0id Skip

B-64303EN-1/01 15.
MEASUREMENT
15.3 SKIP FUNCTION
15.3.1 Skip Function
Overview
Linear interpolation can be commanded by specifying axial move
following the G31 command, like G01. If an external skip signal is
input during the execution of this command, execution of the
command is interrupted and the next block is executed.
The skip function is used when the end of machining is not
programmed but specified with a signal from the machine, for
example, in grinding. It is used also for measuring the dimensions of a
workpiece.
The coordinates when the skip signal turned on are stored in the
system variables (#5061 to #5065) for custom macros, so they can be
used by custom macros.
#5061 : First axis coordinate value
#5062 : Second axis coordinate value
:
#5065 : Fifth axis coordinate value
- Acc./Dec. after interpolation of the skip function

To enable the Acc./Dec. after cutting feed interpolation of the skip
function, set bit 7 (SKF) of parameter No. 6200 to 1. When SKF is 0,
the Acc./Dec. after cutting feed interpolation of the skip function is
disabled.
If the Acc./Dec. type is set by bit 3 (ASL) of parameter No. 6210 and
the time constant is set by bit 4 (ASB) of parameter No. 6210 when
SKF is 1, it is possible to set a separate Acc./Dec. type and time
constant that are different from those of the normal Acc./Dec. after
cutting feed interpolation. When ASB is 0 and ASL is 0, the normal
Acc./Dec. after cutting feed interpolation is assumed. In this case,
the Acc./Dec. type set by bit 0 (CTLx) of parameter No. 1610 and bit
1 (CTBx) of parameter No. 1610 and the time constant set by
parameter No. 1622 are enabled.
- Compensation of acceleration/deceleration and servo delay

The skip function records the current position inside the NC using the
skip signal. However, the current position inside the NC includes
servo delay, so the recorded position deviates from the position in
which the skip signal was actually input by the servo delay. The
deviation amount can be calculated from the positional deviation
owned on the servo side and the accumulated amount by feedrate
acceleration/deceleration performed inside the NC. If the deviation
amount is considered, the servo delay does not need to be included in
measurement error.
If bit 1 (SEB) of parameter No. 6201 is set, compensation can be
carried out by obtaining the deviation amount the positional deviation
and the accumulated amount by acceleration/deceleration when the
skip signal is turned on.
- 1611 -
15.MEASUREMENT B-64303EN-1/01
Tool movement direction
High-speed skip signal
Pnc
Q P
Actual tool stop Position at which the Coordinate

position skip signal was input origin
Pnc : Position at which the tool is actually stopped after the skip
signal was input [mm/inch]
P : Distance to be measured [mm/inch]
Q : Servo delay [mm/inch]
As shown above, the following expression is calculated inside the NC

by setting bit 1 (SEB) of parameter No. 6201.
P = Pnc - Q
Signal
SKIP<X004.7> SKIPP<Gn006.6> (T series/M series)
SKIP#2<X013.7> (T series (2-path control))
Skip Signals SKIP<X004.7> SKIPP<Gn006.6>
[Classification] Input signal
[Function] This signal terminates skip cutting. That is, the position where a skip
signal turns to "1" in a block containing G31 is stored in a custom
macro variable, and the move command of the block is terminated at
the same time.
[Operation] When a skip signal turns to "1", the control unit works as described
below.
- When a block contains a skip cutting command G31, the control
unit reads and stores the current position of the specified axis at
that time. The control unit stops the axis, then cancels the
remaining distance that the block was supposed to be moved.
- 1612 -
B-64303EN-1/01 15.MEASUREMENT
NOTE
1 The skip signal width requires at least 10 msec.
2 The delay or variation on the CNC side (excluding
the PMC side) in detecting the skip signal is 0 to 2
msec. Therefore, the measurement error is the sum
of 2 msec and the delay or variation (including the
delay or variation of the receiver) of the skip signal
on the PMC side, multiplied by the feedrate.
3 The delay or variation until feed stops after
detection of the skip signal is 0 to 8 msec. To
calculate the overshoot, further consider delay in
acceleration/deceleration, delay in servo, delay on
the PMC side.
4 The CNC directly reads the skip signal
SKIP<X004.7> from the machine tool; the PMC is
no longer requires to process the signal.
5 If the skip function G31 is not used, the PMC can use
the signal terminal SKIP<X004.7> corresponding to
the skip signal as a general purpose input signal.
6 When the skip signal is monitored, the state rather
than the rising edge is sampled. Therefore, when
the level remains "1", the skip condition is assumed
to be met immediately after skip cutting is specified
next.
7 Address X004 including skip signal SKIP<X004.7>
can be assigned to the X addresses that were set
for parameters No. 3012 and No. 3019 when XSG
(bit 2 of parameter No. 3008) is 1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
X004 SKIP
#2
X013 SKIP
Gn006 SKIPP
- 1613 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3008 XSG
[Input type] Parameter input

[Data type] Bit path
NOTE
When this parameter is set, the power must be
turned off before operation is continued.
#2 XSG A signal assigned to an X address is:

0: Fixed at the address.
1: Able to be reassigned to an arbitrary X address.
NOTE
When this parameter was set to 1, parameters No.
3012 and No. 3019 must be set. If parameters No.
3012 and No. 3019 are not set, the skip to X0
signal, PMC axis control skip signal, and
measurement position arrival signal are assigned
to X0000.
3012 Skip signal assignment address
NOTE

[Data type] Word path
[Valid data range] 0 to 327
Set an X address to which the skip signal (SKIPn) is to be assigned.
NOTE
This parameter is valid when bit 2 (XSG) of
parameter No. 3008 is set to 1.
Depending on the option configuration of the I/O
Link, the actually usable X addresses are:
X0 to X127, X200 to X327
- 1614 -
Address to which the PMC axis control skip signal and measurement
3019
position arrival signals are assigned
NOTE

Set an X address to which the PMC axis control skip signal ESKIP
and the measurement position arrival signals (XAE1, XAE2, and
XAE3 (M series) or XAE1 and XAE2 (T series)) are to be assigned.
Example 1. When No.3012 is set to 5 and No.3019 is set to 6

When XSG (bit 2 of parameter No. 3008) is 1, the PMC axis control skip signal, and
measurement position arrival signal are allocated to X0006 and the skip signal is
allocated to X0005.
#7 #6 #5 #4 #3 #2 #1 #0
X005 SKIP SKIP6 SKIP5 SKIP4 SKIP3 SKIP2 SKIP8 SKIP7 (T series)
#7 #6 #5 #4 #3 #2 #1 #0
SKIP SKIP6 SKIP5 SKIP4 SKIP3 SKIP2 SKIP8 SKIP7 (M series)
#7 #6 #5 #4 #3 #2 #1 #0
X006 ESKIP XAE2 XAE1 (T series)
#7 #6 #5 #4 #3 #2 #1 #0
ESKIP XAE3 XAE2 XAE1 (M series)
Example 2. When No.3012 is set to 5 and No.3019 is set to 5

When XSG (bit 2 of parameter No. 3008) is 1, the PMC axis control skip signal,
measurement position arrival signal, and skip signal are allocated to X0005.
#7 #6 #5 #4 #3 #2 #1 #0
X005 ESKIP XAE2 XAE1
SKIP (T series)
SKIP6 SKIP5 SKIP4 SKIP3 SKIP2 SKIP8 SKIP7
#7 #6 #5 #4 #3 #2 #1 #0
ESKIP XAE3 XAE2 XAE1
SKIP SKIP5 SKIP4 SKIP3 (M series)
SKIP6 SKIP2 SKIP8 SKIP7
NOTE
X0 to X127, X200 to X327
- 1615 -
#7 #6 #5 #4 #3 #2 #1 #0
5160
TSG

#4 TSG A dependence of the overload torque detection signal in a peck

drilling cycle (M series) on the parameter setting of the skip function:
0: Exists.
1: Does not exist.
NOTE
When this parameter is 1, even if the setting of the
skip signal is disabled, the X address can be used
as the overload torque detection signal. At this
time, parameter No. 3012 and bit 1 (SK0) of
parameter No. 6200 is valid.
#7 #6 #5 #4 #3 #2 #1 #0
6200 SKF HSS SK0 GSK

#0 GSK As a skip signal, the skip signal SKIPP is:

0: Invalid.
1: Valid.
#1 SK0 This parameter specifies whether the skip signal is made valid under
the state of the skip signal SKIP and the multistage skip signals SKIP2
to SKIP8.
0: Skip signal is valid when these signals are 1.
#4 HSS
0: The skip function does not use high-speed skip signals while skip
signals are input. (The conventional skip signal is used.)
1: The step skip function uses high-speed skip signals while skip
signals are input.
#7 SKF Dry run, override, and automatic acceleration/deceleration for G31

skip command
0: Disabled
1: Enabled
- 1616 -
#7 #6 #5 #4 #3 #2 #1 #0
6201 SPE IGX SEB

#1 SEB When a skip signal or measurement position arrival signal goes on

while the skip function, or the automatic tool length measurement (M
series) or automatic tool compensation (T series) is used, the
accumulated pulses and positional deviation due to
acceleration/deceleration are:
0: Ignored.
1: Considered and compensated.
The accumulated pulses and positional deviation due to actual
acceleration/deceleration when the skip signal or measurement
position arrival signal goes on are considered to obtain the position at
which the signal is input.
#4 IGX When the high-speed skip function is used, SKIP, SKIPP, and SKIP2
to SKIP8 are:
0: Enabled as skip signals.
1: Disabled as skip signals.
#7 SPE For the skip function (G31), the skip signal SKIP is:
0: Enabled.
1: Disabled.
Enabling and disabling the skip signals

IGX GSK SPE Skip signal Skip signal Multi-step skip signal
Parameter
(No.6201#4) (No.6200#0) (No.6201#7) SKIPP SKIP SKIP2-SKIP8
0 0 0 Disabled Enabled Enabled
0 1 0 Enabled Enabled Enabled
0 0 1 Disabled Disabled Enabled
0 1 1 Enabled Disabled Enabled
Setting
1 0 0 Disabled Disabled Disabled
IGX (bit 4 of parameter No. 6201) is valid for the skip function (when
HSS (bit 4 of parameter No. 6200) is 1) using the high-speed skip
signal or the multiphase skip function (when SLS (bit 5 of parameter
No. 6200) is 1) using the high-speed skip signal.
To use multistage skip signals, the multistage skip function option is
required.
- 1617 -
#7 #6 #5 #4 #3 #2 #1 #0
6207 SFN SFP

#1 SFP The feedrate used when the skip function (G31) is being executed is:
0: Feedrate of a programmed F code.
1: Feedrate set in parameter No. 6281.
NOTE
For the multi-stage skip function and high-speed
skip, see the description of bit 2 (SFN ) of
parameter No. 6207.
#2 SFN The feedrate used when the skip function based on high-speed skip
signals (with bit 4 (HSS) of parameter No. 6200 set to 1) or the
multi-skip function is being executed is:
1: Feedrate set in a parameter from parameter No. 6282 to No.
6285.
NOTE
For not the multistage skip function, but the skip
function using no high-speed skip signals (when bit
4 (HSS) of parameter No. 6200 is set to 0), see the
description of bit 1 (SFP) of parameter No. 6207.
#7 #6 #5 #4 #3 #2 #1 #0
6210 ASB ASL

#3 ASL
#4 ASB
The ASB and ASL bits set the type and time constant of
acceleration/deceleration after interpolation in the skip function as
follows:
Type of acceleration/ Parameter No. for time

ASB ASL
deceleration constant
0 1 Linear type
Parameter No. 6280
1 Bell-shaped
(NOTE)
0 0 This function is disabled .
When bell-shaped acceleration/deceleration is specified, T1=T/2 and

T2=T/2 are obtained as with normal acceleration/deceleration after
cutting feed interpolation, where T is the time constant. Therefore, the
acceleration/deceleration type includes no linear part.
- 1618 -
NOTE
In this case, the acceleration/deceleration type is
set in bits 0 and 1 of parameter No. 1610, and the
time constant is set in parameter No. 1622.
Time constant for acceleration/deceleration after interpolation for the skip

6280 function for each axis

[Data type] Word axis
[Unit of data] msec
This parameter sets a time constant for acceleration/deceleration after
interpolation for the skip function for each axis.
This parameter is valid when bit 3 (ASB) of parameter No. 6210 or bit
4 (ASL) of parameter No. 6210 is set to 1.
6281 Feedrate for the skip function (G31)

[Data type] Real path
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the reference axis
[Valid data range] Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 to +999000.0)
This parameter sets a feedrate for the skip function (G31). This
parameter is valid when bit 1 (SFP) of parameter No. 6207 is set to 1.
NOTE
skip, see the description of parameter No. 6282 to
No. 6285.
Alarm and message

Number Message Description
PS0035 CAN NOT COMMANDED G31 - G31 cannot be specified. This alarm is generated when a G
code (such as for cutter or tool-nose radius compensation) of
group 07 is not canceled.
- A torque limit skip was not specified in a torque limit skip
command (G31P98 or P99). Specify the torque limit skip in the
PMC window or the like. Or, specify the torque limit override
by address Q.
Note
NOTE
This function is enabled for axes not related to
composite control.
- 1619 -
15.3.2 High-speed Skip Signal
Overview
The skip function operates based on a high-speed skip signal (HDI0 to
HDI3 : connected directly to the CNC; not via the PMC) instead of an
ordinary skip signal. In this case, up to eight signals can be input.
(Either can be enabled/disabled, using parameters HSS and IGX (bit 4
of parameter No. 6201 and bit 4 of parameter No. 6200).) If a
high-speed skip signal is used, up to four signals can be input.
Delay and error of skip signal input is 0 to 2 msec at the CNC side
(not considering those at the PMC side).
This high-speed skip signal input function keeps this value to 0.1 msec
or less, thus allowing high precision measurement.
Signal
High-Speed Skip Status Signals HDO0 to HDO3 <Fn122.0 to Fn122.3>
[Classification] Output signal
[Function] This signal informs the PMC of the input status of the high-speed skip
signal. The signal-to-bit correspondence is as follows:
High-speed skip signal...... Bit name
HDI0 ................................. HDO0
HDI1 ................................. HDO1
HDI2 ................................. HDO2
HDI3 ................................. HDO3
[Output condition] Each bit is set to 1 when:

- The corresponding high-speed skip signal is logical 1.
Each bit is set to 0 when:
- The corresponding high-speed skip signal is logical 0.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
Fn122 HDO3 HDO2 HDO1 HDO0
- 1620 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6207 SFN

6285.
NOTE
For not the multi-stage skip function but the skip
function not using high-speed skip signals, see the
6282 Feedrate for the skip function (G31, G31 P1)
6283 Feedrate for the skip function (G31 P2)

Each of these parameters sets a feedrate for each skip function G code.
These parameters are valid when bit 2 (SFN) of parameter No. 6207 is
set to 1.
#7 #6 #5 #4 #3 #2 #1 #0
6200 SRE HSS

#4 HSS
signals are input.
- 1621 -
#6 SRE When a high-speed skip signal is used:

0: The signal is assumed to be input on the rising edge (contact
open close).
1: The signal is assumed to be input on the falling edge (contact
close open).
#7 #6 #5 #4 #3 #2 #1 #0
6201 SPE IGX TSE SEB

#1 SEB When a skip signal or measurement position arrival signal goes on

while the skip function, or the automatic tool length measurement (M
series) or automatic tool compensation (T series) is used, the
accumulated pulses and positional deviation due to
acceleration/deceleration are:
0: Ignored.
1: Considered and compensated.
The accumulated pulses and positional deviation due to actual
acceleration/deceleration when the skip signal or measurement
position arrival signal goes on are considered to obtain the position at
which the signal is input.
#2 TSE In a skip by the torque limit skip command (G31P98/P99):

0: A servo delay amount (positional deviation) is considered
(system variables #5061 to #5065 store positions corrected in
consideration of the servo system delay amount).
1: A servo delay amount (positional deviation) is not considered
(system variables #5061 to #5065 store positions corrected
without consideration of the servo system delay amount).
Position during skip operation
Current position of CNC
Machine position Error amount
Origin of the coordinate system Stop point
Position in consideration of delay
Position without consideration of delay
to SKIP8 are:
- 1622 -
0: Enabled.
1: Disabled.
Whether the skip signals are enabled or disabled

IGX GSK SPE Skip signal Skip signal Multistage skip signals
Parameter
Setting
Bit 4 (IGX) of parameter No. 6201 is valid for the skip function using
high-speed skip signals (when bit 4 (HSS) of parameter No. 6200 is
set to 1) or for the multistage skip function using high-speed skip
signals (when bit 5 (SLS) of parameter No. 6200 is set to 1).
required.
#7 #6 #5 #4 #3 #2 #1 #0
6202 1S4 1S3 1S2 1S1

1S1 to 1S8 Specify which high-speed skip signal is enabled when the G31 skip
command is issued.
The following table shows the correspondence between the bits, input
signals, and commands.
The setting of the bits have the following meaning :
0: The high-speed skip signal corresponding to a bit is invalid.
1: The high-speed skip signal corresponding to a bit is enabled.
Parameter High-speed skip signals
1S1 HDI0
1S2 HDI1
1S3 HDI2
1S4 HDI3
NOTE
parameter No. 6207.
- 1623 -
Alarm and message

PS0373 ILLEGAL HIGH-SPEED SKIP SIGNAL In the skip commands (G31, G31P1 to G31P4) and dwell
SELECTED commands (G04, G04Q1 to G04Q4), the same high-speed
signal is selected in different paths.
Note
NOTE
composite control.
Notes on using high speed skip
- Overview
Note that the contact state during a skip is different from that of Series
0i in the high speed skip signal of Series 0i-D.
Series 0i-D :
The skip signal is assumed to be input when an open contact is
closed.
Series 0i-C :
The skip signal is assumed to be input when an closed contact is
opened.
- Detail
The difference in the specification of the high speed skip signal
between Series 0i-D and Series 0i-C is as follows.
For Series 0i-D
The high-speed skip signal is assumed to be when the input
voltage is at a low level and assumed to be at a high level.
That is, the skip signal is assumed to be when a contact is
closed.
Therefore the skip signal is input when an open contact is closed.
For Series 0i-C
The high-speed skip signal is assumed to be when the input
voltage is at a low level and assumed to be at a high level.
That is, the skip signal is assumed to be when a contact is
opened.
Therefore the skip signal is input when a closed contact is
opened.
When the wiring designed for 0i-C is applied to 0i-D, the
modification of wiring is not necessary by setting the following
parameter.
Depending on the detector to be used, the settings on the detector
are used instead of parameter settings to switch between conntact
A and contact B of for output signals. For details, see the
manual of the detector.
- 1624 -
- Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6200 SRE

#6 SRE When a high-speed skip signal or high-speed measurement position

arrival signal is used:
0: The signal is assumed to be input on the rising edge (contact
open close).
1: The signal is assumed to be input on the falling edge (contact
close open).
- Signal
High-speed skip status signal HDO0 to HDO3 <Fn122.0 to Fn122.3>

#7 #6 #5 #4 #3 #2 #1 #0
Fn122 HDO3 HDO2 HDO1 HDO0
[Classification] Output signal

[Function] This signal informs the PMC of the input status of the high-speed skip
signal.
[Output condition] 1: When the contact of the high-speed skip signal is closed. (The
input voltage is at a low level.)
0: When the contact of the high-speed skip signal is open. (The
input voltage is at a high level.)
- 1625 -
15.3.3 Multi-step Skip
Overview
The multi-step skip function stores the coordinate values when skip
signals (four signals) are input in the block where G31P1 to G31P4
are specified, and skips the remaining movement. In the block where
Q1 to Q4 are specified after G04, dwell can be skipped when skip
signals (four signals) are input.
A skip signal from equipment such as a fixed-dimension size
measuring instrument can be used to skip programs being executed.
In plunge grinding, for example, a series of operations from rough
machining to spark-out can be performed automatically by applying a
skip signal each time rough machining, semi-fine machining, fine-
machining, or spark-out operation is completed.
NOTE
Multi-step skip function is optional function.
Signal
Skip signals SKIPP<Gn006.6> SKIP<X004.7> SKIP2<X004.2> SKIP3<X004.3> SKIP4<X004.4>
SKIP5<X004.5> SKIP6<X004.6> SKIP7<X004.0> SKIP8<X004.1>
[Function] These signals terminate skip cutting. That is, the position where a skip
signal turns to "1" in a command program block containing G31P1 (or
G31), G31P2, or G31P3, G31P4 is stored in a custom macro variable,
and the move command of the block is terminated at the same time.
Furthermore, in a block containing G04, G04Q1, G04Q2, G04Q3 or
G04Q4, the dwell command of the block is terminated.
In either case, until all other commands (such as miscellaneous
functions) of the block are completed, machining never proceeds to
the next block.
Parameters Nos. 6202 to 6205 can be used to select which skip signals
are enabled. Since a one-to-one relationship is not required, one skip
signal can be enabled for multiple commands or multiple skip signals
can be enabled for one command.
[Operation] When a skip signal turns to "1", the control unit functions as described
below.
- When a block contains a G code from (G31, G31P1 to P4) for
skip cutting, and the skip signal is made applicable by parameter
setting to the command, the control unit reads and stores the
current position of the specified axis at that time. The control unit
stops the axis, then cancels the remaining distance that the axis
was supposed to be moved in that block.
- When a block contains a G04, or G04Q1 to Q4 code for dwell,
and the skip signal is made applicable by parameter setting to the
command, the control unit stops dwell operation, and cancels any
remaining dwell time.
- 1626 -
NOTE
1 The skip signal width requires at least 10 msec.
2 The delay or variation on the CNC side (excluding
the PMC side) in detecting the skip signal is 0 to 2
msec. Therefore, the measurement error is the sum
of 2 msec and the delay or variation (including the
delay or variation of the receiver) of the skip signal
on the PMC side, multiplied by the feedrate.
3 The delay or variation until feed stops after
detection of the skip signal is 0 to 8 msec. To
calculate the overshoot, further consider delay in
acceleration/deceleration, delay in servo, delay on
the PMC side.
4 The G codes for skip cutting (G31P1, G31P2,
G31P3, and G31P4) are the same except for their
correspondence with skip signals. G31 and G31P1
are equivalent.
5 The skip signal is not monitored for a rising edge,
but for its state.
So, if a skip signal continues to be "1", a skip
condition is assumed to be satisfied immediately
when the next skip cutting or dwell operation is
specified.
6 Address X004 can be allocated optionally to the X
addresses set in parameter No.3012 and parameter
No.3019 when XSG (bit 2 of parameter No.3008) is
1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
Gn006 SKIPP
#7 #6 #5 #4 #3 #2 #1 #0
X004 ESKIP -MIT2 +MIT2 -MIT1 +MIT1 XAE2 XAE1
SKIP (T series)
#7 #6 #5 #4 #3 #2 #1 #0
ESKIP XAE3 XAE2 XAE1
SKIP SKIP5 SKIP4 SKIP3 (M series)
SKIP6 SKIP2 SKIP8 SKIP7
#7 #6 #5 #4 #3 #2 #1 #0
#2 #2 #2
X013 #2 ESKIP XAE2 XAE1
SKIP (T series)
#2 #2 #2
- 1627 -
WARNING
1 SKIP2 to SKIP8 are at the same addresses as
axis-direction-specific manual feed interlock signals
+MIT1, -MIT1, +MIT2, and -MIT2 (tool
compensation measurement value direct input B),
skip signal ESKIP (PMC axis control), and
measurement position arrival signals XAE1 and
XAE2 (automatic tool compensation). Be careful
when using both. (T series)
2 SKIP2 and SKIP6 to SKIP8 are at the same
addresses as skip signal ESKIP (axis control by
PMC) and measurement position arrival signal
XAE1, XAE2, and XAE3 (tool length automatic
measurement). Be careful when using both. (M
series)
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3008 XSG

NOTE

NOTE
When this parameter was set to 1, parameters No.
3012 and No. 3019 must be set. If parameters No.
3012 and No. 3019 are not set, the skip to X0
signal, PMC axis control skip signal, measurement
position arrival signal, axis-direction-specific
manual feed interlock signal, and tool
compensation write signal are assigned to X0000.
- 1628 -
NOTE

NOTE
X0 to X127, X200 to X327
3019
position arrival signals are assigned
NOTE

NOTE
X0 to X127, X200 to X327
- 1629 -
#7 #6 #5 #4 #3 #2 #1 #0
6200 SKF SLS SK0 GSK


0: Invalid.
1: Valid.
to SKIP8.
#5 SLS
0: The multi-step skip function does not use high-speed skip signals
while skip signals are input. (The conventional skip signal is
used.)
1: The multi-step skip function uses high-speed skip signals while
skip signals are input.
NOTE
Skip signals (SKIP, SKIP to SKIP4) are enabled
regardless of this parameter. These signals can be
disabled by setting the parameter IGX (No.
6201#4).

skip command
0: Disabled
1: Enabled
#7 #6 #5 #4 #3 #2 #1 #0
6201 SPE IGX SEB

#1 SEB If the skip function is used, the positional deviation and the number of
accumulated pulses due to acceleration/deceleration at the time when
the skip signal is turned on are:
0: Not considered.
1: Considered for compensation.
The position where the skip signal is input is found by considering the
positional deviation and the number of accumulated pulses due to
actual acceleration/deceleration at the time when the skip signal is
turned on.
- 1630 -
to SKIP8 are:
0: Disabled.
1: Enabled.

Parameter
Setting
required.
- 1631 -
#7 #6 #5 #4 #3 #2 #1 #0
6202 1S8 1S7 1S6 1S5 1S4 1S3 1S2 1S1
#7 #6 #5 #4 #3 #2 #1 #0
6203 2S8 2S7 2S6 2S5 2S4 2S3 2S2 2S1
#7 #6 #5 #4 #3 #2 #1 #0
6204 3S8 3S7 3S6 3S5 3S4 3S3 3S2 3S1
#7 #6 #5 #4 #3 #2 #1 #0
6205 4S8 4S7 4S6 4S5 4S4 4S3 4S2 4S1
#7 #6 #5 #4 #3 #2 #1 #0
6206 DS8 DS7 DS6 DS5 DS4 DS3 DS2 DS1
[Input type]Parameter input

1S1to1S8, 2S1to2S8, 3S1to3S8, 4S1to4S8, DS1toDS8

Specify which skip signal is enabled when the skip command (G31, or
G31P1 to G31P4) and the dwell command (G04, G04Q1 to G04Q4)
are issued with the multi-step skip function.
The following table shows the correspondence between the bits, input
signals, and commands.
The setting of the bits have the following meaning :
0: The skip signal corresponding to a bit is invalid.
1: The skip signal corresponding to a bit is enabled.
Multi-step skip function
Command G31
Input G31P1 G31P2 G31P3 G31P4 G04
signal G04Q1 G04Q2 G04Q3 G04Q4
SKIP/HDI0 1S1 2S1 3S1 4S1 DS1
SKIP2/HDI1 1S2 2S2 3S2 4S2 DS2
SKIP5 1S5 2S5 3S5 4S5 DS5
NOTE
HDI0 to HDI3 are high-speed skip signals.
The same signal must not be specified in different
paths at the same time.
When bit 0 (GSK) of parameter No. 6200 is 1, the command to be

skipped by the SKIPP signal can be selected by setting the following
parameters.
- 1632 -
Commands skipped by SKIPP signal <G006#6>

Parameter Command skipped
When bit 0 (1S1) of parameter No. 6202 is set to 1 G31P1, G04Q1
When bit 6 (DS1) of parameter No. 6206 is set to 1 G04, G04Q1, G04Q2, G04Q3,
G04Q4
#7 #6 #5 #4 #3 #2 #1 #0
6207 SFN

6285.
NOTE

set to 1.
- 1633 -
Alarm and message

PS0035 CAN NOT COMMANDED G31 - G31 cannot be specified. This alarm is generated when a G
code (such as for cutter or tool-nose radius compensation) of
- A torque limit skip was not specified in a torque limit skip
command (G31P98 or P99). Specify the torque limit skip in the
PMC window or the like. Or, specify the torque limit override
by address Q.
PS0370 G31P/G04Q ERROR The specified address P value for G31 is out of range. The
address P range is 1 to 4 in a multistage skip function.
The specified address Q value for G04 is out of range. The
address Q range is 1 to 4 in a multistage skip function.
Or, P1-4 for G31, or Q1-4 for G04 was commanded without a
multistage skip function option.
PS0373 ILLEGAL HIGH-SPEED SKIP SIGNAL In the skip commands (G31, G31P1 to G31P4) and dwell
SELECTED commands (G04, G04Q1 to G04Q4), the same high-speed
signal is selected in different paths.
Note
NOTE
composite control.
- 1634 -
15.3.4 Torque Limit Skip Function
Overview
When the movement command following G31 P99 (or G31 P98) is
executed with the servo motor torque limit*1 overridden, cutting feed
similar to linear interpolation (G01) can be performed. When the servo
motor torque reaches the torque limit (overridden servo motor torque
limit) by pushing or the skip signal (including the high-speed skip
signal) is input during the movement, the remaining movement
commands are canceled and then the next block is executed. (The
operation that executes the next block by canceling the remaining
movement command is called skip operation later.)
The servo motor torque limit can be overridden by:
(1) Executing the torque limit override command for the PMC
window.
*1
: The servo motor torque limit is automatically set according to the
settings of the motor model.
Signal
Torque limit reached signals TRQL1 to TRQL5 <Fn114.0 to Fn114.4>
[Function] Indicates that the torque limit has been reached.
[Output condition] Set to "1" when:
- The torque limit has been reached.
Set to "0" when:
- The torque limit has not been reached.
Indicates the signal for each axis. The value at the end of a signal
name indicates the number of each control axis.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
Fn114 TRQL5 TRQL4 TRQL3 TRQL2 TRQL1
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1803 TQA TQI

#0 TQI Within a torque limit, an in-position check is:

0: Made.
1: Not made.
#1 TQA Within a torque limit, an excessive stop-time/move-time error is:

0: Checked.
1: Not checked.
- 1635 -
#7 #6 #5 #4 #3 #2 #1 #0
3008 XSG

NOTE

NOTE
When this parameter is set to 1, set parameters
No. 3012 and No. 3019. If parameter No. 3012 and
No. 3019 are not set, the skip signal, the PMC axis
control skip signal, and the measurement position
arrival signal are assigned to X0000.
NOTE

NOTE
X0 to X127, X200 to X327
- 1636 -
3019 position arrival signals are assigned
NOTE

NOTE
X0 to X127, X200 to X327
#7 #6 #5 #4 #3 #2 #1 #0
6200 SKF HSS SK0 GSK


0: Invalid.
1: Valid.
to SKIP8.
#4 HSS
signals are input.

skip command
0: Disabled
1: Enabled
- 1637 -
#7 #6 #5 #4 #3 #2 #1 #0
6201 SPE IGX TSE

#2 TSE When the torque limit skip function (G31 P99/98) is used, the skip
position held in a system variable (#5061 to #5068) is:
0: Position that is offset considering the delay (positional deviation)
incurred by the servo system.
1: Position that does not reflect the delay incurred by the servo
system.
Position during skip operation
Current position of CNC
Machine position Error amount
Origin of the coordinate system Stop point
Position in consideration of delay

Position without consideration of delay
to SKIP8 are:
0: Disabled.
1: Enabled.

Parameter
Setting
- 1638 -
required.
#7 #6 #5 #4 #3 #2 #1 #0
6207 SFN SFP

#1 SFP The feedrate used when the skip function (G31) is being executed is:
1: Feedrate set in parameter No. 6281.
NOTE
parameter No. 6207.
6285.
NOTE
6281 Feedrate for the skip function (G31)

This parameter sets a feedrate for the skip function (G31). This
parameter is valid when bit 1 (SFP) of parameter No. 6207 is set to 1.
NOTE
skip, see the description of parameter No. 6282 to
No. 6285.
- 1639 -

set to 1.
6221 Torque limit dead zone time for a torque limit skip command

[Data type] 2-word axis
[Unit of data] msec
The torque limit skip arrival signal is ignored for a set period of time.
If G31P98 is specified, skip operation is not performed for a set period
of time after the torque limit skip arrival signal is set to 1.
If G31P99 is specified, skip operation is not performed for a set period
of time after the torque limit skip arrival signal is set to 1.
However, if a skip signal is input, skip operation is performed,
regardless of the period of time set in this parameter.
#7 #6 #5 #4 #3 #2 #1 #0
6286 TQO

[Data type] Bit axis
#0 TQO The torque limit override function is:

0: Disabled. (Override of 100%)
1: Enabled.
NOTE
Before the torque limit skip function can be used,
this parameter must be set to 1.
- 1640 -
6287 Positional deviation limit in torque limit skip

[Data type] 2-word axis
[Unit of data] Detection unit
This parameter sets a positional deviation limit for each axis imposed
when torque limit skip is specified. When the actual positional
deviation exceeds the positional deviation limit, the alarm (SV0004) is
issued and an immediate stop takes place.
Alarm and message

PS0035 CAN NOT COMMANDED G31 - G31 cannot be specified. This alarm is generated when a G code
(such as for cutter or tool-nose radius compensation) of
- A torque limit skip was not specified in a torque limit skip command
(G31P98 or P99). Specify a torque limit override in the PMC
window.
PS0369 G31 FORMAT ERROR No axis is specified or tow or more axes are specified in the torque
limit switch instruction (G31P98/P99).
SV0004 EXCESS ERROR (G31) The amount of positional deviation during torque limit skip command
operation exceeded the limit value of the parameter No.6287.
Note
NOTE
composite control.
Reference item
Manual name Item name
USER S MANUAL Torque limit skip
(B-64304EN)
- 1641 -
5.CONNECTION TO CNC PERIPHERALS B-64303EN/03
5.3 CONNECTING THE HIGH-SPEED SKIP (HDI)
5.3.1 Connecting the High-speed Skip (HDI)

CNC
JA40
FI80-20P, DF1R020WB1
(PCR-EV20MDT)
1 HDI0 11 HDI1
2 0V 12 0V
3 HDI2 13 HDI3
4 0V 14 0V
5 0V 15
6 16
7 17
8 18
9 19
10 0V 20
NOTE
1 The upper connector specification on the JA40 is for the LCD-mounted type.
The lower connector specification in parentheses is for the stand-alone type.
2 Do not connect any signal to the pins with no signal name.
- 60 -
B-64303EN/03 5.CONNECTION TO CNC PERIPHERALS
Cable connections
JA40
1
HDI0
2
0V
11
HDI1
12
0V
3
HDI2
4
0V
13
HDI3
14
0V
6
5
0V
15
16
17
18
19
20
7
8
9
0V 10
Shield
Ground plate
Recommended cable connector:

PCR-E20FA (Honda Tsushin Kogyo)
FI30-20S (Hirose Electric)
FCN-247J020-G/E (Fujitsu)
52622-2011 (Molex Japan)
NOTE
Recommended cable connector FI30-20S (Hirose Electric) cannot be used for
the stand-alone type.
5.3.2 Input Signal Rules for the High-speed Skip (HDI)

Circuit configuration
CNC
DRIVER IiL/IiH FILTER RECEIVER
VH/VL
SHIELD
- 61 -
5.CONNECTION TO CNC PERIPHERALS B-64303EN/03
Absolute maximum rating

Input voltage range Vin: -3.6 to +13.6 V
Input characteristics
Unit Symbol Specification Unit Remark
High level input voltage VH 3.6 to 11.6 V
Low level input voltage VL 0 to 1.0 V
2 (max) mA Vin=5V
High level input current IiH
11 (max) mA Vin=10V
Low level input current IiL -8.0 (max) mA Vin=0V
Input signal pulse duration 20 (min) s
Input signal delay or variations 0.02 (max) ms
NOTE
1 The plus (+) sign of IiH/IiL represents the direction of flow into the receiver. The
minus (-) sign of IiH/IiL represents the direction of flow out of the receiver.
2 The high-speed skip signal is assumed to be 1 when the input voltage is at the
low level and 0 when it is at the high level.
3 The input level for the CNC receiver is high when the circuit is open. So, the
input level for the external driver must be low.
5.4 LINKING THE EMBEDDED ETHERNET INTERFACE

CAUTION
Before attaching or removing cables, power off the CNC main unit, and confirm
that the power is off.
Ask the respective manufacturers for explanations about how to build a network
and about conditions for using units (such as a media converter, hub,
transceiver, and cable) other than the CNC unit. When installing network
cables, exercise sufficient caution so that the network will not be affected by any
noise source. Electrically separate the network wiring sufficiently from noise
sources like motors and their power lines. Also, ground each unit as required.
If the grounding impedance is high, it may cause trouble in communication.
Once the equipment is installed, conduct communication tests to verify normal
operation before starting actual use of the equipment.
FANUC is not liable to any damage related to trouble arising from any unit other
than the CNC unit.
5.4.1 Connection to the Ethernet Interface

The 100BASE-TX interface are available. A hub (line concentrator) is used to connect the CNC unit to
a system. A typical connection example is shown below.
- 62 -

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What is the skip function used for?

What is the skip function used for?

How does the skip function record position?

How does the skip function record position?

B-64303EN-1/01 15.

15.3 SKIP FUNCTION

15.3.1 Skip Function

- Acc./Dec. after interpolation of the skip function

- Compensation of acceleration/deceleration and servo delay

Tool movement direction

High-speed skip signal

Actual tool stop Position at which the Coordinate

As shown above, the following expression is calculated inside the NC

[Input type] Parameter input

#2 XSG A signal assigned to an X address is:

3012 Skip signal assignment address

[Input type] Parameter input

[Input type] Parameter input

Example 1. When No.3012 is set to 5 and No.3019 is set to 6

Example 2. When No.3012 is set to 5 and No.3019 is set to 5

[Input type] Parameter input

#4 TSG A dependence of the overload torque detection signal in a peck

[Input type] Parameter input

#0 GSK As a skip signal, the skip signal SKIPP is:

#7 SKF Dry run, override, and automatic acceleration/deceleration for G31

[Input type] Parameter input

#1 SEB When a skip signal or measurement position arrival signal goes on

Enabling and disabling the skip signals

[Input type] Parameter input

[Input type] Parameter input

Type of acceleration/ Parameter No. for time

When bell-shaped acceleration/deceleration is specified, T1=T/2 and

Time constant for acceleration/deceleration after interpolation for the skip

[Input type] Parameter input

6281 Feedrate for the skip function (G31)

[Input type] Parameter input

Alarm and message

15.3.2 High-speed Skip Signal

[Output condition] Each bit is set to 1 when:

[Input type] Parameter input

6282 Feedrate for the skip function (G31, G31 P1)

6283 Feedrate for the skip function (G31 P2)

6284 Feedrate for the skip function (G31 P3)

6285 Feedrate for the skip function (G31 P4)

[Input type] Parameter input

[Input type] Parameter input

#6 SRE When a high-speed skip signal is used:

[Input type] Parameter input

#1 SEB When a skip signal or measurement position arrival signal goes on

#2 TSE In a skip by the torque limit skip command (G31P98/P99):

Current position of CNC

Machine position Error amount

Origin of the coordinate system Stop point

Position in consideration of delay

Position without consideration of delay

Whether the skip signals are enabled or disabled

[Input type] Parameter input

Alarm and message