceleration time (Low) Unused (Set to 0.)
3335 4335 4335 Number of motor sensor arbitrary teeth Unused (Set to 0.)
3347 4347 4347 Master-slave speed difference state signal output setting Unused (Set to 0.)
3348 4348 4348 Current overload alarm detection level Unused (Set to 0.)
3349 4349 4349 Temperature monitoring time constant Unused (Set to 0.)
3350 4350 4350 Current overload alarm detection level Unused (Set to 0.)
3353#1 4353#1 4353#1 Velocity feedback signal setting in torque tandem operation Unused (Set to 0.)
Relationship of master/slave motor rotation directions in
3353#2 4353#2 4353#2 Unused (Set to 0.)
torque tandem operation
3360 4360 4360 Preload value Unused (Set to 0.)
3365 4365 4365 Load meter compensation 1 Unused (Set to 0.)
3366 4366 4366 Load meter compensation 2 Unused (Set to 0.)
3367 4367 4367 Load meter compensation 3 Unused (Set to 0.)
3373#1 4373#1 4373#1 Setting of the peak hold function for load meter output Unused (Set to 0.)
3376 4376 4376 Load meter compensation 1 Unused (Set to 0.)
3377 4377 4377 Load meter compensation 2 Unused (Set to 0.)
3378 4378 4378 Load meter compensation 3 Unused (Set to 0.)
3379 4379 4379 Load meter compensation 1 Unused (Set to 0.)
3380 4380 4380 Load meter compensation 2 Unused (Set to 0.)
3381 4381 4381 Load meter compensation 3 Unused (Set to 0.)
3398#3 4398#3 4398#3 Whether to use the twin drive function Unused (Set to 0.)
Whether to detect a speed polarity error (SPM alarm d0) in
3398#6 4398#6 4398#6 Unused (Set to 0.)
torque tandem operation
3443 4443 4443 Feed-forward coefficient of velocity loop Unused (Set to 0.)
3467#2 4467#2 4467#2 Setting of the detection lower limit of the one-rotation signal Unused (Set to 0.)

- 719 -
G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi SERIES AND Bis SERIES APPENDIX B-65280EN/05

Contents
15i 16i 30i
αi series Bis series
3467#3 4467#3 4467#3 Setting of the fine acceleration/deceleration (FAD) function Unused (Set to 0.)
Acceleration/deceleration type of fine
3467#4 4467#4 4467#4 Unused (Set to 0.)
acceleration/deceleration (FAD)
Whether to detect the alarm related to spindle sensor polarity
3467#5 4467#5 4467#5 Unused (Set to 0.)
erroneous setting
Triggering of the disturbance input function (vibration
3468#6 4468#6 4468#6 Unused (Set to 0.)
application function)
Setting of the disturbance input function (vibration application
3468#7 4468#7 4468#7 Unused (Set to 0.)
function)
3481 4481 4481 Feed-forward timing adjustment coefficient Unused (Set to 0.)
3486 4486 4486 Feed-forward coefficient of velocity loop Unused (Set to 0.)
Primary delay time constant in dual position feedback [in
3520 4520 4520 Unused (Set to 0.)
servo mode]
Maximum amplitude in dual position feedback [in servo
3521 4521 4521 Unused (Set to 0.)
mode]
3522 4522 4522 Dual position feedback zero width [in servo mode] Unused (Set to 0.)
Excessive semi-closed loop/closed loop position error alarm
3523 4523 4523 Unused (Set to 0.)
detection level [in servo mode]

- 720 -
B-65280EN/05 INDEX

INDEX
.309, 318, 321, 359, 362, 366, 369, 375, 386, 391, 394
<A>
.415, 428, 439, 455, 519, 529, 536, 549, 560, 600, 605
About the Spindle Speed Control and Spindle Status
................................................................ 619, 623, 627
Signals..................................................................... 707
Details of Specifications................................................236
Additional Information (Position Gain Adjustment)
Diagnosis (Diagnosis Screen)
........................................................ 207, 381, 486, 595
.....7, 104, 126, 156, 176, 293, 352, 366, 370, 375, 376
Adjusting the Orientation Stop Position Shift Parameter
.393, 400, 450, 461, 475, 491, 545, 556, 566, 582, 620
.......................................................... 69, 362, 432, 532
Diagnosis Signal Related to Spindle EGB ............ 312, 628
ADJUSTMENT..................................... 202, 380, 481, 594
DIFFERENTIAL SPINDLE SPEED CONTROL. 314, 629
Adjustment Procedure
Disturbance Input Function ................................... 212, 595
...................98, 206, 366, 381, 450, 485, 540, 595, 690
DUAL POSITION FEEDBACK FUNCTION (Optional
Alarm
function).......................................................... 319, 629
.....8, 106, 126, 157, 313, 352, 366, 370, 375, 400, 450
........................................ 461, 491, 545, 556, 566, 628 <E>
Alarm and Status Error.......................................... 339, 497 EXAMPLE OF OBSERVING DATA ..........................708
AMPLITUDE RATIO/PHASE DIFFERENCE Examples of Sequences
COMPENSATION FUNCTION .................... 217, 595 ...59, 114, 141, 253, 307, 317, 332, 362, 368, 375, 385
AMR Offset Function.................................................... 503 ........................................ 426, 453, 528, 546, 558, 599
Automatic Spindle Parameter Initialization Examples of Sequences .................................................626
............................................................ 6, 351, 399, 491 Explanation of Input Signals ................. 180, 378, 478, 585
Explanation of Operation ...................... 136, 375, 452, 558
<B>
EXPLANATION OF OPERATION MODES
Bis SERIES SPINDLE.................................................. 699
.......................................................... 28, 358, 408, 515
Bis SERIES SPINDLE PARAMETER TABLE ........... 654
Explanation of Output Signals .............. 193, 379, 480, 591
Block Diagram ...................... 291, 306, 320, 392, 620, 625
<F>
<C>
Feature..................................................... 51, 360, 425, 527
Calculating the Orientation Time .................................... 71
FUNCTION DESCRIPTIONS...................... 222, 382, 596
Calculating the Position Gain for Orientation ................. 68
Causes of SPM Alarm 65 .............................................. 514 <H>
Caution.......................................... 498, 294, 393, 514, 620 HIGH-SPEED SPINDLE ORIENTATION (Optional
Configuration ........................................ 223, 235, 315, 494 function).................................................. 257, 387, 601
Cs CONTOURING CONTROL (Optional function) HRV Filter............................................................. 209, 595
................................................................ 109, 367, 546
<I>
<D> I/O Signals (CNC ↔ PMC)
Data List........................................................................ 706 ...55, 137, 178, 224, 237, 251, 260, 281, 297, 307, 316
Description .................................................................... 316 .329, 341, 362, 375, 377, 385, 388, 394, 426, 453, 476
Details of Input Signals ......................... 182, 378, 479, 586 ................ 505, 527, 558, 583, 599, 602, 622, 617, 626
Details of Output Signals ...................... 195, 379, 480, 592 INCRMENTAL COMMAND TYPE SPINDLE
Details of Parameters ............................ 166, 376, 468, 574 ORIENTATION (SPINDLE ROTATION SPEED
Details of Parameters for Detectors......... 12, 353, 402, 492 CONTROL) (Optional function)............. 247, 383, 598
Details of Related Parameters Input Signals (PMC→CNC).......................... 690, 695, 699
.......36, 63, 82, 117, 147, 231, 242, 256, 266, 288, 298 INPUT SIGNALS (PMC→CNC→SPM)...... 179, 477, 584

i-1
INDEX B-65280EN/05

INPUT SIGNALS (PMC→CNC→SVPM)................... 378 PARAMETERS RELATED TO DETECTORS

.......................................................... 10, 353, 401, 492
<L>
Parameters Related to Spindle Serial Output
List of I/O Signals (CNC↔PMC)
............................................................ 5, 351, 399, 491
.....30, 77, 112, 158, 359, 366, 368, 376, 410, 435, 462
PARAMETERS WITH DIFFERENT MEANINGS
........................................................ 516, 533, 546, 567
........................................................................ 711, 714
List of Input Signals .............................. 179, 378, 477, 584
Parameter-specified Switching between High- and
List of Output Signals ........................... 192, 379, 480, 590
Low-speed Characteristics ......................................233
List of Parameters for Detectors.............. 10, 353, 401, 492
POSITION CODER METHOD SPINDLE
List of Related Parameters
ORIENTATION (Optional function) 50, 360, 424, 527
.230, 242, 256, 265, 287, 298, 308, 318, 321, 386, 390
........................................ 394, 600, 604, 619, 623, 627 <R>
LIST OF SPINDLE ALARMS ..................................... 684 Related Parameters
LIST OF SPINDLE PARAMETER NUMBERS.......... 661 .......34, 62, 80, 115, 146, 359, 362, 366, 368, 375, 414
LIST OF SPINDLE STATE ERRORS ......................... 686 .........427, 438, 454, 495, 507, 517, 528, 534, 547, 559
LISTS OF ALARMS/STATE ERRORS....................... 683 Restrictions....................................................................236
RIGID TAPPING (Optional function) .... 73, 363, 433, 533
<M>
MACHINE RESONANCE ELIMINATION ........ 208, 595 <S>
MAGNETIC POLE DETECTION................................ 500 Sequence
Magnetic Pole Detection Operation .............................. 501 ...79, 228, 240, 262, 285, 341, 366, 389, 437, 512, 533
MAGNETIC SENSOR METHOD SPINDLE ........................................................................ 603, 618
ORIENTATION (Optional function).............. 340, 629 Series and Editions of Applicable Spindle Software
.........223, 235, 247, 257, 278, 290, 296, 302, 314, 319
<N>
.326, 340, 392, 394, 494, 598, 601, 616, 620, 621, 624
Number of Error Pulses in Spindle Synchronous Control
SERIES AND EDITIONS OF APPLICABLE SPINDLE
........................................................ 155, 375, 461, 566
SOFTWARE ...........................................................705
<O> Specification.......................................................... 279, 616
OBSERVING DATA USING THE SERVO GUIDE ... 704 SPECIFICATIONS COMMON TO ALL OPERATION
Output Signals (CNC→PMC)....................... 692, 697, 701 MODES .......................................... 158, 376, 462, 567
OUTPUT SIGNALS (SPM→CNC→PMC).. 192, 480, 590 Specifying a Shift Amount for Spindle Phase Synchronous
OUTPUT SIGNALS (SVPM→CNC→PMC)............... 379 Control ............................................ 156, 375, 461, 566
SPEED RANGE SWITCHING CONTROL (Optional
<P>
function).......................................................... 223, 597
Parameter Setting Procedure ........... 89, 245, 366, 444, 540
SPINDLE DATA THAT CAN BE OBSERVED USING
PARAMETER SPECIFICATION DIFFERENCES
THE SERVO GUIDE .............................................706
BETWEEN THE αi SERIES AND αCi SERIES ... 710
Spindle Data Used in Tuning ........................ 271, 391, 610
PARAMETER SPECIFICATION DIFFERENCES
SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX)
BETWEEN THE αi SERIES AND Bis SERIES .... 713
(Optional function).......................................... 302, 624
PARAMETER TABLE FOR EACH MOTOR
SPINDLE FINE ACC./DEC. (FAD) FUNCTION
MODEL .................................................................. 667
................................................................ 290, 392, 620
Parameter Tuning Procedure ......................... 300, 394, 623
SPINDLE MOTOR α(HV)i series ................................676
Parameters
SPINDLE MOTOR α(HV)iP series...............................678
.........163, 203, 291, 336, 342, 376, 381, 393, 466, 482
SPINDLE MOTOR α(HV)iT series...............................679
................................................................ 571, 595, 620
SPINDLE MOTOR αCi series......................................682

i-2
B-65280EN/05 INDEX

SPINDLE MOTOR αi series ........................................ 668 <U>

SPINDLE MOTOR αiP series....................................... 672 UNEXPECTED DISTURBANCE TORQUE
SPINDLE MOTOR αiT series....................................... 674 DETECTION FUNCTION (Optional function)
SPINDLE MOTOR βi series......................................... 681 ................................................................ 296, 394, 621
SPINDLE ORIENTATION DURING SPINDLE
<V>
SYNCHRONIZATION CONTROL (Optional
VELOCITY CONTROL MODE............. 29, 359, 409, 516
function).................................................................. 278
VELOCITY LOOP GAIN ADJUSTMENT
SPINDLE ORIENTATION DURING SPINDLE
........................................................ 203, 381, 482, 595
SYNCHRONOUS CONTROL (Optional function)616
SPINDLE PARAMETER TABLE................................ 633 <α >
SPINDLE SERIAL INTERFACE (Optional function) αCi SERIES SPINDLE.................................................695
............................................................ 5, 351, 399, 491 αCi SERIES SPINDLE PARAMETER TABLE ..........650
SPINDLE SWITCHING CONTROL ................... 235, 597 αi SERIES SPINDLE PARAMETER TABLE.............634
SPINDLE SYNCHRONOUS CONTROL (Optional
function).......................................... 127, 371, 451, 557
SPM Alarm ................................................................... 325
START-UP................................................ 3, 349, 397, 489
Start-up Procedure
...4, 29, 50, 73, 109, 127, 350, 359, 360, 363, 367, 371
.398, 409, 424, 433, 451, 490, 516, 527, 533, 546, 557
Status Errors.................................................. 293, 393, 620
Status Errors on Differential Spindle Speed Control..... 318
Status Errors Related to Spindle EGB................... 312, 628
Stop Position Specification Method ........ 54, 362, 425, 527
Stop Processing When a Sub Module SM Error
Occurs ..................................................................... 496
SUB MODULE SM ...................................................... 494
Supplementary Descriptions about Parameters ............. 246
System Configuration
.......29, 52, 74, 110, 129, 248, 257, 303, 327, 340, 359
.360, 363, 367, 372, 383, 387, 409, 425, 434, 452, 516
................................ 527, 533, 546, 557, 598, 601, 625

<T>
TABLE OF I/O SIGNALS RELATED TO SPINDLE
CONTROL.............................................................. 689
TCMD Filter ......................................................... 208, 595
TORQUE TANDEM CONTROL FUNCTION (Optional
function).................................................................. 326
TORQUE TANDEM CONTROL FUNCTION (Optional
function).................................................................. 629
Troubleshooting ...................................... 46, 359, 420, 526
Tuning Procedure .......................................... 272, 391, 610
Typical Detector Configurations............. 21, 354, 406, 493

i-3
 Revision Record

FANUC AC SPINDLE MOTOR αi/βi series PARAMETER MANUAL (B-65280EN)

- Applied to Series 30i

05 Mar., 2005
- Addition of AC SPINDLE MOTOR Bis series

04 Oct., 2003 - Addition of AC SPINDLE MOTOR βi series

- Change of the motor model name

03 Apr., 2003 - Addition of the spindle speed differential control
function

Total revision
02 Oct., 2002 - Addition of AC SPINDLE MOTOR αCi series
- Addition of Appendixes C, D, F, and G

01 Jun., 2001

Edition Date Contents Edition Date Contents